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#include <pcl/test/gtest.h>

#include <pcl/sample_consensus/msac.h>
#include <pcl/sample_consensus/lmeds.h>
#include <pcl/sample_consensus/rmsac.h>
#include <pcl/sample_consensus/mlesac.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/rransac.h>
#include <pcl/sample_consensus/sac_model_sphere.h>

#include <chrono>
#include <condition_variable>
#include <mutex>
#include <thread>

using namespace pcl;

using SampleConsensusModelSpherePtr = SampleConsensusModelSphere<PointXYZ>::Ptr;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (SampleConsensus, Base)
{
  PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);

  // Create a shared sphere model pointer directly
  SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Basic tests
  ASSERT_EQ (0.03, sac.getDistanceThreshold ());
  sac.setDistanceThreshold (0.03);
  ASSERT_EQ (0.03, sac.getDistanceThreshold ());

  sac.setProbability (0.99);
  ASSERT_EQ (0.99, sac.getProbability ());

  sac.setMaxIterations (10000);
  ASSERT_EQ (10000, sac.getMaxIterations ());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Test if RANSAC finishes within a second.
template <typename SacT>
class SacTest : public ::testing::Test {};

using sacTypes = ::testing::Types<
  RandomSampleConsensus<PointXYZ>,
  LeastMedianSquares<PointXYZ>,
  MEstimatorSampleConsensus<PointXYZ>,
  RandomizedRandomSampleConsensus<PointXYZ>,
  RandomizedMEstimatorSampleConsensus<PointXYZ>,
  MaximumLikelihoodSampleConsensus<PointXYZ>
>;
TYPED_TEST_SUITE(SacTest, sacTypes);

TYPED_TEST(SacTest, InfiniteLoop)
{
  using namespace std::chrono_literals;

  constexpr unsigned point_count = 100;
  PointCloud<PointXYZ> cloud;
  cloud.resize (point_count);
  for (unsigned idx = 0; idx < point_count; ++idx)
  {
    cloud[idx].x = static_cast<float> (idx);
    cloud[idx].y = 0.0;
    cloud[idx].z = 0.0;
  }

  SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
  TypeParam sac (model, 0.03);

  // This test sometimes fails for LMedS on azure, but always passes when run locally.
  // Enable all output for LMedS, so that when it fails next time, we hopefully see why.
  // This can be removed again when the failure reason is found and fixed.
  int debug_verbosity_level = 0;
  const auto previous_verbosity_level = pcl::console::getVerbosityLevel();
  if (std::is_same<TypeParam, LeastMedianSquares<PointXYZ>>::value) {
    debug_verbosity_level = 2;
    pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE);
  }

  // Set up timed conditions
  std::condition_variable cv;
  std::mutex mtx;

  // Create the RANSAC object
  std::thread thread ([&] ()
  {
    sac.computeModel (debug_verbosity_level);

    // Notify things are done
    std::lock_guard<std::mutex> lock (mtx);
    cv.notify_one ();
  });


  // Waits for the delay
  std::unique_lock<std::mutex> lock (mtx);
  #if defined(DEBUG) || defined(_DEBUG)
    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 15s));
  #else
    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 2s));
  #endif
  // release lock to avoid deadlock
  lock.unlock();
  thread.join ();

  pcl::console::setVerbosityLevel(previous_verbosity_level); // reset verbosity level
}

int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
