module Orocos::SelfTest

# File lib/orocos/test.rb, line 216
def assert_async_polls_until(period: 0.01, timeout: 5)
    start = Time.now
    while true
        Orocos::Async.step
        if result = yield
            return result
        end
        if Time.now - start > timeout
            flunk("timed out while waiting for condition")
        end
        sleep period
    end
end

# File lib/orocos/test.rb, line 176
def assert_state_equals(state, task, timeout = 1)
    expected_toplevel = task.toplevel_state(state)
    toplevel = task.rtt_state
    if expected_toplevel != toplevel
        flunk("#{task} was expected to be in toplevel state #{expected_toplevel} because of #{state} but is in #{toplevel}")
    end

    Integer(timeout / 0.01).times do
        if task.state == state
            return
        end
        sleep 0.01
    end
    flunk("#{task} was expected to be in state #{state} but is in #{task.state}")
end

# File lib/orocos/test.rb, line 64
def data_dir; File.join(@test_dir, 'data') end

# File lib/orocos/test.rb, line 147
def get(name)
    Orocos.get name
end

# File lib/orocos/test.rb, line 201
def ior(name)
    name_service.ior(name)
rescue Orocos::NotFound
    "IOR:010000001f00000049444c3a5254542f636f7262612f435461736b436f6e746578743a312e300000010000000000000064000000010102000d00000031302e3235302e332e31363000002bc80e000000fe8a95a65000004d25000000000000000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100"
end

# File lib/orocos/test.rb, line 137
def make_tmpdir
    dir = Dir.mktmpdir
    @__tmpdirs << dir
    dir
end

# File lib/orocos/test.rb, line 196
def name_service
    Orocos.name_service
end

# File lib/orocos/test.rb, line 165
def read_one_sample(reader, timeout = 1)
    Integer(timeout / 0.01).times do
        if value = reader.read_new
            return value
        end
        sleep 0.01

    end
    flunk("expected to receive one new sample on #{reader}, but got none (state: #{reader.port.task.rtt_state}")
end

# File lib/orocos/test.rb, line 66
def setup
    @old_pkg_config_path = ENV['PKG_CONFIG_PATH'].dup
    @__warn_for_missing_default_loggers = Orocos.warn_for_missing_default_loggers?
    Orocos.warn_for_missing_default_loggers = false
    Orocos::MQueue.auto = USE_MQUEUE

    @test_dir = File.expand_path(File.join("..", "..", 'test'), File.dirname(__FILE__))
    @__tmpdirs = Array.new

    # Since we are loading typekits over and over again, we need to
    # disable type export
    Orocos.export_types = false
    if File.directory?(work_dir)
        Orocos.default_working_directory = work_dir
        ENV['PKG_CONFIG_PATH'] += ":#{File.join(work_dir, "prefix", 'lib', 'pkgconfig')}"
        Orocos.default_pkgconfig_loader.clear
    end

    if defined?(Orocos::Async)
        Orocos::Async::NameServiceBase.default_period = 0
        Orocos::Async::TaskContextBase.default_period = 0
        Orocos::Async::CORBA::Attribute.default_period = 0
        Orocos::Async::CORBA::Property.default_period = 0
        Orocos::Async::CORBA::OutputReader.default_period = 0
    end

    @processes = Array.new

    Orocos.initialize
    @__orocos_corba_timeouts = [Orocos::CORBA.call_timeout, Orocos::CORBA.connect_timeout]
    Orocos::CORBA.call_timeout = 10000
    Orocos::CORBA.connect_timeout = 10000

    if TEST_MODEL_LESS
        flexmock(Orocos::TaskContext).new_instances(:get_from_ior).should_receive('model').and_return(nil)
        flexmock(Orocos::TaskContext).new_instances(:do_get).should_receive('model').and_return(nil)
    elsif TEST_MISSING_MODELS
        flexmock(Orocos).should_receive(:task_model_from_name).and_raise(Orocos::NotFound)
    end
    super
end

# File lib/orocos/test.rb, line 151
def spawn_and_get(component, task = component)
    begin
        process = Orocos::Process.new component
        process.spawn
        process.wait_running(0.5)
    rescue Exception
        process.kill if process
        raise
    end

    processes << process
    Orocos::TaskContext.get "#{component}.#{task}"
end

# File lib/orocos/test.rb, line 143
def start(*spec)
    processes.concat Orocos.run(*spec)
end

# File lib/orocos/test.rb, line 108
def teardown
    if defined? FlexMock
        flexmock_teardown
    end
    @__tmpdirs.each do |dir|
        FileUtils.rm_rf dir
    end
    processes.each do |p|
        begin p.kill
        rescue Exception => e
            Orocos.warn "failed, in teardown, to stop process #{p}: #{e}"
        end
    end
    processes.clear
    super
    if @__orocos_corba_timeouts # can be nil if setup failed
        Orocos::CORBA.call_timeout, Orocos::CORBA.connect_timeout = *@__orocos_corba_timeouts
    end
    if @old_pkg_config_path # can be nil if setup failed
        ENV['PKG_CONFIG_PATH'] = @old_pkg_config_path
    end
    Orocos::CORBA.instance_variable_set :@loaded_typekits, []
    Orocos.warn_for_missing_default_loggers = @__warn_for_missing_default_loggers
ensure
    Orocos.clear
end

# File lib/orocos/test.rb, line 192
def wait_for(timeout = 5, &block)
    Orocos::Async.wait_for(0.005, timeout, &block)
end

# File lib/orocos/test.rb, line 63
def work_dir; File.join(@test_dir, 'working_copy') end