/*
 * Copyright 2013 Open Source Robotics Foundation
 *
 * 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.
 *
 */

#include <string>

#include <gtest/gtest.h>

#include "sdf/parser.hh"

#include "test_config.hh"

/////////////////////////////////////////////////
TEST(SDFParser, ProvideFeedbackTest)
{
  const std::string sdfTestFile =
      sdf::testing::TestFile("integration", "provide_feedback.urdf");

  sdf::SDFPtr robot(new sdf::SDF());
  sdf::init(robot);
  ASSERT_TRUE(sdf::readFile(sdfTestFile, robot));

  sdf::ElementPtr root = robot->Root();
  ASSERT_TRUE(root != nullptr);
  sdf::ElementPtr model = root->GetElement("model");
  ASSERT_TRUE(model != nullptr);
  unsigned int jointBitMask = 0;
  for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
       joint = joint->GetNextElement("joint"))
  {
    std::string jointName = joint->Get<std::string>("name");
    if (jointName == "jointw0")
    {
      jointBitMask |= 0x1;

      // No provide_feedback tag was specified
      EXPECT_FALSE(joint->HasElement("physics"));
    }
    else if (jointName == "joint01")
    {
      jointBitMask |= 0x2;

      // provide_feedback = 0
      ASSERT_TRUE(joint->HasElement("physics"));
      sdf::ElementPtr physics = joint->GetElement("physics");
      ASSERT_TRUE(physics->HasElement("provide_feedback"));
      EXPECT_FALSE(physics->Get<bool>("provide_feedback"));
    }
    else if (jointName == "joint12")
    {
      jointBitMask |= 0x4;

      // provide_feedback = 1
      ASSERT_TRUE(joint->HasElement("physics"));
      sdf::ElementPtr physics = joint->GetElement("physics");
      ASSERT_TRUE(physics->HasElement("provide_feedback"));
      EXPECT_TRUE(physics->Get<bool>("provide_feedback"));
    }
    else
    {
      FAIL() << "Unexpected joint name[" << jointName << "]";
    }
  }

  EXPECT_EQ(jointBitMask, 0x7u);
}
