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/* Author: Ioan Sucan */

#include <gtest/gtest.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/message_checks.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <sstream>
#include <string>
#include <boost/filesystem/path.hpp>
#include <ros/package.h>
#include <octomap_msgs/conversions.h>
#include <octomap/octomap.h>

#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_plugin_cache.h>

TEST(PlanningScene, LoadRestore)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  auto srdf_model = std::make_shared<srdf::Model>();
  planning_scene::PlanningScene ps(urdf_model, srdf_model);
  moveit_msgs::PlanningScene ps_msg;
  ps.getPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps.getName(), ps_msg.name);
  EXPECT_EQ(ps.getRobotModel()->getName(), ps_msg.robot_model_name);
  ps.setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps.getName(), ps_msg.name);
  EXPECT_EQ(ps.getRobotModel()->getName(), ps_msg.robot_model_name);
}

TEST(PlanningScene, LoadOctomap)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  auto srdf_model = std::make_shared<srdf::Model>();
  planning_scene::PlanningScene ps(urdf_model, srdf_model);

  {  // check octomap before doing any operations on it
    octomap_msgs::OctomapWithPose msg;
    ps.getOctomapMsg(msg);
    EXPECT_TRUE(msg.octomap.id.empty());
    EXPECT_TRUE(msg.octomap.data.empty());
  }

  {  // fill PlanningScene's octomap
    octomap::OcTree octomap(0.1);
    octomap::point3d origin(0, 0, 0);
    octomap::point3d end(0, 1, 2);
    octomap.insertRay(origin, end);

    // populate PlanningScene with octomap
    moveit_msgs::PlanningScene msg;
    msg.is_diff = true;
    octomap_msgs::fullMapToMsg(octomap, msg.world.octomap.octomap);
    ps.setPlanningSceneDiffMsg(msg);

    // validate octomap message
    octomap_msgs::OctomapWithPose octomap_msg;
    ps.getOctomapMsg(octomap_msg);
    EXPECT_EQ(octomap_msg.octomap.id, "OcTree");
    EXPECT_EQ(octomap_msg.octomap.data.size(), msg.world.octomap.octomap.data.size());
  }

  {  // verify that a PlanningScene msg with an empty octomap id does not modify the octomap
    // create planning scene
    moveit_msgs::PlanningScene msg;
    msg.is_diff = true;
    ps.setPlanningSceneDiffMsg(msg);

    octomap_msgs::OctomapWithPose octomap_msg;
    ps.getOctomapMsg(octomap_msg);
    EXPECT_EQ(octomap_msg.octomap.id, "OcTree");
    EXPECT_FALSE(octomap_msg.octomap.data.empty());
  }

  {  // check that a non-empty octomap id, but empty octomap will clear the octomap
    moveit_msgs::PlanningScene msg;
    msg.is_diff = true;
    msg.world.octomap.octomap.id = "xxx";
    ps.setPlanningSceneDiffMsg(msg);
    EXPECT_FALSE(static_cast<bool>(ps.getWorld()->getObject(planning_scene::PlanningScene::OCTOMAP_NS)));
  }
}

TEST(PlanningScene, LoadRestoreDiff)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  auto srdf_model = std::make_shared<srdf::Model>();
  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);

  collision_detection::World& world = *ps->getWorldNonConst();

  /* add one object to ps's world */
  Eigen::Isometry3d id = Eigen::Isometry3d::Identity();
  world.addToObject("sphere", shapes::ShapeConstPtr(new shapes::Sphere(0.4)), id);

  /* ps can be written to and set from message */
  moveit_msgs::PlanningScene ps_msg;
  ps_msg.robot_state.is_diff = true;
  EXPECT_TRUE(moveit::core::isEmpty(ps_msg));
  ps->getPlanningSceneMsg(ps_msg);
  ps->setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 1u);
  EXPECT_EQ(ps_msg.world.collision_objects[0].id, "sphere");
  EXPECT_TRUE(world.hasObject("sphere"));

  /* test diff scene on top of ps */
  planning_scene::PlanningScenePtr next = ps->diff();
  /* world is inherited from ps */
  EXPECT_TRUE(next->getWorld()->hasObject("sphere"));

  /* object in overlay is only added in overlay */
  next->getWorldNonConst()->addToObject("sphere_in_next_only", shapes::ShapeConstPtr(new shapes::Sphere(0.5)), id);
  EXPECT_EQ(next->getWorld()->size(), 2u);
  EXPECT_EQ(ps->getWorld()->size(), 1u);

  /* the worlds used for collision detection contain one and two objects, respectively */
  EXPECT_EQ(ps->getCollisionEnv()->getWorld()->size(), 1u);
  EXPECT_EQ(ps->getCollisionEnvUnpadded()->getWorld()->size(), 1u);

  EXPECT_EQ(next->getCollisionEnv()->getWorld()->size(), 2u);
  EXPECT_EQ(next->getCollisionEnvUnpadded()->getWorld()->size(), 2u);

  /* maintained diff contains only overlay object */
  next->getPlanningSceneDiffMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 1u);

  /* copy ps to next and apply diff */
  next->decoupleParent();
  moveit_msgs::PlanningScene ps_msg2;

  /* diff is empty now */
  next->getPlanningSceneDiffMsg(ps_msg2);
  EXPECT_EQ(ps_msg2.world.collision_objects.size(), 0u);

  /* next's world contains both objects */
  next->getPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 2u);
  ps->setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps->getWorld()->size(), 2u);
  EXPECT_EQ(ps->getCollisionEnv()->getWorld()->size(), 2u);
  EXPECT_EQ(ps->getCollisionEnvUnpadded()->getWorld()->size(), 2u);
}

TEST(PlanningScene, MakeAttachedDiff)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  auto srdf_model = std::make_shared<srdf::Model>();
  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);

  /* add a single object to ps's world */
  collision_detection::World& world = *ps->getWorldNonConst();
  Eigen::Isometry3d id = Eigen::Isometry3d::Identity();
  world.addToObject("sphere", shapes::ShapeConstPtr(new shapes::Sphere(0.4)), id);

  /* attach object in diff */
  planning_scene::PlanningScenePtr attached_object_diff_scene = ps->diff();

  moveit_msgs::AttachedCollisionObject att_obj;
  att_obj.link_name = "r_wrist_roll_link";
  att_obj.object.operation = moveit_msgs::CollisionObject::ADD;
  att_obj.object.id = "sphere";
  attached_object_diff_scene->processAttachedCollisionObjectMsg(att_obj);

  /* object is not in world anymore */
  EXPECT_EQ(attached_object_diff_scene->getWorld()->size(), 0u);
  /* it became part of the robot state though */
  EXPECT_TRUE(attached_object_diff_scene->getCurrentState().hasAttachedBody("sphere"));

  collision_detection::CollisionRequest req;
  collision_detection::CollisionResult res;
  attached_object_diff_scene->checkCollision(req, res);
  ps->checkCollision(req, res);
}

TEST(PlanningScene, isStateValid)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
  moveit::core::RobotState current_state = ps->getCurrentState();
  if (ps->isStateColliding(current_state, "left_arm"))
  {
    EXPECT_FALSE(ps->isStateValid(current_state, "left_arm"));
  }
}

TEST(PlanningScene, loadGoodSceneGeometryNewFormat)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());

  std::istringstream good_scene_geometry;
  good_scene_geometry.str("foobar_scene\n"
                          "* foo\n"
                          "0 0 0\n"
                          "0 0 0 1\n"
                          "1\n"
                          "box\n"
                          "2.58 1.36 0.31\n"
                          "1.49257 1.00222 0.170051\n"
                          "0 0 4.16377e-05 1\n"
                          "0 0 1 0.3\n"
                          "0\n"
                          "* bar\n"
                          "0 0 0\n"
                          "0 0 0 1\n"
                          "1\n"
                          "cylinder\n"
                          "0.02 0.0001\n"
                          "0.453709 0.499136 0.355051\n"
                          "0 0 4.16377e-05 1\n"
                          "1 0 0 1\n"
                          "0\n"
                          ".\n");
  EXPECT_TRUE(ps->loadGeometryFromStream(good_scene_geometry));
  EXPECT_EQ(ps->getName(), "foobar_scene");
  EXPECT_TRUE(ps->getWorld()->hasObject("foo"));
  EXPECT_TRUE(ps->getWorld()->hasObject("bar"));
  EXPECT_FALSE(ps->getWorld()->hasObject("baz"));  // Sanity check.
}

TEST(PlanningScene, loadGoodSceneGeometryOldFormat)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());

  std::istringstream good_scene_geometry;
  good_scene_geometry.str("foobar_scene\n"
                          "* foo\n"
                          "2\n"
                          "box\n"
                          ".77 0.39 0.05\n"
                          "0 0 0.025\n"
                          "0 0 0 1\n"
                          "0.82 0.75 0.60 1\n"
                          "box\n"
                          ".77 0.39 0.05\n"
                          "0 0 1.445\n"
                          "0 0 0 1\n"
                          "0.82 0.75 0.60 1\n"
                          ".\n");
  EXPECT_TRUE(ps->loadGeometryFromStream(good_scene_geometry));
  EXPECT_EQ(ps->getName(), "foobar_scene");
  EXPECT_TRUE(ps->getWorld()->hasObject("foo"));
  EXPECT_FALSE(ps->getWorld()->hasObject("baz"));  // Sanity check.
}

TEST(PlanningScene, loadBadSceneGeometry)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
  std::istringstream empty_scene_geometry;

  // This should fail since there is no planning scene name and no end of geometry marker.
  EXPECT_FALSE(ps->loadGeometryFromStream(empty_scene_geometry));

  std::istringstream malformed_scene_geometry;
  malformed_scene_geometry.str("malformed_scene_geometry\n"
                               "* foo\n"
                               "0 0 0\n"
                               "0 0 0 1\n"
                               "1\n"
                               "box\n"
                               "2.58 1.36\n" /* Only two tokens; should be 3 */
                               "1.49257 1.00222 0.170051\n"
                               "0 0 4.16377e-05 1\n"
                               "0 0 1 0.3\n"
                               ".\n");
  EXPECT_FALSE(ps->loadGeometryFromStream(malformed_scene_geometry));
}

TEST(PlanningScene, FailRetrievingNonExistentObject)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  planning_scene::PlanningScene ps{ robot_model };
  moveit_msgs::CollisionObject obj;
  EXPECT_FALSE(ps.getCollisionObjectMsg(obj, "non_existent_object"));
}

class CollisionDetectorTests : public testing::TestWithParam<const char*>
{
};
TEST_P(CollisionDetectorTests, ClearDiff)
{
  const std::string plugin_name = GetParam();
  SCOPED_TRACE(plugin_name);

  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  auto srdf_model = std::make_shared<srdf::Model>();
  // create parent scene
  planning_scene::PlanningScenePtr parent = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);

  collision_detection::CollisionPluginCache loader;
  if (!loader.activate(plugin_name, parent, true))
  {
#if defined(GTEST_SKIP_)
    GTEST_SKIP_("Failed to load collision plugin");
#else
    return;
#endif
  }

  // create child scene
  planning_scene::PlanningScenePtr child = parent->diff();

  // create collision request variables
  collision_detection::CollisionRequest req;
  collision_detection::CollisionResult res;
  moveit::core::RobotState* state = new moveit::core::RobotState(child->getRobotModel());
  state->setToDefaultValues();
  state->update();

  // there should be no collision with the environment
  res.clear();
  parent->getCollisionEnv()->checkRobotCollision(req, res, *state, parent->getAllowedCollisionMatrix());
  EXPECT_FALSE(res.collision);
  res.clear();
  child->getCollisionEnv()->checkRobotCollision(req, res, *state, child->getAllowedCollisionMatrix());
  EXPECT_FALSE(res.collision);

  // create message to add a collision object at the world origin
  moveit_msgs::PlanningScene ps_msg;
  ps_msg.is_diff = false;
  moveit_msgs::CollisionObject co;
  co.header.frame_id = "base_link";
  co.operation = moveit_msgs::CollisionObject::ADD;
  co.id = "box";
  co.pose.orientation.w = 1.0;
  {
    shape_msgs::SolidPrimitive sp;
    sp.type = shape_msgs::SolidPrimitive::BOX;
    sp.dimensions = { 1., 1., 1. };
    co.primitives.push_back(sp);
    geometry_msgs::Pose sp_pose;
    sp_pose.orientation.w = 1.0;
    co.primitive_poses.push_back(sp_pose);
  }
  ps_msg.world.collision_objects.push_back(co);

  // add object to the parent planning scene
  parent->usePlanningSceneMsg(ps_msg);

  // the parent scene should be in collision
  res.clear();
  parent->getCollisionEnv()->checkRobotCollision(req, res, *state, parent->getAllowedCollisionMatrix());
  EXPECT_TRUE(res.collision);

  // the child scene was not updated yet, so no collision
  res.clear();
  child->getCollisionEnv()->checkRobotCollision(req, res, *state, child->getAllowedCollisionMatrix());
  EXPECT_FALSE(res.collision);

  // update the child scene
  child->clearDiffs();

  // child and parent scene should be in collision
  res.clear();
  parent->getCollisionEnv()->checkRobotCollision(req, res, *state, parent->getAllowedCollisionMatrix());
  EXPECT_TRUE(res.collision);
  res.clear();
  child->getCollisionEnv()->checkRobotCollision(req, res, *state, child->getAllowedCollisionMatrix());
  EXPECT_TRUE(res.collision);

  child.reset();
  parent.reset();
}

// Returns a planning scene diff message
moveit_msgs::PlanningScene create_planning_scene_diff(const planning_scene::PlanningScene& ps,
                                                      const std::string& object_name, const int8_t operation,
                                                      const bool attach_object = false, const bool create_object = true)
{
  // Helper function to create an object for RobotStateDiffBug
  auto add_object = [](const std::string& object_name, const int8_t operation) {
    moveit_msgs::CollisionObject co;
    co.header.frame_id = "panda_link0";
    co.id = object_name;
    co.operation = operation;
    co.primitives.push_back([] {
      shape_msgs::SolidPrimitive primitive;
      primitive.type = shape_msgs::SolidPrimitive::SPHERE;
      primitive.dimensions.push_back(1.0);
      return primitive;
    }());
    co.primitive_poses.push_back([] {
      geometry_msgs::Pose pose;
      pose.orientation.w = 1.0;
      return pose;
    }());
    co.pose = co.primitive_poses[0];
    return co;
  };
  // Helper function to create an attached object for RobotStateDiffBug
  auto add_attached_object = [](const std::string& object_name, const int8_t operation) {
    moveit_msgs::AttachedCollisionObject aco;
    aco.object.operation = operation;
    aco.object.id = object_name;
    aco.link_name = "panda_link0";
    return aco;
  };

  auto new_ps = ps.diff();
  if ((operation == moveit_msgs::CollisionObject::REMOVE && !attach_object) ||
      (operation == moveit_msgs::CollisionObject::ADD && create_object))
    new_ps->processCollisionObjectMsg(add_object(object_name, operation));
  if (attach_object)
    new_ps->processAttachedCollisionObjectMsg(add_attached_object(object_name, operation));
  moveit_msgs::PlanningScene scene_msg;
  new_ps->getPlanningSceneDiffMsg(scene_msg);
  return scene_msg;
}

// Returns collision objects names sorted alphabetically
std::set<std::string> get_collision_objects_names(const planning_scene::PlanningScene& ps)
{
  std::vector<moveit_msgs::CollisionObject> collision_objects;
  ps.getCollisionObjectMsgs(collision_objects);
  std::set<std::string> collision_objects_names;
  for (const auto& collision_object : collision_objects)
    collision_objects_names.emplace(collision_object.id);
  return collision_objects_names;
}

// Returns attached collision objects names sorted alphabetically
std::set<std::string> get_attached_collision_objects_names(const planning_scene::PlanningScene& ps)
{
  std::vector<moveit_msgs::AttachedCollisionObject> collision_objects;
  ps.getAttachedCollisionObjectMsgs(collision_objects);
  std::set<std::string> collision_objects_names;
  for (const auto& collision_object : collision_objects)
    collision_objects_names.emplace(collision_object.object.id);
  return collision_objects_names;
}

TEST(PlanningScene, RobotStateDiffBug)
{
  auto urdf_model = moveit::core::loadModelInterface("panda");
  auto srdf_model = std::make_shared<srdf::Model>();
  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);

  // Adding collision objects incrementally
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object1", moveit_msgs::CollisionObject::ADD);
    const auto ps2 = create_planning_scene_diff(*ps, "object2", moveit_msgs::CollisionObject::ADD);

    ps->usePlanningSceneMsg(ps1);
    ps->usePlanningSceneMsg(ps2);
    EXPECT_EQ(get_collision_objects_names(*ps), (std::set<std::string>{ "object1", "object2" }));
  }

  // Removing a collision object
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object2", moveit_msgs::CollisionObject::REMOVE);

    ps->usePlanningSceneMsg(ps1);
    EXPECT_EQ(get_collision_objects_names(*ps), (std::set<std::string>{ "object1" }));
  }

  // Adding attached collision objects incrementally
  ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object1", moveit_msgs::CollisionObject::ADD, true);
    const auto ps2 = create_planning_scene_diff(*ps, "object2", moveit_msgs::CollisionObject::ADD, true);

    ps->usePlanningSceneMsg(ps1);
    ps->usePlanningSceneMsg(ps2);
    EXPECT_TRUE(get_collision_objects_names(*ps).empty());
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1", "object2" }));
  }

  // Removing an attached collision object
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object2", moveit_msgs::CollisionObject::REMOVE, true);
    ps->usePlanningSceneMsg(ps1);

    EXPECT_EQ(get_collision_objects_names(*ps), (std::set<std::string>{ "object2" }));
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1" }));
  }

  // Turn an existing collision object into an attached object
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object2", moveit_msgs::CollisionObject::ADD, true, false);
    ps->usePlanningSceneMsg(ps1);

    EXPECT_TRUE(get_collision_objects_names(*ps).empty());
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1", "object2" }));
  }

  // Removing an attached collision object completely
  {
    auto ps1 = ps->diff();
    moveit_msgs::CollisionObject co;
    co.id = "object2";
    co.operation = moveit_msgs::CollisionObject::REMOVE;
    moveit_msgs::AttachedCollisionObject aco;
    aco.object = co;

    ps1->processAttachedCollisionObjectMsg(aco);  // detach
    ps1->processCollisionObjectMsg(co);           // and eventually remove object

    moveit_msgs::PlanningScene msg;
    ps1->getPlanningSceneDiffMsg(msg);
    ps->usePlanningSceneMsg(msg);

    EXPECT_TRUE(get_collision_objects_names(*ps).empty());
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1" }));
  }
}

#ifndef INSTANTIATE_TEST_SUITE_P  // prior to gtest 1.10
#define INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)
#endif

// instantiate parameterized tests for common collision plugins
INSTANTIATE_TEST_SUITE_P(PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"));

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
