#  Copyright (c) 2021 Franka Emika GmbH
#
#  Licensed under the Apache License, Version 2.0 (the "License");
#  you may not use this file except in compliance with the License.
#  You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
#  Unless required by applicable law or agreed to in writing, software
#  distributed under the License is distributed on an "AS IS" BASIS,
#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
#  See the License for the specific language governing permissions and
#  limitations under the License.

from os import path

from ament_index_python.packages import get_package_share_directory
import xacro

panda_xacro_file_name = path.join(get_package_share_directory('franka_description'), 'robots',
                                  'panda_arm.urdf.xacro')


def test_load():
    urdf = xacro.process_file(panda_xacro_file_name).toxml()
    assert urdf.find('panda_finger_joint') == -1


def test_load_with_gripper():
    urdf = xacro.process_file(panda_xacro_file_name,
                              mappings={'hand': 'true'}).toxml()
    assert urdf.find('panda_finger_joint') != -1


def test_load_with_fake_hardware():
    urdf = xacro.process_file(panda_xacro_file_name,
                              mappings={'use_fake_hardware': 'true'}).toxml()
    assert urdf.find('fake_components/GenericSystem') != -1


def test_load_with_robot_ip():
    urdf = xacro.process_file(panda_xacro_file_name,
                              mappings={'robot_ip': 'franka_ip_address'}).toxml()
    assert urdf.find('franka_ip_address') != -1


def test_load_with_arm_id():
    urdf = xacro.process_file(panda_xacro_file_name,
                              mappings={'arm_id': 'totally_different_arm'}).toxml()
    assert urdf.find('totally_different_arm_joint1') != -1


def test_check_interfaces():
    urdf = xacro.process_file(panda_xacro_file_name).toxml()
    assert urdf.find('state_interface') != -1
    assert urdf.find('command_interface') != -1
    assert urdf.find('position') != -1
    assert urdf.find('velocity') != -1
    assert urdf.find('effort') != -1


if __name__ == '__main__':
    pass