class TC_GenerationTasks

# File test/gen/test_tasks.rb, line 5
def setup
    @project = OroGen::Gen::RTT_CPP::Project.new
    project.name 'test'
    @task = project.task_context 'Task'
    super
end

# File test/gen/test_tasks.rb, line 175
    def test_default_values
        project.deffile = File.join(path_to_wc_root, 'test.orogen')
        Tempfile.open("orogen_test_default_values") do |io|
            io.puts <<-EOCODE
enum TestEnum {
    VALUE0 = 0,
    VALUE1 = 1
};

struct AStruct {
    int bla;
};
            EOCODE
            io.flush
            project.import_types_from io.path
            project.typekit.perform_pending_loads
        end

        assert_raises(ArgumentError) { task.property('str', '/std/string', 3) }
        task.property('str', '/std/string', "3")
        
        assert_raises(ArgumentError) { task.property('num', '/double', "3") }
        task.property('num', '/double', 3)
        
        assert_raises(ArgumentError) { task.property('enum', '/TestEnum', "3") }
        assert_raises(ArgumentError) { task.property('enum', '/TestEnum', 3) }
        assert_raises(ArgumentError) { task.property('enum', '/TestEnum', "VALUE10") }
        task.property('enum', '/TestEnum', :VALUE0)
        task.property('enum1', '/TestEnum', 'VALUE0')

        assert_raises(ArgumentError) { task.property('struct', '/AStruct', "3") }
        assert_raises(ArgumentError) { task.property('struct', '/AStruct', :bla => 3) }

        assert_raises(ArgumentError) { task.property('bool', '/int', "VALUE10") }

        assert_raises(ArgumentError) { task.property('bool', '/bool', "VALUE10") }
        task.property('bool', '/bool', true)
        task.property('bool1', '/bool', false)
    end

# File test/gen/test_tasks.rb, line 20
def test_generation_of_an_empty_task
    create_wc("tasks/task_context")
    compile_wc(project)
end

# File test/gen/test_tasks.rb, line 123
def test_generation_of_input_and_output_ports
    task.input_port 'r', 'int'
    task.output_port 'w', 'int'

    create_wc("tasks/ports")
    compile_wc(project)
end

# File test/gen/test_tasks.rb, line 95
def test_generation_of_operations
    task.operation("MethodName").
        argument("arg1", "/std/string", "first argument").
        argument("arg2", "double", "second argument").
        argument("arg3", "double", "third argument").
        argument("arg4", "double", "fourth argument").
        returns('/std/string')

    task.operation(:symbol_name).
        doc "this method's name is a symbol"
    task.operation(:in_caller_thread).
        runs_in_caller_thread.
        doc "this method runs in caller thread"

    create_wc("tasks/method")
    compile_wc(project)
end

# File test/gen/test_tasks.rb, line 25
def test_generation_of_properties
    %w{/double /std/vector</double>}.each_with_index do |typename, i|
        task.property("p#{i}", typename).doc("property #{i}")
    end

    create_wc("tasks/property")
    compile_wc(project)
end

# File test/gen/test_tasks.rb, line 113
def test_input_port_sets_the_orocos_class_properly
    p = task.input_port 'r', 'int'
    assert_equal("RTT::InputPort", p.orocos_class)
end

# File test/gen/test_tasks.rb, line 139
def test_it_can_generate_tasks_with_a_default_activity
    task.default_activity :periodic, 10
    deployment = project.deployment 'test'
    deployment.task 'test', task
    create_wc("tasks/default_activity")
    compile_wc(project)
end

# File test/gen/test_tasks.rb, line 152
def test_it_can_generate_tasks_with_dynamic_ports
    task.dynamic_input_port(/r$/, "/int")
    task.dynamic_output_port(/w$/, "/double")
    create_wc("tasks/dynamic_ports")
    compile_wc(project)
end

# File test/gen/test_tasks.rb, line 147
def test_needs_configuration
    build_test_project('modules/with_configuration', [])
    install
end

# File test/gen/test_tasks.rb, line 61
def test_operation_argument_add_one_argument
    meth = task.operation("methodName")
    ret = meth.argument("arg1", "/std/string", "first argument").
        returns('int32_t')
    assert_same(meth, ret)
    assert_equal("boost::int32_t methodName(::std::string const & arg1)", meth.signature(true))
    assert_equal("boost::int32_t(::std::string const &)", meth.signature(false))
    expected_arguments = [
        ["arg1", project.registry.get('std/string'), "first argument", "::std::string"]
    ]
    assert_equal(expected_arguments, meth.arguments)
end

# File test/gen/test_tasks.rb, line 74
def test_operation_argument_add_two_arguments
    meth = task.operation("method_name")
    meth.argument("arg1", "/std/string", "first argument")
    meth.argument "arg2", "double", "second argument"
    assert_equal("void method_name(::std::string const & arg1, double arg2)", meth.signature(true))
    assert_equal("void(::std::string const &, double)", meth.signature(false))
    expected_arguments = [
        ["arg1", project.registry.get('std/string'), "first argument", "::std::string"],
        ["arg2", project.registry.get('double'), "second argument", "double"]
    ]
    assert_equal(expected_arguments, meth.arguments)
end

# File test/gen/test_tasks.rb, line 87
def test_operation_argument_raises_ArgumentError_if_more_than_RTT_OPERATIONS_ARGUMENT_COUNT_LIMIT_arguments_are_set
    meth = task.operation("method_name")
    OroGen::Spec::Operation::RTT_ARGUMENT_COUNT_LIMIT.times do |i|
        meth.argument "arg#{i}", "double"
    end
    assert_raises(ArgumentError) { meth.argument "argX", "double" }
end

# File test/gen/test_tasks.rb, line 47
def test_operation_can_override_the_method_name
    meth = task.operation("method_name")
    meth.method_name "method_name"
    assert_equal("void method_name()", meth.signature)
end

# File test/gen/test_tasks.rb, line 39
def test_operation_empty_signature
    meth = task.operation("methodName")
    assert(meth.arguments.empty?)
    assert_equal("void methodName()", meth.signature)
    assert_equal("void()", meth.signature(false))
    assert_equal("void foobar()", meth.signature { "foobar" })
end

# File test/gen/test_tasks.rb, line 53
def test_operation_returns
    meth = task.operation("methodName")
    assert_same(meth, meth.returns("/int"))
    assert_equal("boost::int32_t methodName()", meth.signature)
    meth.returns nil
    assert_equal("void methodName()", meth.signature)
end

# File test/gen/test_tasks.rb, line 34
def test_operation_sets_the_method_name_to_the_op_name_with_a_lower_first_character
    meth = task.operation("Method_name")
    assert_equal("method_name", meth.method_name)
end

# File test/gen/test_tasks.rb, line 118
def test_output_port_sets_the_orocos_class_properly
    p = task.output_port 'r', 'int'
    assert_equal("RTT::OutputPort", p.orocos_class)
end

# File test/gen/test_tasks.rb, line 159
def test_state_type_definitions(*transports)
    project = build_test_project('modules/extended_states', transports)
    install

    parent = project.find_task_context "Parent"
    child  = project.find_task_context "Child"

    parent_states = project.find_type "/extstate/Parent_STATES"
    child_states  = project.find_type "/extstate/Child_STATES"

    parent_values = parent_states.keys
    child_values  = child_states.keys
    assert_equal parent_values['Parent_STATE1'], child_values['Child_STATE1']
    assert_equal parent_values['Parent_STATE2'], child_values['Child_STATE2']
end

# File test/gen/test_tasks.rb, line 14
def test_task_name_should_not_clash_with_namespace_name
    project.deffile = File.join(path_to_data, 'modules', 'typekit_simple', 'simple.orogen')
    project.typekit(true).load File.join(path_to_data, 'modules', 'typekit_simple', 'simple.h')
    assert_raises(ArgumentError) { project.task_context("Test") {} }
end

# File test/gen/test_tasks.rb, line 131
def test_task_ports_driven
    task.input_port 'r', 'int'
    task.port_driven 'r'

    create_wc("tasks/port_driven")
    compile_wc(project)
end