/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include <gtest/gtest.h>

#include <uavcan/helpers/ostream.hpp>

#include <uavcan/Timestamp.hpp>
#include <uavcan/protocol/GetTransportStats.hpp>
#include <uavcan/protocol/Panic.hpp>
#include <uavcan/protocol/RestartNode.hpp>
#include <uavcan/protocol/GlobalTimeSync.hpp>
#include <uavcan/protocol/DataTypeKind.hpp>
#include <uavcan/protocol/GetDataTypeInfo.hpp>
#include <uavcan/protocol/NodeStatus.hpp>
#include <uavcan/protocol/GetNodeInfo.hpp>
#include <uavcan/protocol/debug/LogMessage.hpp>
#include <uavcan/protocol/debug/KeyValue.hpp>

#include <root_ns_a/Deep.hpp>
#include <root_ns_a/UnionTest.hpp>

template <typename T>
static bool validateYaml(const T& obj, const std::string& reference)
{
    std::ostringstream os;
    os << obj;
    if (os.str() == reference)
    {
        return true;
    }
    else
    {
        std::cout << "INVALID YAML:\n"
                  << "EXPECTED:\n"
                  << "===\n"
                  << reference
                  << "\n===\n"
                  << "ACTUAL:\n"
                  << "\n===\n"
                  << os.str()
                  << "===" << std::endl;
        return false;
    }
}

TEST(Dsdl, Streaming)
{
    EXPECT_TRUE(validateYaml(uavcan::protocol::GetNodeInfo::Response(),
                             "status: \n"
                             "  uptime_sec: 0\n"
                             "  health: 0\n"
                             "  mode: 0\n"
                             "  sub_mode: 0\n"
                             "  vendor_specific_status_code: 0\n"
                             "software_version: \n"
                             "  major: 0\n"
                             "  minor: 0\n"
                             "  optional_field_flags: 0\n"
                             "  vcs_commit: 0\n"
                             "  image_crc: 0\n"
                             "hardware_version: \n"
                             "  major: 0\n"
                             "  minor: 0\n"
                             "  unique_id: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
                             "  certificate_of_authenticity: \"\"\n"
                             "name: \"\""));

    root_ns_a::Deep ps;
    ps.a.resize(1);
    EXPECT_TRUE(validateYaml(ps,
                             "c: 0\n"
                             "str: \"\"\n"
                             "a: \n"
                             "  - \n"
                             "    scalar: 0\n"
                             "    vector: \n"
                             "      - \n"
                             "        vector: [0, 0]\n"
                             "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
                             "      - \n"
                             "        vector: [0, 0]\n"
                             "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
                             "b: \n"
                             "  - \n"
                             "    vector: [0, 0]\n"
                             "    bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
                             "  - \n"
                             "    vector: [0, 0]\n"
                             "    bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]"));
}