/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#include "gazebo/test/ServerFixture.hh"
#include "gazebo/test/helper_physics_generator.hh"

using namespace gazebo;
class SpeedPR2Test : public ServerFixture,
                     public testing::WithParamInterface<const char*>
{
  public: void PR2World(const std::string &_physicsEngine);
};

void SpeedPR2Test::PR2World(const std::string &_physicsEngine)
{
  if (_physicsEngine == "dart")
  {
    gzerr << "Abort test since dart does not support ray sensor in PR2, "
          << "Please see issue #911.\n";
    return;
  }

  Load("worlds/empty.world", false, _physicsEngine);
  double emptySpeed;
  while ((emptySpeed = GetPercentRealTime()) == 0)
    common::Time::MSleep(100);
  common::Time::MSleep(2000);
  emptySpeed = GetPercentRealTime();

  // Load the pr2into the world
  SpawnModel("model://pr2");
  common::Time::MSleep(2000);
  double loadedSpeed = GetPercentRealTime();

  double speedRatio = loadedSpeed / emptySpeed;

  std::cout << "Speed: Empty[" << emptySpeed << "] Loaded["
            << loadedSpeed << "] Ratio[" << speedRatio << "]\n";

#ifdef BUILD_TYPE_RELEASE
  EXPECT_GT(speedRatio, 0.5);
#else
  EXPECT_GT(speedRatio, 0.3);
#endif
}

TEST_P(SpeedPR2Test, PR2World)
{
  PR2World(GetParam());
}

INSTANTIATE_TEST_CASE_P(PhysicsEngines, SpeedPR2Test, PHYSICS_ENGINE_VALUES);

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