/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
#include "ariaUtil.h"

void testIntersection(ArLine *line1, ArLine *line2, double x, double y,
		      char *name)
{
  ArPose pose;

  if (!line1->intersects(line2, &pose) || fabs(pose.getX() - x) > .001 ||
      fabs(pose.getY() - y) > .001)
  {
    printf("%s didn't intersect\n", name);
    exit(1);
  }

  if (line1->intersects(line1, &pose))
  {
    printf("First line of %s intersected itself\n", name);
    exit(1);
  }

  if (line2->intersects(line2, &pose))
  {
    printf("Second line of %s intersected itself\n", name);
    exit(1);
  }
}

void testIntersection(ArLineSegment *line1, ArLine *line2, double x, double y,
		      char *name)
{
  ArPose pose;

  if (!line1->intersects(line2, &pose) || fabs(pose.getX() - x) > .001 ||
      fabs(pose.getY() - y) > .001)
  {
    printf("%s didn't intersect\n", name);
    exit(1);
  }

  if (line1->intersects(line1, &pose))
  {
    printf("First line of %s intersected itself\n", name);
    exit(1);
  }

  if (line2->intersects(line2, &pose))
  {
    printf("Second line of %s intersected itself\n", name);
    exit(1);
  }
}

void testIntersection(ArLineSegment *line1, ArLineSegment *line2, 
		      double x, double y, char *name)
{
  ArPose pose;

  if (!line1->intersects(line2, &pose) || fabs(pose.getX() - x) > .001 ||
      fabs(pose.getY() - y) > .001)
  {
    printf("%s didn't intersect\n", name);
    exit(1);
  }

  if (line1->intersects(line1, &pose))
  {
    printf("First line of %s intersected itself\n", name);
    exit(1);
  }

  if (line2->intersects(line2, &pose))
  {
    printf("Second line of %s intersected itself\n", name);
    exit(1);
  }
}

void testPerp(ArLineSegment *segment, ArPose perp, ArPose perpPoint, 
	      char *name)
{
  ArPose pose;
  if (!segment->getPerpPoint(perp, &pose) || 
      fabs(pose.getX() - perpPoint.getX()) > .001 ||
      fabs(pose.getY() - perpPoint.getY()) > .001)
  {
    printf("%s wasn't perp but should have been\n", name);
    exit(1);
  }
}

void testNotPerp(ArLineSegment *segment, ArPose perp, char *name)
{
  ArPose pose;
  if (segment->getPerpPoint(perp, &pose))
  {
    printf("%s was perp but shouldn't have been, at %.0f %.0f\n", name,
	   pose.getX(), pose.getY());
    exit(1);
  }
}

int main(void)
{
  ArPose pose;

  ArLine xLine(-2000, 0, 2000, 0);
  ArLine yLine(100, 500, 100, -500);
  ArLineSegment xLineSeg(-2000, 0, 2000, 0);
  ArLineSegment yLineSeg(100, 500, 100, -500);

  // test all our segments
  testIntersection(&xLine, &yLine, 100, 0, "xLine and yLine");
  testIntersection(&xLineSeg, &yLine, 100, 0, "xLineSeg and yLine");
  testIntersection(&yLineSeg, &xLine, 100, 0, "yLineSeg and xLine");
  testIntersection(&xLineSeg, &yLineSeg, 100, 0, "xLineSeg and yLineSeg");
  

  // test the perp on all the segments
  testPerp(&xLineSeg, ArPose(-2000, 50), ArPose(-2000, 0), "xLineSeg end1");
  testPerp(&xLineSeg, ArPose(2000, 50), ArPose(2000, 0), "xLineSeg end2");
  testPerp(&xLineSeg, ArPose(357, 50), ArPose(357, 0), "xLineSeg middle");
  testNotPerp(&xLineSeg, ArPose(2001, 0), "xLineSeg beyond end2");
  testNotPerp(&xLineSeg, ArPose(3000, 0), "xLineSeg way beyond end2");
  testNotPerp(&xLineSeg, ArPose(-2001, 0), "xLineSeg beyond end1");
  testNotPerp(&xLineSeg, ArPose(-3000, 0), "xLineSeg way beyond end1");
  
  testPerp(&xLineSeg, ArPose(1000, 0), ArPose(1000, 0), "xLineSeg point on line");

  printf("All tests completed successfully\n");

  return 0;
}