#define BOOST_TEST_DYN_LINK

#include "core/transform_tree.h"
#include "core/basic_obj_types.hpp"
#include "utility/debug_utility.hpp"

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

#include <nlohmann/json.hpp>

#include <fstream>

using namespace nlohmann;
using namespace sophiar;

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

BOOST_AUTO_TEST_CASE(test_global_obj_recoreder) {

    spdlog::set_level(spdlog::level::trace);

    REGISTER_TYPE(double_obj_recorder);
    REGISTER_TYPE(scalarxyz_obj_recorder);
    REGISTER_TYPE(transform_obj_recorder);

    std::ifstream config_file("data/global_obj_record_config.json");
    BOOST_TEST(config_file.is_open());

    using namespace std::chrono_literals;
    auto double_sample_index = REGISTER_GLOBAL_OBJ(double_obj, "double_sample");
    auto xyz_sample_index = REGISTER_GLOBAL_OBJ(scalarxyz_obj, "xyz_sample");
    auto transform_sample_index = REGISTER_GLOBAL_OBJ(transform_obj, "transform_sample");
    auto worker_a = make_interval_coro_worker(global_context, 1s, [=]() mutable -> awaitable<bool> {
        static auto sample_val = 1.1;
        auto new_double = double_obj::value_type(sample_val);
        auto new_xyz = scalarxyz_obj::value_type(0.1, 0.2, sample_val);
        auto new_trans = transform_obj::value_type(Eigen::Translation3d(0.3, 0.4, sample_val));
        UPDATE_GLOBAL_OBJ_VALUE(double_obj, double_sample_index, new_double);
        UPDATE_GLOBAL_OBJ_VALUE(scalarxyz_obj, xyz_sample_index, std::move(new_xyz));
        UPDATE_GLOBAL_OBJ_VALUE(transform_obj, transform_sample_index, std::move(new_trans));
        sample_val += 0.6;
        co_return true;
    });
    worker_a->run();

    global_sophiar_manager.load_config_and_start(nlohmann::json::parse(config_file));

    global_context.run();
}

BOOST_AUTO_TEST_CASE(test_global_obj_replayer) {

    spdlog::set_level(spdlog::level::trace);

    REGISTER_TYPE(double_obj_watcher);
    REGISTER_TYPE(scalarxyz_obj_watcher);
    REGISTER_TYPE(transform_obj_watcher);

    REGISTER_TYPE(double_obj_replayer);
    REGISTER_TYPE(scalarxyz_obj_replayer);
    REGISTER_TYPE(transform_obj_replayer);

    std::ifstream config_file("data/global_obj_replay_config.json");
    BOOST_TEST(config_file.is_open());

    global_sophiar_manager.load_config_and_start(nlohmann::json::parse(config_file));

    global_context.run();
}