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#include <gtest/gtest.h>
#include <memory>
#include <thread>
#include "ur_client_library/ur/ur_driver.h"

const std::string SCRIPT_FILE = "../resources/external_control.urscript";
const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
std::string g_ROBOT_IP = "192.168.56.101";
bool g_HEADLESS = true;

void handleRobotProgramState(bool program_running)
{
  std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
}

class UrDriverTestDeprecatedConstructorTest : public testing::Test
{
protected:
  std::shared_ptr<urcl::UrDriver> driver_;

  void SetUp() override
  {
  }

  void TearDown() override
  {
    if (driver_)
    {
      driver_->sendScript("halt");
      driver_.reset();
    }
  }

  void startDriver(std::function<std::shared_ptr<urcl::UrDriver>()> constructor_fun)
  {
    driver_ = constructor_fun();
    driver_->checkCalibration(CALIBRATION_CHECKSUM);
    auto version = driver_->getVersion();
    ASSERT_TRUE(version.major > 0);
  }
};

TEST_F(UrDriverTestDeprecatedConstructorTest, sigA)
{
  std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
  startDriver([&tool_comm_setup]() {
    return std::make_shared<urcl::UrDriver>(g_ROBOT_IP, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE,
                                            std::bind(&handleRobotProgramState, std::placeholders::_1), g_HEADLESS,
                                            std::move(tool_comm_setup));
  });
}

TEST_F(UrDriverTestDeprecatedConstructorTest, sigB)
{
  std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
  startDriver([&tool_comm_setup]() {
    return std::make_shared<urcl::UrDriver>(g_ROBOT_IP, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE,
                                            std::bind(&handleRobotProgramState, std::placeholders::_1), g_HEADLESS,
                                            std::move(tool_comm_setup), 50001, 50002, 2000, 0.03, false, "", 50003,
                                            50004, 0.025, 0.5);
  });
}

TEST_F(UrDriverTestDeprecatedConstructorTest, sigC)
{
  std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
  startDriver([&tool_comm_setup]() {
    return std::make_shared<urcl::UrDriver>(g_ROBOT_IP, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE,
                                            std::bind(&handleRobotProgramState, std::placeholders::_1), g_HEADLESS,
                                            std::move(tool_comm_setup), CALIBRATION_CHECKSUM);
  });
}

TEST_F(UrDriverTestDeprecatedConstructorTest, sigD)
{
  std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
  startDriver([]() {
    return std::make_shared<urcl::UrDriver>(g_ROBOT_IP, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE,
                                            std::bind(&handleRobotProgramState, std::placeholders::_1), g_HEADLESS,
                                            CALIBRATION_CHECKSUM);
  });
}

int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);

  for (int i = 0; i < argc; i++)
  {
    if (std::string(argv[i]) == "--robot_ip" && i + 1 < argc)
    {
      g_ROBOT_IP = argv[i + 1];
      break;
    }
    if (std::string(argv[i]) == "--headless" && i + 1 < argc)
    {
      std::string headless = argv[i + 1];
      g_HEADLESS = headless == "true" || headless == "1" || headless == "True" || headless == "TRUE";
      break;
    }
  }

  return RUN_ALL_TESTS();
}
