/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.command;

import static org.junit.Assert.*;

import java.util.logging.Logger;

import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;

import edu.wpi.first.wpilibj.mocks.MockCommand;

/**
 * @author jonathanleitschuh
 *
 */
public class DefaultCommandTest extends AbstractCommandTest {
	private static final Logger logger = Logger.getLogger(DefaultCommandTest.class.getName());
	
	protected Logger getClassLogger(){
		return logger;
	}

	/**
	 * @throws java.lang.Exception
	 */
	@BeforeClass
	public static void setUpBeforeClass() throws Exception {
	}

	/**
	 * @throws java.lang.Exception
	 */
	@AfterClass
	public static void tearDownAfterClass() throws Exception {
	}

	/**
	 * @throws java.lang.Exception
	 */
	@Before
	public void setUp() throws Exception {
	}

	/**
	 * @throws java.lang.Exception
	 */
	@After
	public void tearDown() throws Exception {
	}

	/**
	 * Testing of default commands where the interrupting command ends itself
	 */
	@Test
	public void testDefaultCommandWhereTheInteruptingCommandEndsItself() {
		final ASubsystem subsystem = new ASubsystem();


        MockCommand defaultCommand = new MockCommand() {
            {
                requires(subsystem);
            }
        };
        
        MockCommand anotherCommand = new MockCommand() {
            {
                requires(subsystem);
            }
        };
        assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
        subsystem.init(defaultCommand);
        
        assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 1, 1, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 2, 2, 0, 0);
        
        anotherCommand.start();
        assertCommandState(defaultCommand, 1, 2, 2, 0, 0);
        assertCommandState(anotherCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 1, 1, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 0);
        anotherCommand.setHasFinished(true);
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 3, 3, 1, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 2, 4, 4, 0, 1);
        assertCommandState(anotherCommand, 1, 3, 3, 1, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 2, 5, 5, 0, 1);
        assertCommandState(anotherCommand, 1, 3, 3, 1, 0);
	}
	
	
	/**
	 * Testing of default commands where the interrupting command is canceled
	 */
	@Test
	public void testDefaultCommandsInterruptingCommandCanceled(){
		final ASubsystem subsystem = new ASubsystem();


		MockCommand defaultCommand = new MockCommand() {
            {
                requires(subsystem);
            }
        };
        
        MockCommand anotherCommand = new MockCommand() {
            {
                requires(subsystem);
            }
        };
        assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
        subsystem.init(defaultCommand);
        subsystem.initDefaultCommand();
        assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 1, 1, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 2, 2, 0, 0);
        
        anotherCommand.start();
        assertCommandState(defaultCommand, 1, 2, 2, 0, 0);
        assertCommandState(anotherCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 0, 0, 0, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 1, 1, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 0);
        anotherCommand.cancel();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 0);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 1, 3, 3, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 1);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 2, 4, 4, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 1);
        Scheduler.getInstance().run();
        assertCommandState(defaultCommand, 2, 5, 5, 0, 1);
        assertCommandState(anotherCommand, 1, 2, 2, 0, 1);
	}

}
