#!/usr/bin/env python3

# Copyright (c) 2009, Willow Garage, Inc.
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#       this software without specific prior written permission.
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import roslib; roslib.load_manifest('test_nodelet')
import rospy
from std_msgs.msg import Float64
import unittest
import rostest
import random

class PlusTester:
    def __init__(self, topic_in, topic_out, delta):
        self.pub = rospy.Publisher(topic_in, Float64)
        self.sub = rospy.Subscriber(topic_out, Float64, self.callback)
        self.expected_delta = delta
        self.send_value = random.random()
        self.recieved = False
        self.result = False
        self.delta = delta

    def run(self, cycles = 10):
        for i in range(1, cycles):
            self.pub.publish(Float64(self.send_value))
            rospy.loginfo("Sent %f"%self.send_value);
            if self.recieved == True:
                break
            rospy.sleep(1.0)
        return self.result

    def callback(self, data):
        rospy.loginfo(rospy.get_name()+" I heard %s which was a change of %f",data.data, data.data-self.send_value)
        if data.data ==  self.send_value + self.delta:
            self.result = True
        self.recieved = True

class TestPlus(unittest.TestCase):
    def test_param(self):
        pb = PlusTester("Plus/in", "Plus/out", 2.1)
        self.assertTrue(pb.run())

    def test_default_param(self):
        pb = PlusTester("Plus2/in", "Plus2/out", 10.0)
        self.assertTrue(pb.run())

    def test_standalone(self):
        pb = PlusTester("Plus2/out", "Plus3/out", 2.5)
        self.assertTrue(pb.run())

    def test_remap(self):
        pb = PlusTester("plus_remap/in", "remapped_output", 2.1)
        self.assertTrue(pb.run())

    def test_chain(self):
        pb = PlusTester("Plus2/in", "Plus3/out", 12.5)
        self.assertTrue(pb.run())

if __name__ == '__main__':
    rospy.init_node('plus_local')
    rostest.rosrun('test_nodelet', 'test_plus', TestPlus)