#!/usr/bin/env python
# -*- coding: utf-8 -*-
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import unittest
import rospy
import dynamic_reconfigure.client

class TestSimpleDynamicReconfigureClient(unittest.TestCase):

    def testsimple(self):
        client = dynamic_reconfigure.client.Client("ref_server", timeout=5)
        config = client.get_configuration(timeout=5)
        self.assertEqual(0, config['int_'])
        self.assertEqual(0.0, config['double_'])
        self.assertEqual('foo', config['str_'])
        self.assertEqual(False, config['bool_'])

        int_ = 7
        double_ = 0.75
        str_ = 'bar'
        bool_ = True

        client.update_configuration(
            {"int_": int_, "double_": double_, "str_": str_,
             "bool_": bool_}
        )

        rospy.sleep(1.0)

        config = client.get_configuration(timeout=5)

        self.assertEqual(int_, config['int_'])
        self.assertEqual(double_, config['double_'])
        self.assertEqual(str_, config['str_'])
        self.assertEqual(type(str_), type(config['str_']))
        self.assertEqual(bool_, config['bool_'])

    def testmultibytestring(self):
        client = dynamic_reconfigure.client.Client("ref_server", timeout=5)
        config = client.get_configuration(timeout=5)
        self.assertEqual('bar', config['mstr_'])

        # Kanji for konnichi wa (hello)
        str_ = u"今日は"

        client.update_configuration(
            {"mstr_": str_}
        )

        rospy.sleep(1.0)

        config = client.get_configuration(timeout=5)

        self.assertEqual(u"今日は", config['mstr_'])
        self.assertEqual(type(u"今日は"), type(config['mstr_']))
        self.assertEqual(u"今日は", rospy.get_param('/ref_server/mstr_'))

        # Hiragana for konnichi wa (hello)
        str_ = u"こんにちは"

        client.update_configuration(
            {"mstr_": str_}
        )

        rospy.sleep(1.0)

        config = client.get_configuration(timeout=5)

        self.assertEqual(u"こんにちは", config['mstr_'])
        self.assertEqual(type(u"こんにちは"), type(config['mstr_']))
        self.assertEqual(u"こんにちは", rospy.get_param('/ref_server/mstr_'))

if __name__ == "__main__":
    import rostest
    rospy.init_node('simple_python_client_test')
    rostest.rosrun('dynamic_reconfigure', 'test_simple_dynamic_reconfigure_client_python', TestSimpleDynamicReconfigureClient)
