#define BOOST_TEST_DYN_LINK
#define BOOST_TEST_MAIN  // in only one cpp file

#include "tracker/ndi/ndi_interface.h"
#include "utility/debug_utility.hpp"
#include "utility/global_obj_helper.hpp"
#include "core/basic_obj_types.hpp"

#include <boost/asio/co_spawn.hpp>
#include <boost/asio/detached.hpp>
#include <boost/asio/this_coro.hpp>
#include <boost/asio/use_awaitable.hpp>
#include <boost/test/unit_test.hpp>

#include <chrono>
#include <iostream>
#include <vector>

using boost::asio::awaitable;
using boost::asio::co_spawn;
using boost::asio::detached;
using boost::asio::use_awaitable;

using namespace sophiar;
using namespace std::chrono_literals;

awaitable<void> coro_ndi_test() {
    auto interface = std::make_unique<ndi_interface>();
    auto init_config = nlohmann::json::parse(
            R"({"address_type":"ethernet","ip":"169.254.132.51","tcp_port":8765,"com_port":"COM3","tool_list":[{"rom_path":"D:\\Program\\Robot\\Tools\\roms\\Probe_Small_4Ball.rom","outputs":{"transform":"tracker_probe_transform","marker_uncertainty":"tracker_probe_transform_uncertainty"}},{"rom_path":"D:\\Program\\Robot\\Tools\\roms\\Head_3Ball_2.rom","outputs":{"transform":"tracker_model_ref_transform","marker_uncertainty":"tracker_model_ref_transform_uncertainty"}}]})");
    auto start_config = nlohmann::json::parse(
            R"({"allow_unreliable":true,"prefer_stream_tracking":true})");

    BOOST_TEST(co_await interface->init(init_config));
    BOOST_TEST(co_await interface->start(start_config));
    auto trans_obj = global_obj_auto_sync_delegate<transform_obj>(
            global_sophiar_manager,
            "tracker_probe_transform");
    int cnt = 0;
    FILE_LINE_TRACE
    for (;;) {
        co_await trans_obj.coro_wait_update();
//        if (!trans_obj.empty()) {
//            std::cout << trans_obj->value.matrix() << std::endl;
//        } else {
//            std::cout << "empty" << std::endl;
//        }
        if (++cnt == 250) break;
    }
    FILE_LINE_TRACE
    co_await interface->reset();

    start_config = nlohmann::json::parse(
            R"({"allow_unreliable":true,"prefer_stream_tracking":false})");
    BOOST_TEST(co_await interface->init(init_config));
    BOOST_TEST(co_await interface->start(start_config));
    cnt = 0;
    FILE_LINE_TRACE
    for (;;) {
        co_await trans_obj.coro_wait_update();
        if (++cnt == 60) break;
    }
    FILE_LINE_TRACE
    co_await interface->reset();

    co_return;
}

BOOST_AUTO_TEST_CASE(test_ndi) {
    co_spawn(global_context, coro_ndi_test(), detached);
    global_context.run();
}