/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       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.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       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 "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <gtest/gtest.h>
#include <tf2/time_cache.h>
#include <sys/time.h>
#include <stdexcept>

#include <geometry_msgs/TransformStamped.h>

#include <cmath>

using namespace tf2;


void setIdentity(TransformStorage& stor)
{
  stor.translation_.setValue(0.0, 0.0, 0.0);
  stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
}

TEST(StaticCache, Repeatability)
{
  unsigned int runs = 100;
  
  tf2::StaticCache  cache;

  TransformStorage stor;
  setIdentity(stor);
  
  for ( uint64_t i = 1; i < runs ; i++ )
  {
    stor.frame_id_ = CompactFrameID(i);
    stor.stamp_ = ros::Time().fromNSec(i);
    
    cache.insertData(stor);

    
    cache.getData(ros::Time().fromNSec(i), stor);
    EXPECT_EQ(stor.frame_id_, i);
    EXPECT_EQ(stor.stamp_, ros::Time().fromNSec(i));
    
  }
}

TEST(StaticCache, DuplicateEntries)
{

  tf2::StaticCache cache;

  TransformStorage stor;
  setIdentity(stor);
  stor.frame_id_ = CompactFrameID(3);
  stor.stamp_ = ros::Time().fromNSec(1);

  cache.insertData(stor);

  cache.insertData(stor);


  cache.getData(ros::Time().fromNSec(1), stor);
  
  //printf(" stor is %f\n", stor.transform.translation.x);
  EXPECT_TRUE(!std::isnan(stor.translation_.x()));
  EXPECT_TRUE(!std::isnan(stor.translation_.y()));
  EXPECT_TRUE(!std::isnan(stor.translation_.z()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.x()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.y()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.z()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.w()));
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
