#!/usr/bin/env python

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# Author: Bjarne von Horn
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from moveit_ros_planning_interface._moveit_planning_interface_test_serialize_msg_cpp_helper import (
    ByteStringTestHelper,
)
from geometry_msgs.msg import Vector3
import unittest

try:
    # Try Python 2.7 behaviour first
    from StringIO import StringIO

    py_version_maj = 2
except ImportError:
    # Use Python 3.x behaviour as fallback and choose the non-unicode version
    from io import BytesIO as StringIO

    py_version_maj = 3


class PythonMsgSerializeTest(unittest.TestCase):
    def setUp(self):
        self.helper = ByteStringTestHelper()

    def test_EmbeddedZeros(self):
        self.assertTrue(self.helper.compareEmbeddedZeros(b"\xff\xef\x00\x10"))

    def test_ByteStringFromPchar(self):
        # ByteString(const char*) constructor
        self.assertEqual(self.helper.getBytesPChar(), b"abcdef")

    def test_ByteStringFromStdString(self):
        # ByteString(const std::string&) constructor
        self.assertEqual(self.helper.getBytesStdString(), b"\xff\xfe\x10\x00\x00")

    def test_ByteStringDefaultCtor(self):
        self.assertEqual(self.helper.getDefaultBytes(), b"")

    def test_CxxTupleToPy(self):
        # sending a tuple from C++ to Python
        ans = self.helper.getTuple()
        self.assertIsInstance(ans, tuple)
        self.assertEqual(len(ans), 1)
        self.assertEqual(ans[0], b"abcdef")

    def test_PyTupleToCxx(self):
        # sending a tuple from Python to C++
        self.assertTrue(self.helper.compareTuple((b"mno",)))

    def test_sendMessage(self):
        tmp = StringIO()
        Vector3(x=1.0, y=-2.0, z=0.25).serialize(tmp)
        self.assertTrue(self.helper.compareVector(tmp.getvalue()))

    def test_recieveMessage(self):
        tmp = Vector3()
        tmp.deserialize(self.helper.getVector())
        self.assertEqual(tmp, Vector3(1.0, -2.0, 0.25))

    def test_rejectInt(self):
        with self.assertRaisesRegex(Exception, "Python argument types in"):
            self.helper.compareEmbeddedZeros(4711)

    def test_rejectIntTuple(self):
        with self.assertRaisesRegex(Exception, "Python argument types in"):
            self.helper.compareEmbeddedZeros((4711,))

    def test_rejectUnicode(self):
        with self.assertRaisesRegex(Exception, "Python argument types in"):
            self.helper.compareEmbeddedZeros(u"kdasd")  # fmt: skip

    @unittest.skipIf(py_version_maj == 2, "does not trigger with python 2.7")
    def test_rejectUnicodeTuple(self):
        with self.assertRaisesRegex(
            RuntimeError, "Underlying python object is not a Bytes/String instance"
        ):
            self.helper.compareVectorTuple((u"kdasd",))  # fmt: skip


if __name__ == "__main__":
    unittest.main()
