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#pragma once

#include "pilz_industrial_motion_planner/joint_limits_container.h"
#include "pilz_industrial_motion_planner/joint_limits_extension.h"

namespace pilz_industrial_motion_planner
{
/**
 * @brief Validates the equality of all limits inside a container
 */
class JointLimitsValidator
{
public:
  /**
   * @brief Validates that the position limits of all limits are equal
   * @param joint_limits the joint limits
   * @return true if all are equal
   * @note always returns true if has_position_limits=false for all limits, or
   * if the size of joint_limits is 0 or 1
   */
  static bool validateAllPositionLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  /**
   * @brief Validates that the velocity of all limits is equal
   * @param joint_limits the joint limits
   * @return true if all are equal
   * @note always returns true if has_velocity_limits=false for all limits, or
   * if the size of joint_limits is 0 or 1
   */
  static bool validateAllVelocityLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  /**
   * @brief Validates that the acceleration of all limits is equal
   * @param joint_limits the joint limits
   * @return true if all are equal
   * @note always returns true if has_acceleration_limits=false for all limits,
   * or if size of joint_limits is 0 or 1
   */
  static bool
  validateAllAccelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  /**
   * @brief Validates that the deceleration of all limits is equal
   * @param joint_limits the joint limits
   * @return true if all are equal
   * @note always returns true if has_acceleration_limits=false for all limits,
   * or if size of joint_limits is 0 or 1
   */
  static bool
  validateAllDecelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

private:
  static bool validateWithEqualFunc(bool (*eq_func)(const JointLimit&, const JointLimit&),
                                    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  static bool positionEqual(const JointLimit& lhs, const JointLimit& rhs);

  static bool velocityEqual(const JointLimit& lhs, const JointLimit& rhs);

  static bool accelerationEqual(const JointLimit& lhs, const JointLimit& rhs);

  static bool decelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
};

/** A base class for all validations exceptions inheriting from std::runtime_exception */
class ValidationException : public std::runtime_error
{
public:
  ValidationException(const std::string& error_desc) : std::runtime_error(error_desc)
  {
  }
};

/** Thrown when the limits for a joint are defined in the urdf but not on the parameter server (loaded from yaml) */
class ValidationJointMissingException : public ValidationException
{
public:
  ValidationJointMissingException(const std::string& error_desc) : ValidationException(error_desc)
  {
  }
};

/** Thrown when the limits differ */
class ValidationDifferentLimitsException : public ValidationException
{
public:
  ValidationDifferentLimitsException(const std::string& error_desc) : ValidationException(error_desc)
  {
  }
};

/** Thrown when the limits from the param server are weaker than the ones obtained from the urdf */
class ValidationBoundsViolationException : public ValidationException
{
public:
  ValidationBoundsViolationException(const std::string& error_desc) : ValidationException(error_desc)
  {
  }
};

}  // namespace pilz_industrial_motion_planner
