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#include <chrono>

#include "autopilot_tester_follow_me.h"



TEST_CASE("Follow target - Position streaming", "[multicopter]")
{
	const bool stream_velocity = false;
	AutopilotTesterFollowMe tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.arm();

	const float takeoff_altitude = 10.0;
	tester.set_takeoff_altitude(takeoff_altitude);
	tester.takeoff();
	tester.wait_until_hovering();

	tester.straight_line_test(stream_velocity);

	tester.land();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Follow target - Position and velocity streaming", "[multicopter]")
{
	const bool stream_velocity = true;
	AutopilotTesterFollowMe tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.arm();

	const float takeoff_altitude = 10.0;
	tester.set_takeoff_altitude(takeoff_altitude);
	tester.takeoff();
	tester.wait_until_hovering();

	tester.straight_line_test(stream_velocity);

	tester.land();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Follow target - Velocity streaming only", "[multicopter]")
{
	// Streaming only velocity should not work, the drone should not move.
	// There needs to be at least one position message for follow-me
	// to be able to integrate velocity.
	AutopilotTesterFollowMe tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.arm();

	const float takeoff_altitude = 10.0;
	tester.set_takeoff_altitude(takeoff_altitude);
	tester.takeoff();
	tester.wait_until_hovering();

	tester.stream_velocity_only();

	tester.land();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
	tester.wait_until_disarmed(until_disarmed_timeout);
	tester.check_home_within(1.0f);
}

TEST_CASE("Follow target - RC Adjustment", "[multicopter]")
{
	AutopilotTesterFollowMe tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.arm();

	const float takeoff_altitude = 10.0;
	tester.set_takeoff_altitude(takeoff_altitude);
	tester.takeoff();
	tester.wait_until_hovering();

	tester.rc_adjustment_test();

	tester.land();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
	tester.wait_until_disarmed(until_disarmed_timeout);
}