/*******************************************************************************
Copyright(c) 2015-2018 LORD Corporation. All rights reserved.

MIT Licensed. See the included LICENSE.txt for a copy of the full MIT License.
*******************************************************************************/
#include "mscl/MicroStrain/MIP/Packets/MipPacketBuilder.h"
#include "mscl/MicroStrain/MIP/MipDataField.h"
#include "mscl/MicroStrain/ByteStream.h"
#include <boost/test/unit_test.hpp>

using namespace mscl;

BOOST_AUTO_TEST_SUITE(InertialPacketBuilder_Test)

BOOST_AUTO_TEST_CASE(InertialPacketBuilder_Constructor)
{
    //create a field to add
    MipDataField field(0x01);

    //create the builder
    MipPacketBuilder builder(0x01, field);
    
    //build the packet
    ByteStream bytes = builder.buildPacket();

    BOOST_CHECK_EQUAL(bytes.read_uint8(0), 0x75);    //sync 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(1), 0x65);    //sync 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(2), 0x01);    //desc set
    BOOST_CHECK_EQUAL(bytes.read_uint8(3), 0x02);    //payload length
    BOOST_CHECK_EQUAL(bytes.read_uint8(4), 0x02);    //field length
    BOOST_CHECK_EQUAL(bytes.read_uint8(5), 0x01);    //field desc
    BOOST_CHECK_EQUAL(bytes.read_uint8(6), 0xE0);    //checksum MSB
    BOOST_CHECK_EQUAL(bytes.read_uint8(7), 0xC6);    //checksum LSB
}

BOOST_AUTO_TEST_CASE(InertialPacketBuilder_WithFieldData)
{
    //add the field data bytes
    Bytes data;
    data.push_back(0x00);
    data.push_back(0x00);

    //create a field to add
    MipDataField field(0x01, data);

    //create the builder
    MipPacketBuilder builder(0x0C, field);
    
    //build the packet
    ByteStream bytes = builder.buildPacket();

    BOOST_CHECK_EQUAL(bytes.read_uint8(0), 0x75);    //sync 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(1), 0x65);    //sync 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(2), 0x0C);    //desc set
    BOOST_CHECK_EQUAL(bytes.read_uint8(3), 0x04);    //payload length
    BOOST_CHECK_EQUAL(bytes.read_uint8(4), 0x04);    //field length
    BOOST_CHECK_EQUAL(bytes.read_uint8(5), 0x01);    //field desc
    BOOST_CHECK_EQUAL(bytes.read_uint8(6), 0x00);    //field data 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(7), 0x00);    //field data 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(8), 0xEF);    //checksum MSB
    BOOST_CHECK_EQUAL(bytes.read_uint8(9), 0xDA);    //checksum LSB
}

BOOST_AUTO_TEST_CASE(InertialPacketBuilder_MultipleFields)
{
    //add the field data bytes
    Bytes data;
    data.push_back(0x00);
    data.push_back(0x02);
    data.push_back(0x03);
    data.push_back(0x00);
    data.push_back(0x0A);
    data.push_back(0x04);
    data.push_back(0x00);
    data.push_back(0x0A);

    //create a field to add
    MipDataField field1(0x08, data);

    //create the builder
    MipPacketBuilder builder(0x0C, field1);

    Bytes data2;
    data2.push_back(0x00);
    data2.push_back(0x02);
    data2.push_back(0x04);
    data2.push_back(0x00);
    data2.push_back(0x04);
    data2.push_back(0x06);
    data2.push_back(0x00);
    data2.push_back(0x04);

    //create another field to add
    MipDataField field2(0x09, data2);

    builder.addField(field2);

    
    //build the packet
    ByteStream bytes = builder.buildPacket();

    BOOST_CHECK_EQUAL(bytes.read_uint8(0), 0x75);    //sync 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(1), 0x65);    //sync 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(2), 0x0C);    //desc set
    BOOST_CHECK_EQUAL(bytes.read_uint8(3), 0x14);    //payload length
    BOOST_CHECK_EQUAL(bytes.read_uint8(4), 0x0A);    //field length
    BOOST_CHECK_EQUAL(bytes.read_uint8(5), 0x08);    //field desc
    BOOST_CHECK_EQUAL(bytes.read_uint8(6), 0x00);    //field data 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(7), 0x02);    //field data 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(8), 0x03);    //field data 3
    BOOST_CHECK_EQUAL(bytes.read_uint8(9), 0x00);    //field data 4
    BOOST_CHECK_EQUAL(bytes.read_uint8(10), 0x0A);    //field data 5
    BOOST_CHECK_EQUAL(bytes.read_uint8(11), 0x04);    //field data 6
    BOOST_CHECK_EQUAL(bytes.read_uint8(12), 0x00);    //field data 7
    BOOST_CHECK_EQUAL(bytes.read_uint8(13), 0x0A);    //field data 8
    BOOST_CHECK_EQUAL(bytes.read_uint8(14), 0x0A);    //field length
    BOOST_CHECK_EQUAL(bytes.read_uint8(15), 0x09);    //field desc
    BOOST_CHECK_EQUAL(bytes.read_uint8(16), 0x00);    //field data 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(17), 0x02);    //field data 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(18), 0x04);    //field data 3
    BOOST_CHECK_EQUAL(bytes.read_uint8(19), 0x00);    //field data 4
    BOOST_CHECK_EQUAL(bytes.read_uint8(20), 0x04);    //field data 5
    BOOST_CHECK_EQUAL(bytes.read_uint8(21), 0x06);    //field data 6
    BOOST_CHECK_EQUAL(bytes.read_uint8(22), 0x00);    //field data 7
    BOOST_CHECK_EQUAL(bytes.read_uint8(23), 0x04);    //field data 8
    BOOST_CHECK_EQUAL(bytes.read_uint8(24), 0x50);    //checksum MSB
    BOOST_CHECK_EQUAL(bytes.read_uint8(25), 0x98);    //checksum LSB
}

BOOST_AUTO_TEST_CASE(InertialPacketBuilder_InertialFieldCopyConstructor)
{
    //add the field data bytes
    Bytes data;
    data.push_back(0x00);
    data.push_back(0x00);

    //create a field to add
    MipDataField field(0x01, data);

    //create another field with the copy constructor
    MipDataField field2(field);

    //create the builder
    MipPacketBuilder builder(0x0C, field2);
    
    //build the packet
    ByteStream bytes = builder.buildPacket();

    BOOST_CHECK_EQUAL(bytes.read_uint8(0), 0x75);    //sync 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(1), 0x65);    //sync 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(2), 0x0C);    //desc set
    BOOST_CHECK_EQUAL(bytes.read_uint8(3), 0x04);    //payload length
    BOOST_CHECK_EQUAL(bytes.read_uint8(4), 0x04);    //field length
    BOOST_CHECK_EQUAL(bytes.read_uint8(5), 0x01);    //field desc
    BOOST_CHECK_EQUAL(bytes.read_uint8(6), 0x00);    //field data 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(7), 0x00);    //field data 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(8), 0xEF);    //checksum MSB
    BOOST_CHECK_EQUAL(bytes.read_uint8(9), 0xDA);    //checksum LSB
}

BOOST_AUTO_TEST_CASE(InertialPacketBuilder_InertialFieldAssignmentOperator)
{
    //add the field data bytes
    Bytes data;
    data.push_back(0x00);
    data.push_back(0x00);

    //create a field to add
    MipDataField field(0x01, data);

    //create another field with the assignment operator
    MipDataField field2 = field;

    //create the builder
    MipPacketBuilder builder(0x0C, field2);
    
    //build the packet
    ByteStream bytes = builder.buildPacket();

    BOOST_CHECK_EQUAL(bytes.read_uint8(0), 0x75);    //sync 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(1), 0x65);    //sync 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(2), 0x0C);    //desc set
    BOOST_CHECK_EQUAL(bytes.read_uint8(3), 0x04);    //payload length
    BOOST_CHECK_EQUAL(bytes.read_uint8(4), 0x04);    //field length
    BOOST_CHECK_EQUAL(bytes.read_uint8(5), 0x01);    //field desc
    BOOST_CHECK_EQUAL(bytes.read_uint8(6), 0x00);    //field data 1
    BOOST_CHECK_EQUAL(bytes.read_uint8(7), 0x00);    //field data 2
    BOOST_CHECK_EQUAL(bytes.read_uint8(8), 0xEF);    //checksum MSB
    BOOST_CHECK_EQUAL(bytes.read_uint8(9), 0xDA);    //checksum LSB
}

BOOST_AUTO_TEST_SUITE_END()