#!/usr/bin/env python
"""
 * Software License Agreement (BSD License)
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"""
import math
import unittest

import rospy
import rostest

from auv_interfaces.msg import StateStamped
from mission_control.msg import DepthHeading

from test_utilities import MissionControlInterface


class TestSetDepthHeadingAction(unittest.TestCase):

    @classmethod
    def setUpClass(cls):
        rospy.init_node('set_depth_heading_test_node')

    def setUp(self):
        self.mission_control = MissionControlInterface()

    def test_mission_with_set_depth_heading_action(self):
        """
        The test:
        -  Loads a mission with a single SetDepthHeading action.
        -  Executes the mission.
        -  Waits until the action publishes a DepthHeading setpoint.
        -  Simulates state updates for the action to complete.
        -  waits until the mission is COMPLETE.
        """
        depth = 1.0
        heading = 0.5
        speed_knots = 5.0
        ena_mask = DepthHeading.DEPTH_ENA
        ena_mask |= DepthHeading.HEADING_ENA
        ena_mask |= DepthHeading.SPEED_KNOTS_ENA

        mission_definition = '''
          <root main_tree_to_execute="main">
            <BehaviorTree ID="main">
              <Sequence name="Test Mission">
                <TimeoutAfter msec="2000">
                  <SetDepthHeading
                      depth="{}"
                      heading="{}"
                      heading-units="degrees"
                      speed_knots="{}"
                      depth-tolerance="0.1"
                      heading-tolerance="0.1"/>
                </TimeoutAfter>
              </Sequence>
            </BehaviorTree>
          </root>
        '''.format(depth, math.degrees(heading), speed_knots)

        mission_id = self.mission_control.load_mission(mission_definition)
        self.assertIsNotNone(mission_id)

        self.mission_control.execute_mission(mission_id)

        msg = rospy.wait_for_message(
            '/mngr/depth_heading', DepthHeading)
        self.assertEqual(msg.ena_mask, ena_mask)
        self.assertEqual(msg.depth, depth)
        self.assertAlmostEqual(msg.heading, heading)
        self.assertEqual(msg.speed_knots, speed_knots)

        msg = StateStamped()
        msg.header.stamp = rospy.Time.now()
        msg.state.manoeuvring.pose.mean.position.z = depth
        msg.state.manoeuvring.pose.mean.orientation.z = heading
        rospy.Publisher(
            '/state', StateStamped,
            queue_size=1, latch=True
        ).publish(msg)

        self.assertTrue(self.mission_control.wait_for_completion(mission_id))


if __name__ == '__main__':
    rostest.rosrun(
        'mission_control',
        'test_set_depth_heading_action',
        TestSetDepthHeadingAction)
