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/// \author Enrique Fernandez

#include "test_common.h"

// NaN
#include <limits>

// TEST CASES
TEST_F(DiffDriveControllerTest, testNaN) {
  // wait for ROS
  waitForController();

  // zero everything before test
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.0;
  cmd_vel.angular.z = 0.0;
  publish(cmd_vel);
  ros::Duration(2.0).sleep();

  // send a command
  cmd_vel.linear.x = 0.1;
  ros::Duration(2.0).sleep();

  // stop robot (will generate NaN)
  stop();
  ros::Duration(2.0).sleep();

  nav_msgs::Odometry odom = getLastOdom();

  EXPECT_FALSE(std::isnan(odom.twist.twist.linear.x));
  EXPECT_FALSE(std::isnan(odom.twist.twist.angular.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.x));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.y));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.w));

  // start robot
  start();
  ros::Duration(2.0).sleep();

  odom = getLastOdom();

  EXPECT_FALSE(std::isnan(odom.twist.twist.linear.x));
  EXPECT_FALSE(std::isnan(odom.twist.twist.angular.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.x));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.y));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.w));
}

TEST_F(DiffDriveControllerTest, testNaNCmd) {
  // wait for ROS
  while (!isControllerAlive()) {
    ros::Duration(0.1).sleep();
  }
  // zero everything before test
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.0;
  cmd_vel.angular.z = 0.0;
  publish(cmd_vel);
  ros::Duration(0.1).sleep();

  // send NaN
  for (int i = 0; i < 10; ++i) {
    geometry_msgs::Twist cmd_vel;
    cmd_vel.linear.x = NAN;
    cmd_vel.angular.z = 0.0;
    publish(cmd_vel);
    geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();
    EXPECT_FALSE(std::isnan(odom_msg.twist.linear.x));
    EXPECT_FALSE(std::isnan(odom_msg.twist.angular.z));
    ros::Duration(0.1).sleep();
  }
  for (int i = 0; i < 10; ++i) {
    geometry_msgs::Twist cmd_vel;
    cmd_vel.linear.x = 0.0;
    cmd_vel.angular.z = NAN;
    publish(cmd_vel);
    geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();
    EXPECT_FALSE(std::isnan(odom_msg.twist.linear.x));
    EXPECT_FALSE(std::isnan(odom_msg.twist.angular.z));
    ros::Duration(0.1).sleep();
  }

  nav_msgs::Odometry odom = getLastOdom();
  EXPECT_DOUBLE_EQ(odom.twist.twist.linear.x, 0.0);
  EXPECT_DOUBLE_EQ(odom.pose.pose.position.x, 0.0);
  EXPECT_DOUBLE_EQ(odom.pose.pose.position.y, 0.0);

  geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();
  EXPECT_DOUBLE_EQ(odom_msg.twist.linear.x, 0.0);
}

int main(int argc, char **argv) {
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "diff_drive_nan_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}
