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#include "autopilot_tester_figure_eight.h"

#include <chrono>
#include <thread>

TEST_CASE("Figure eight execution clockwise", "[vtol]")
{
	AutopilotTesterFigureEight tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	const float takeoff_altitude = 20.f;
	tester.set_takeoff_altitude(takeoff_altitude);
	std::this_thread::sleep_for(std::chrono::seconds(3));
	tester.arm();
	tester.takeoff();
	tester.wait_until_hovering();
	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30));
	tester.transition_to_fixedwing();
	tester.wait_until_fixedwing(std::chrono::seconds(5));
	std::this_thread::sleep_for(std::chrono::seconds(1));
	tester.set_figure_eight(150., 50., 0., 200., 0., 20.);
	tester.execute_figure_eight();
	tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);
	// tester.check_receive_execution_status(std::chrono::seconds(
	// 		5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk
}

TEST_CASE("Figure eight execution counterclockwise", "[vtol]")
{
	AutopilotTesterFigureEight tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	const float takeoff_altitude = 20.f;
	tester.set_takeoff_altitude(takeoff_altitude);
	std::this_thread::sleep_for(std::chrono::seconds(3));
	tester.arm();
	tester.takeoff();
	tester.wait_until_hovering();
	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30));
	tester.transition_to_fixedwing();
	tester.wait_until_fixedwing(std::chrono::seconds(5));
	std::this_thread::sleep_for(std::chrono::seconds(1));
	tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.);
	tester.execute_figure_eight();
	tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);
	// tester.check_receive_execution_status(std::chrono::seconds(
	// 		5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk.
}