/*
 * Copyright (C) 2014 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.
 *
*/
#ifndef _GAZEBO_TEST_UTIL_HH_
#define _GAZEBO_TEST_UTIL_HH_

#include <fstream>
#include <gtest/gtest.h>
#include <string>

#include <boost/filesystem.hpp>
#include "gazebo/common/Console.hh"

using namespace gazebo;

namespace gazebo
{
  namespace testing
  {
    /// \brief A utility class that stores test logs in ~/.gazebo/test_logs.
    /// This functionality is needed to keep all the log information reported
    /// by gazebo during continuous integration. Without this, debugging
    /// failing tests is significantly more difficult.
    class AutoLogFixture : public ::testing::Test
    {
      /// \brief Setup the test fixture. This gets called by gtest.
      protected: virtual void SetUp()
      {
        const ::testing::TestInfo *const testInfo =
          ::testing::UnitTest::GetInstance()->current_test_info();

        std::string testName = testInfo->name();
        std::string testCaseName = testInfo->test_case_name();
        this->logFilename = testCaseName + "_" + testName + ".log";

        // Initialize Console
        gzLogInit("test_logs-", this->logFilename);
        gazebo::common::Console::SetQuiet(false);

        // Read the full path to the log directory.
        this->logDirectory = gzLogDirectory();
      }

      /// \brief Get a string with the full log file path.
      /// \return The full log file path as a string.
      protected: std::string GetFullLogPath() const
      {
        return this->logDirectory + "/" + this->logFilename;
      }

      /// \brief Get a string with all the log content loaded from the disk.
      /// \return A string will all the log content.
      protected: std::string GetLogContent() const
      {
        // Open the log file, and read back the string
        std::ifstream ifs(this->GetFullLogPath().c_str(), std::ios::in);
        std::string loggedString;

        while (!ifs.eof())
        {
          std::string line;
          std::getline(ifs, line);
          loggedString += line;
        }

        return loggedString;
      }

      /// \brief String with the full path of the logfile
      private: std::string logFilename;

      /// \brief String with the full path to log directory
      private: std::string logDirectory;
    };
  }
}

#define VEC_EXPECT_NEAR(vec_a, vec_b, tolerance)\
{\
  EXPECT_TRUE((vec_a).Equal(vec_b, tolerance))\
    << "    (" << vec_a << ")\n vs (" << vec_b << ")\n"\
    << "Diff: " << (vec_a - vec_b) << "\n"\
    << "      Length: " << ( vec_a - vec_b ).Length()\
    << " (Tolerance: " << tolerance << ")\n";\
}

#endif
