// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// testing default transition sequence.
// This test requires that the transitions are set
// as depicted in design.ros2.org

#include <gtest/gtest.h>
#include <vector>

#include "osrf_testing_tools_cpp/scope_exit.hpp"

#include "lifecycle_msgs/msg/state.h"
#include "lifecycle_msgs/msg/transition.h"

#include "rcl/error_handling.h"
#include "rcl/rcl.h"

#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/default_state_machine.h"

class TestMultipleInstances : public ::testing::Test
{
public:
  rcl_context_t * context_ptr;
  rcl_node_t * node_ptr;
  const rcl_allocator_t * allocator;
  void SetUp()
  {
    rcl_ret_t ret;
    {
      rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
      ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
      OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
      {
        EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
      });
      this->context_ptr = new rcl_context_t;
      *this->context_ptr = rcl_get_zero_initialized_context();
      ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
    }
    this->node_ptr = new rcl_node_t;
    *this->node_ptr = rcl_get_zero_initialized_node();
    const char * name = "test_state_machine_node";
    rcl_node_options_t node_options = rcl_node_get_default_options();
    ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
    const rcl_node_options_t * node_ops = rcl_node_get_options(this->node_ptr);
    this->allocator = &node_ops->allocator;
  }

  void TearDown()
  {
    rcl_ret_t ret = rcl_node_fini(this->node_ptr);
    delete this->node_ptr;
    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
    ret = rcl_shutdown(this->context_ptr);
    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
    ret = rcl_context_fini(this->context_ptr);
    delete this->context_ptr;
    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  }
};

void
test_trigger_transition(
  rcl_lifecycle_state_machine_t * state_machine,
  uint8_t key_id,
  unsigned int expected_current_state,
  unsigned int expected_goal_state)
{
  EXPECT_EQ(
    expected_current_state, state_machine->current_state->id);
  EXPECT_EQ(
    RCL_RET_OK, rcl_lifecycle_trigger_transition_by_id(
      state_machine, key_id, false));
  EXPECT_EQ(
    expected_goal_state, state_machine->current_state->id);
}

TEST_F(TestMultipleInstances, default_sequence_error_unresolved) {
  rcl_ret_t ret;

  rcl_lifecycle_state_machine_t state_machine1 =
    rcl_lifecycle_get_zero_initialized_state_machine();
  ret = rcl_lifecycle_init_default_state_machine(&state_machine1, this->allocator);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

  rcl_lifecycle_state_machine_t state_machine2 =
    rcl_lifecycle_get_zero_initialized_state_machine();
  ret = rcl_lifecycle_init_default_state_machine(&state_machine2, this->allocator);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

  rcl_lifecycle_state_machine_t state_machine3 =
    rcl_lifecycle_get_zero_initialized_state_machine();
  ret = rcl_lifecycle_init_default_state_machine(&state_machine3, this->allocator);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

  test_trigger_transition(
    &state_machine1,
    lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
    lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
    lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

  EXPECT_EQ(
    lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, state_machine1.current_state->id);
  EXPECT_EQ(
    lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, state_machine2.current_state->id);
  EXPECT_EQ(
    lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, state_machine3.current_state->id);

  ret = rcl_lifecycle_state_machine_fini(&state_machine1, this->node_ptr, this->allocator);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  ret = rcl_lifecycle_state_machine_fini(&state_machine2, this->node_ptr, this->allocator);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  ret = rcl_lifecycle_state_machine_fini(&state_machine3, this->node_ptr, this->allocator);
  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}