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#include "ManualControlSelector.hpp"
#include <gtest/gtest.h>
#include <drivers/drv_hrt.h>

using namespace time_literals;

static constexpr uint64_t some_time = 12345678;

TEST(ManualControlSelector, RcInputContinuous)
{
	ManualControlSelector selector;
	selector.setRcInMode(0);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	// Now provide input with the correct source.
	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;

	for (int i = 0; i < 5; i++) {
		selector.updateWithNewInputSample(timestamp, input, 1);
		EXPECT_TRUE(selector.setpoint().valid);
		EXPECT_EQ(selector.setpoint().timestamp_sample, timestamp);
		EXPECT_EQ(selector.instance(), 1);
		EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
		timestamp += 100_ms;
		input.timestamp_sample = timestamp;
	}
}

TEST(ManualControlSelector, RcInputOnly)
{
	ManualControlSelector selector;
	selector.setRcInMode(0);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_FALSE(selector.setpoint().valid);

	timestamp += 100_ms;

	// Now provide input with the correct source.
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 1);
}

TEST(ManualControlSelector, MavlinkInputOnly)
{
	ManualControlSelector selector;
	selector.setRcInMode(1);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_FALSE(selector.setpoint().valid);

	timestamp += 100_ms;

	// Now provide input with the correct source.
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_3;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
	EXPECT_EQ(selector.instance(), 1);

	timestamp += 100_ms;

	// But only the first MAVLink source wins, others are too late.
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_4;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
	EXPECT_EQ(selector.instance(), 1);
}

TEST(ManualControlSelector, AutoInput)
{
	ManualControlSelector selector;
	selector.setRcInMode(2);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 0);

	timestamp += 100_ms;

	// Now provide input from MAVLink as well which should get ignored.
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 0);

	timestamp += 500_ms;

	// Now we'll let RC time out, so it should switch to MAVLINK.
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0);
	EXPECT_EQ(selector.instance(), 1);
}

TEST(ManualControlSelector, FirstInput)
{
	ManualControlSelector selector;
	selector.setRcInMode(3);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 0);

	timestamp += 100_ms;

	// Now provide input from MAVLink as well which should get ignored.
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 0);

	timestamp += 500_ms;

	// Now we'll let RC time out, but it should NOT switch to MAVLINK because RC was first
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_FALSE(selector.setpoint().valid);
	EXPECT_FALSE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0);
	EXPECT_EQ(selector.instance(), -1);

	timestamp += 100_ms;

	// Provide input from RC again and it should get accepted because it was the first.
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 0);
}

TEST(ManualControlSelector, DisabledInput)
{
	ManualControlSelector selector;
	selector.setRcInMode(4);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	// Reject MAVLink stick input
	input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_FALSE(selector.setpoint().valid);
	EXPECT_EQ(selector.instance(), -1);

	timestamp += 100_ms;

	// Reject RC stick input
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 1);

	EXPECT_FALSE(selector.setpoint().valid);
	EXPECT_EQ(selector.instance(), -1);
}

TEST(ManualControlSelector, RcTimeout)
{
	ManualControlSelector selector;
	selector.setRcInMode(0);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
	EXPECT_EQ(selector.instance(), 0);

	timestamp += 600_ms;

	// Update, to make sure it notices the timeout
	selector.updateValidityOfChosenInput(timestamp);

	EXPECT_FALSE(selector.setpoint().valid);
	EXPECT_EQ(selector.instance(), -1);
}

TEST(ManualControlSelector, RcOutdated)
{
	ManualControlSelector selector;
	selector.setRcInMode(0);
	selector.setTimeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_setpoint_s input {};
	input.data_source = manual_control_setpoint_s::SOURCE_RC;
	input.timestamp_sample = timestamp - 600_ms; // First sample is already outdated
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_FALSE(selector.setpoint().valid);
	EXPECT_EQ(selector.instance(), -1);

	// If we update again it should still not get accepted
	selector.updateWithNewInputSample(timestamp, input, 0);

	EXPECT_FALSE(selector.setpoint().valid);
	EXPECT_EQ(selector.instance(), -1);
}