/*
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"

class TestAction0 : public ArAction
{
public:
  TestAction0(const char *name) : ArAction(name) 
    {}; 
  virtual ~TestAction0(void) {}
  ArActionDesired *fire(ArActionDesired currentDesired) { return NULL; }
};

class TestAction1 : public ArAction
{
public:
  TestAction1(const char *name, const char *description = "") : 
    ArAction(name, description)
    { 
      setNextArgument(ArArg("first", &myDouble)); 
      myDouble = 1;
    }; 
  virtual ~TestAction1(void) {}
  ArActionDesired *fire(ArActionDesired currentDesired) { return NULL; }
  double myDouble;
};


class TestAction3 : public ArAction
{
public:
  TestAction3(const char *name, const char *description = "") :
    ArAction(name, description)
    { 
      setNextArgument(ArArg("first", &myDouble, "That infamous double")); 
      setNextArgument(ArArg("second", &myInt)); 
      setNextArgument(ArArg("third", myString, "An infamous string", sizeof(myString)));
      myDouble = 3;
      myInt = 3;
      strcpy(myString, "3");
    }; 
  virtual ~TestAction3(void) {}
  ArActionDesired *fire(ArActionDesired currentDesired) { return NULL; }
  double myDouble;
  int myInt; 
  char myString[512];
};




int main(void)
{
  ArArg *arg;

  printf("Test0 should have no arguments\nIt should have no description.\n----------------------------------\n");
  TestAction0 ta0("Test0");
  ta0.log();
  printf("Test1 should have one argument.\nA double equal to 1.\nIt should have no description.\n----------------------------------\n");
  TestAction1 ta1("Test1");
  ta1.log();
  printf("Test3 should have 3 arguments.\nA double, an int, and a string equal to 3.\nIt should also have a description.\n----------------------------------\n");
  TestAction3 ta3("Test3", "The real test class");
  ta3.log();

  printf("Okay, now the automated test bit:\n");
  arg = ta3.getArg(0);
  if (arg->getType() == ArArg::DOUBLE && arg->getDouble() == 3 && 
      ta3.myDouble == 3)
    printf("Double argument type and equality: passed.\n");
  else
  {
    printf("Double argument type and equality: FAILED.\n");
    exit(1);
  }
  arg->setDouble(6);
  printf("Double argument setting:  %f %f:", arg->getDouble(), ta3.myDouble);
  if (arg->getDouble() == 6 && ta3.myDouble == 6)
    printf(" passed\n");
  else
  {
    printf(" FAILED\n");
    exit(1);
  }

  arg = ta3.getArg(1);
  if (arg->getType() == ArArg::INT && arg->getInt() == 3 && 
      ta3.myInt == 3)
    printf("Int argument type and equality: passed.\n");
  else
  {
    printf("Int argument type and equality: FAILED.\n");
    exit(1);
  }
  arg->setInt(6);
  printf("Int argument setting:  %d %d:", arg->getInt(), ta3.myInt);
  if (arg->getInt() == 6 && ta3.myInt == 6)
    printf(" passed\n");
  else
  {
    printf(" FAILED\n");
    exit(1);
  }

  arg = ta3.getArg(2);
  if (arg->getType() == ArArg::STRING && strcmp(arg->getString(), "3") == 0 && 
      strcmp(ta3.myString, "3") == 0)
    printf("String argument type and equality: passed.\n");
  else
  {
    printf("String argument type and equality: FAILED.\n");
    exit(1);
  }
  
  arg->setString("6");
  printf("String argument setting:  %s %s:", arg->getString(), 
	 ta3.myString);
  if (strcmp(arg->getString(), "6") == 0 && strcmp(ta3.myString, "6") == 0)
    printf(" passed\n");
  else
  {
    printf(" FAILED\n");
    exit(1);
  }

  printf("\nAll tests PASSED\n");
}