#include <gtest/gtest.h>
#include "mocks/MockDDS.h"
#include <mutex>
#include <condition_variable>

TEST(GenericSmokeGTest, BasicStringOps) {
  std::string s = "MiXeD";
  for (auto &c : s) c = (char)std::tolower(c);
  EXPECT_EQ(s, "mixed");
}

TEST(GenericSmokeGTest, MockDDSPublishReceive) {
  MockDDS::clear_all();
  MockDDS::publish("topic1", "payload42");
  auto r = MockDDS::take_last("topic1");
  // format is "<seq>:<payload>"
  auto pos = r.find(':');
  ASSERT_NE(pos, std::string::npos);
  auto seq = std::stoul(r.substr(0, pos));
  auto payload = r.substr(pos + 1);
  EXPECT_EQ(payload, "payload42");
  EXPECT_EQ(seq, 1UL);
}

TEST(GenericSmokeGTest, MockDDSAsyncDelivery) {
  MockDDS::clear_all();
  std::mutex mtx;
  std::condition_variable cv;
  bool received = false;
  std::string last;

  auto cb = [&](const std::string &payload){
    std::lock_guard<std::mutex> lk(mtx);
    last = payload;
    received = true;
    cv.notify_one();
  };

  auto sub = MockDDS::subscribe("topic-async", cb);
  // publish asynchronously with small delay; callback should be invoked
  MockDDS::publish_async("topic-async", "async-payload", 20);

  std::unique_lock<std::mutex> lk(mtx);
  if (!cv.wait_for(lk, std::chrono::seconds(2), [&]{ return received; })) {
    // timeout
    MockDDS::unsubscribe("topic-async", sub);
    FAIL() << "Did not receive async callback in time";
  }
  MockDDS::unsubscribe("topic-async", sub);
  // parse annotation
  auto pos = last.find(':');
  ASSERT_NE(pos, std::string::npos);
  auto payload = last.substr(pos + 1);
  EXPECT_EQ(payload, "async-payload");
}