#!/usr/bin/env python

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# Author: William Baker

import unittest

import genpy
import numpy as np
import rospy
import rostest
import os

from moveit_msgs.msg import (
    RobotState,
    PlanningSceneComponents,
    PlanningScene,
)
from sensor_msgs.msg import JointState

from moveit_commander import (
    RobotCommander,
    PlanningSceneInterface,
    MoveItCommanderException,
)


class PythonMoveitCommanderTest(unittest.TestCase):
    PLANNING_GROUP = "manipulator"
    JOINT_NAMES = [
        "joint_1",
        "joint_2",
        "joint_3",
        "joint_4",
        "joint_5",
        "joint_6",
    ]

    @classmethod
    def setUpClass(self):
        self.commander = RobotCommander("robot_description")
        self.group = self.commander.get_group(self.PLANNING_GROUP)

    @classmethod
    def tearDown(self):
        pass

    def test_enforce_bounds_empty_state(self):
        in_msg = RobotState()
        with self.assertRaises(genpy.DeserializationError):
            self.group.enforce_bounds(in_msg)

    def test_enforce_bounds(self):
        in_msg = RobotState()
        in_msg.joint_state.header.frame_id = "base_link"
        in_msg.joint_state.name = self.JOINT_NAMES
        in_msg.joint_state.position = [0] * 6
        in_msg.joint_state.position[0] = 1000

        out_msg = self.group.enforce_bounds(in_msg)

        self.assertEqual(in_msg.joint_state.position[0], 1000)
        self.assertLess(out_msg.joint_state.position[0], 1000)

    def test_get_current_state(self):
        expected_state = RobotState()
        expected_state.joint_state.header.frame_id = "base_link"
        expected_state.multi_dof_joint_state.header.frame_id = "base_link"
        expected_state.joint_state.name = self.JOINT_NAMES
        expected_state.joint_state.position = [0] * 6
        self.assertEqual(self.group.get_current_state(), expected_state)

    def check_target_setting(self, expect, *args):
        if len(args) == 0:
            args = [expect]
        self.group.set_joint_value_target(*args)
        res = self.group.get_joint_value_target()
        self.assertTrue(
            np.all(np.asarray(res) == np.asarray(expect)),
            "Setting failed for %s, values: %s" % (type(args[0]), res),
        )

    def test_target_setting(self):
        n = self.group.get_variable_count()
        self.check_target_setting([0.1] * n)
        self.check_target_setting((0.2,) * n)
        self.check_target_setting(np.zeros(n))
        self.check_target_setting(
            [0.3] * n, {name: 0.3 for name in self.group.get_active_joints()}
        )
        self.check_target_setting([0.5] + [0.3] * (n - 1), "joint_1", 0.5)

        js_target = JointState(name=self.JOINT_NAMES, position=[0.1] * n)
        self.check_target_setting([0.1] * n, js_target)
        # name and position should have the same size, or raise exception
        with self.assertRaises(MoveItCommanderException):
            js_target.position = []
            self.check_target_setting(None, js_target)

    def plan(self, target):
        self.group.set_joint_value_target(target)
        return self.group.plan()

    def test_plan(self):
        state = JointState(name=self.JOINT_NAMES, position=[0, 0, 0, 0, 0, 0])
        self.assertTrue(self.group.plan(state.position)[0])
        self.assertTrue(self.group.plan("current")[0])
        self.assertTrue(state, self.group.plan()[0])

    def test_validation(self):
        current = np.asarray(self.group.get_current_joint_values())

        success1, plan1, time1, err1 = self.plan(current + 0.2)
        success2, plan2, time2, err2 = self.plan(current + 0.2)
        self.assertTrue(success1)
        self.assertTrue(success2)

        # first plan should execute
        self.assertTrue(self.group.execute(plan1))

        # second plan should be invalid now (due to modified start point) and rejected
        self.assertFalse(self.group.execute(plan2))

        # newly planned trajectory should execute again
        success3, plan3, time3, err3 = self.plan(current)
        self.assertTrue(success3)
        self.assertTrue(self.group.execute(plan3))

    def test_gogogo(self):
        current_joints = np.asarray(self.group.get_current_joint_values())

        self.group.set_joint_value_target(current_joints)
        self.assertTrue(self.group.go(True))

        self.assertTrue(self.group.go(current_joints))
        self.assertTrue(self.group.go(list(current_joints)))
        self.assertTrue(self.group.go(tuple(current_joints)))
        self.assertTrue(
            self.group.go(JointState(name=self.JOINT_NAMES, position=current_joints))
        )

        self.group.remember_joint_values("current")
        self.assertTrue(self.group.go("current"))

        current_pose = self.group.get_current_pose()
        self.assertTrue(self.group.go(current_pose))


class PythonPSITest(unittest.TestCase):
    @classmethod
    def setUpClass(self):
        self.psi = PlanningSceneInterface()

    def get_acm(self):
        return self.psi.get_planning_scene(
            PlanningSceneComponents.ALLOWED_COLLISION_MATRIX
        ).allowed_collision_matrix

    def apply_acm(self, acm):
        scene = PlanningScene()
        scene.allowed_collision_matrix = acm
        scene.is_diff = True
        scene.robot_state.is_diff = True
        self.psi.apply_planning_scene(scene)

    def test_add_remove_object(self):
        self.assertEqual(len(self.psi.get_known_object_names()), 0)

        self.psi.add_box("obj", [0.5, 0.5, 0.5], [0.5, 0.5, 0.5])
        self.assertEqual(self.psi.get_known_object_names(), ["obj"])

        self.psi.remove_world_object("obj")
        self.assertEqual(len(self.psi.get_known_object_names()), 0)

    def test_acm(self):
        acm = self.get_acm()
        self.assertFalse("obj" in acm.entry_names)
        self.assertFalse("obj" in acm.default_entry_names)

        acm.set_allowed("obj")
        self.assertTrue("obj" in acm.default_entry_names)
        self.apply_acm(acm)

        acm = self.get_acm()
        self.assertTrue("obj" in acm.default_entry_names)


if __name__ == "__main__":
    PKGNAME = "moveit_ros_planning_interface"
    NODENAME = "moveit_test_python_moveit_commander"
    rospy.init_node(NODENAME)
    rostest.rosrun(PKGNAME, NODENAME, PythonMoveitCommanderTest)

    # suppress cleanup segfault
    os._exit(0)
