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/**
 * Test the external vision functionality
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */

#include <gtest/gtest.h>
#include "EKF/ekf.h"
#include "sensor_simulator/sensor_simulator.h"
#include "sensor_simulator/ekf_wrapper.h"


class EkfExternalVisionTest : public ::testing::Test {
 public:

	EkfExternalVisionTest(): ::testing::Test(),
	_ekf{std::make_shared<Ekf>()},
	_sensor_simulator(_ekf),
	_ekf_wrapper(_ekf) {};

	std::shared_ptr<Ekf> _ekf;
	SensorSimulator _sensor_simulator;
	EkfWrapper _ekf_wrapper;

	// Setup the Ekf with synthetic measurements
	void SetUp() override
	{
		_ekf->init(0);
		_sensor_simulator.runSeconds(2);
	}

	// Use this method to clean up any memory, network etc. after each test
	void TearDown() override
	{
	}
};

TEST_F(EkfExternalVisionTest, checkVisionFusionLogic)
{
	_ekf_wrapper.enableExternalVisionPositionFusion();
	_sensor_simulator.startExternalVision();
	_sensor_simulator.runSeconds(2);

	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());

	EXPECT_TRUE(_ekf->local_position_is_valid());
	EXPECT_FALSE(_ekf->global_position_is_valid());

	_ekf_wrapper.enableExternalVisionVelocityFusion();
	_sensor_simulator.runSeconds(2);

	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());

	EXPECT_TRUE(_ekf->local_position_is_valid());
	EXPECT_FALSE(_ekf->global_position_is_valid());

	_ekf_wrapper.enableExternalVisionHeadingFusion();
	_sensor_simulator.runSeconds(2);

	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());

	EXPECT_TRUE(_ekf->local_position_is_valid());
	EXPECT_FALSE(_ekf->global_position_is_valid());
}

TEST_F(EkfExternalVisionTest, visionVarianceCheck)
{
	const Vector3f velVar_init = _ekf_wrapper.getVelocityVariance();
	EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);

	_sensor_simulator._vio.setVelocityVariance(Vector3f{2.0f,0.01f,0.01f});
	_ekf_wrapper.enableExternalVisionVelocityFusion();
	_sensor_simulator.startExternalVision();
	_sensor_simulator.runSeconds(4);

	const Vector3f velVar_new = _ekf_wrapper.getVelocityVariance();
	EXPECT_TRUE(velVar_new(0) > velVar_new(1));
}

TEST_F(EkfExternalVisionTest, visionAlignment)
{
	// GIVEN: Drone is pointing north, and we use mag (ROTATE_EV)
	//        Heading of drone in EKF frame is 0°

	// WHEN: Vision frame is rotate +90°. The reported heading is -90°
	Quatf externalVisionFrameOffset(Eulerf(0.0f,0.0f,math::radians(90.0f)));
	_sensor_simulator._vio.setOrientation(externalVisionFrameOffset.inversed());
	_ekf_wrapper.enableExternalVisionAlignment();

	// Simulate high uncertainty on vision x axis which is in this case
	// the y EKF frame axis
	_sensor_simulator._vio.setVelocityVariance(Vector3f{2.0f,0.01f,0.01f});
	_ekf_wrapper.enableExternalVisionVelocityFusion();
	_sensor_simulator.startExternalVision();

	const Vector3f velVar_init = _ekf_wrapper.getVelocityVariance();
	EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);

	_sensor_simulator.runSeconds(4);

	// THEN: velocity uncertainty in y should be bigger
	const Vector3f velVar_new = _ekf_wrapper.getVelocityVariance();
	EXPECT_TRUE(velVar_new(1) > velVar_new(0));

	// THEN: the frame offset should be estimated correctly
	Quatf estimatedExternalVisionFrameOffset = _ekf_wrapper.getVisionAlignmentQuaternion();
	EXPECT_TRUE(matrix::isEqual(externalVisionFrameOffset.canonical(),
				    estimatedExternalVisionFrameOffset.canonical()));
}