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#include <gtest/gtest.h>

#include <ur_client_library/comm/control_mode.h>
#include <ur_client_library/types.h>

using namespace urcl;

TEST(control_mode, is_control_mode_realtime_with_realtime_control_modes)
{
  for (unsigned int i = 0; i < comm::ControlModeTypes::REALTIME_CONTROL_MODES.size(); ++i)
  {
    EXPECT_TRUE(comm::ControlModeTypes::isControlModeRealtime(comm::ControlModeTypes::REALTIME_CONTROL_MODES[i]));
  }
}

TEST(control_mode, is_control_mode_realtime_with_non_realtime_control_modes)
{
  for (unsigned int i = 0; i < comm::ControlModeTypes::NON_REALTIME_CONTROL_MODES.size(); ++i)
  {
    EXPECT_FALSE(comm::ControlModeTypes::isControlModeRealtime(comm::ControlModeTypes::NON_REALTIME_CONTROL_MODES[i]));
  }

  for (unsigned int i = 0; i < comm::ControlModeTypes::STATIONARY_CONTROL_MODES.size(); ++i)
  {
    EXPECT_FALSE(comm::ControlModeTypes::isControlModeRealtime(comm::ControlModeTypes::STATIONARY_CONTROL_MODES[i]));
  }
}

TEST(control_mode, is_control_mode_non_realtime_with_non_realtime_control_modes)
{
  for (unsigned int i = 0; i < comm::ControlModeTypes::NON_REALTIME_CONTROL_MODES.size(); ++i)
  {
    EXPECT_TRUE(
        comm::ControlModeTypes::isControlModeNonRealtime(comm::ControlModeTypes::NON_REALTIME_CONTROL_MODES[i]));
  }
}

TEST(control_mode, is_control_mode_non_realtime_with_realtime_control_modes)
{
  for (unsigned int i = 0; i < comm::ControlModeTypes::REALTIME_CONTROL_MODES.size(); ++i)
  {
    EXPECT_FALSE(comm::ControlModeTypes::isControlModeNonRealtime(comm::ControlModeTypes::REALTIME_CONTROL_MODES[i]));
  }
  for (unsigned int i = 0; i < comm::ControlModeTypes::STATIONARY_CONTROL_MODES.size(); ++i)
  {
    EXPECT_FALSE(comm::ControlModeTypes::isControlModeNonRealtime(comm::ControlModeTypes::STATIONARY_CONTROL_MODES[i]));
  }
}

TEST(control_mode, control_mode_types_size_equals_number_off_control_modes)
{
  int number_of_control_modes = 0;
  for (int index = toUnderlying(comm::ControlMode::MODE_STOPPED); index < toUnderlying(comm::ControlMode::END); ++index)
  {
    number_of_control_modes++;
  }
  int number_of_control_mode_types = static_cast<int>(comm::ControlModeTypes::REALTIME_CONTROL_MODES.size() +
                                                      comm::ControlModeTypes::NON_REALTIME_CONTROL_MODES.size() +
                                                      comm::ControlModeTypes::STATIONARY_CONTROL_MODES.size());
  EXPECT_EQ(number_of_control_mode_types, number_of_control_modes);
}

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

  return RUN_ALL_TESTS();
}
