find_package(catkin REQUIRED)

_generate_function_if_testing_is_disabled("add_rostest")

include(CMakeParseArguments)

function(add_rostest file)
  _warn_if_skip_testing("add_rostest")

@[if DEVELSPACE]@
  # bin in develspace
  set(ROSTEST_EXE "@(PROJECT_SOURCE_DIR)/scripts/rostest")
@[else]@
  # bin in installspace
  set(ROSTEST_EXE "${rostest_DIR}/../../../@(CATKIN_GLOBAL_BIN_DESTINATION)/rostest")
@[end if]@

  cmake_parse_arguments(_rostest "" "WORKING_DIRECTORY" "ARGS;DEPENDENCIES" ${ARGN})

  # Check that the file exists, #1621
  set(_file_name _file_name-NOTFOUND)
  if(IS_ABSOLUTE ${file})
    set(_file_name ${file})
  else()
    find_file(_file_name ${file}
              PATHS ${CMAKE_CURRENT_SOURCE_DIR}
              NO_DEFAULT_PATH
              NO_CMAKE_FIND_ROOT_PATH)  # for cross-compilation.  thanks jeremy.
    if(NOT _file_name)
      message(FATAL_ERROR "Can't find rostest file \"${file}\"")
    endif()
  endif()

  # strip PROJECT_SOURCE_DIR and PROJECT_BINARY_DIR from absolute filename to get unique test name (as rostest does it internally)
  set(_testname ${_file_name})
  rostest__strip_prefix(_testname "${PROJECT_SOURCE_DIR}/")
  rostest__strip_prefix(_testname "${PROJECT_BINARY_DIR}/")

  # to support registering the same test with different ARGS
  # append the args to the test name
  if(_rostest_ARGS)
    get_filename_component(_ext ${_testname} EXT)
    get_filename_component(_testname ${_testname} NAME_WE)
    foreach(arg ${_rostest_ARGS})
      string(REPLACE ":=" "_" arg_string "${arg}")
      set(_testname "${_testname}__${arg_string}")
    endforeach()
    set(_testname "${_testname}${_ext}")
  endif()

  string(REPLACE "/" "_" _testname ${_testname})

  get_filename_component(_output_name ${_testname} NAME_WE)
  set(_output_name "${_output_name}.xml")
  string(REPLACE ";" " " _rostest_ARGS "${_rostest_ARGS}")
  set(cmd "${ROSTEST_EXE} --pkgdir=${PROJECT_SOURCE_DIR} --package=${PROJECT_NAME} --results-filename ${_output_name} --results-base-dir \"${CATKIN_TEST_RESULTS_DIR}\" ${_file_name} ${_rostest_ARGS}")
  catkin_run_tests_target("rostest" ${_testname} "rostest-${_output_name}" COMMAND ${cmd} WORKING_DIRECTORY ${_rostest_WORKING_DIRECTORY} DEPENDENCIES ${_rostest_DEPENDENCIES})
endfunction()

# This is an internal function, use add_rostest_gtest or
# add_rostest_gmock instead
#
# :param type: "gtest" or "gmock"
# The remaining arguments are the same as for add_rostest_gtest
# and add_rostest_gmock
#
function(_add_rostest_google_test type target launch_file)
  if (NOT "${type}" STREQUAL "gtest" AND NOT "${type}" STREQUAL "gmock")
    message(FATAL_ERROR
      "Invalid use of _add_rostest_google_test function, "
      "first argument must be 'gtest' or 'gmock'")
    return()
  endif()
  string(TOUPPER "${type}" type_upper)
  if("${ARGN}" STREQUAL "")
    message(FATAL_ERROR "add_rostest_${type}() needs at least one file argument to compile a ${type_upper} executable")
  endif()
  if(${type_upper}_FOUND)
    include_directories(${${type_upper}_INCLUDE_DIRS})
    add_executable(${target} EXCLUDE_FROM_ALL ${ARGN})
    target_link_libraries(${target} ${${type_upper}_LIBRARIES})
    if(TARGET tests)
      add_dependencies(tests ${target})
    endif()
    add_rostest(${launch_file} DEPENDENCIES ${target})
  endif()
endfunction()

#
# Register the launch file with add_rostest() and compile all
# passed files into a GTest binary.
#
# .. note:: The function does nothing if GTest was not found.  The
#   target is only compiled when tests are built and linked against
#   the GTest libraries.
#
# :param target: target name of the GTest executable
# :type target: string
# :param launch_file: the relative path to the roslaunch file
# :type launch_file: string
# :param ARGN: the files to compile into a GTest executable
# :type ARGN: list of files
#
function(add_rostest_gtest target launch_file)
  _add_rostest_google_test("gtest" ${target} ${launch_file} ${ARGN})
endfunction()

#
# Register the launch file with add_rostest() and compile all
# passed files into a GMock binary.
#
# .. note:: The function does nothing if GMock was not found.  The
#   target is only compiled when tests are built and linked against
#   the GMock libraries.
#
# :param target: target name of the GMock executable
# :type target: string
# :param launch_file: the relative path to the roslaunch file
# :type launch_file: string
# :param ARGN: the files to compile into a GMock executable
# :type ARGN: list of files
#
function(add_rostest_gmock target launch_file)
  _add_rostest_google_test("gmock" ${target} ${launch_file} ${ARGN})
endfunction()

macro(rostest__strip_prefix var prefix)
  string(LENGTH ${prefix} prefix_length)
  string(LENGTH ${${var}} var_length)
  if(${var_length} GREATER ${prefix_length})
    string(SUBSTRING "${${var}}" 0 ${prefix_length} var_prefix)
    if("${var_prefix}" STREQUAL "${prefix}")
      # passing length -1 does not work for CMake < 2.8.5
      # http://public.kitware.com/Bug/view.php?id=10740
      string(LENGTH "${${var}}" _rest)
      math(EXPR _rest "${_rest} - ${prefix_length}")
      string(SUBSTRING "${${var}}" ${prefix_length} ${_rest} ${var})
    endif()
  endif()
endmacro()