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//! \author Vijay Pradeep

#include <gtest/gtest.h>
#include <actionlib/TestAction.h>
#include <actionlib/client/simple_action_client.h>

using namespace actionlib;

TEST(SimpleClient, easy_wait_test) {
  ros::NodeHandle n;
  SimpleActionClient<TestAction> client(n, "reference_action");

  bool started = client.waitForServer(ros::Duration(10.0));
  ASSERT_TRUE(started);

  TestGoal goal;
  SimpleClientGoalState state(SimpleClientGoalState::LOST);

  goal.goal = 1;
  state = client.sendGoalAndWait(goal, ros::Duration(10, 0), ros::Duration(10, 0));
  EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED) <<
    "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";

  goal.goal = 4;
  state = client.sendGoalAndWait(goal, ros::Duration(2, 0), ros::Duration(1, 0));
  EXPECT_TRUE(state == SimpleClientGoalState::PREEMPTED) <<
    "Expected [PREEMPTED], but goal state is [" << client.getState().toString() << "]";
}

void spinThread()
{
  ros::NodeHandle nh;
  ros::spin();
}

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

  ros::init(argc, argv, "simple_client_test");

  boost::thread spin_thread(&spinThread);

  int result = RUN_ALL_TESTS();

  ros::shutdown();

  spin_thread.join();

  return result;
}
