param_utils.h

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// Utilities for checking params
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#ifndef PARAM_UTILS_H
#define PARAM_UTILS_H

#include <catch_ros/catch.hpp>

#include <XmlRpcValue.h>

typedef std::map<std::string, XmlRpc::XmlRpcValue> ParameterMap;

namespace Catch
{
        template<>
        struct StringMaker<XmlRpc::XmlRpcValue::Type>
        {
                static std::string convert(const XmlRpc::XmlRpcValue::Type& value)
                {
                        switch(value)
                        {
                                case XmlRpc::XmlRpcValue::TypeInvalid: return "TypeInvalid";
                                case XmlRpc::XmlRpcValue::TypeBoolean: return "TypeBoolean";
                                case XmlRpc::XmlRpcValue::TypeInt: return "TypeInt";
                                case XmlRpc::XmlRpcValue::TypeDouble: return "TypeDouble";
                                case XmlRpc::XmlRpcValue::TypeString: return "TypeString";
                                case XmlRpc::XmlRpcValue::TypeDateTime: return "TypeDateTime";
                                case XmlRpc::XmlRpcValue::TypeBase64: return "TypeBase64";
                                case XmlRpc::XmlRpcValue::TypeArray: return "TypeArray";
                                case XmlRpc::XmlRpcValue::TypeStruct: return "TypeStruct";
                                default: return "unknown type";
                        }
                }
        };

        template<>
        struct StringMaker<XmlRpc::XmlRpcValue>
        {
                static std::string convert(const XmlRpc::XmlRpcValue& value)
                {
                        // We need a copy, since the cast operators don't work on const
                        // refs *sigh*
                        XmlRpc::XmlRpcValue copy = value;

                        std::stringstream ss;
                        ss << "XmlRpc";
                        switch(value.getType())
                        {
                                case XmlRpc::XmlRpcValue::TypeInt:
                                        ss << "<int>(" << static_cast<int>(copy) << ")";
                                        break;
                                case XmlRpc::XmlRpcValue::TypeBoolean:
                                        ss << "<bool>(" << static_cast<bool>(copy) << ")";
                                        break;
                                case XmlRpc::XmlRpcValue::TypeString:
                                        ss << "<string>('" << static_cast<std::string>(copy) << "')";
                                        break;
                                case XmlRpc::XmlRpcValue::TypeDouble:
                                        ss << "<double>(" << static_cast<double>(copy) << ")";
                                        break;
                                default:
                                        ss << "<"
                                                << StringMaker<XmlRpc::XmlRpcValue::Type>::convert(value.getType())
                                                << ">(?)";
                                        break;
                        }

                        return ss.str();
                }
        };

        template<>
        struct StringMaker<ParameterMap>
        {
                static std::string convert(const ParameterMap& value)
                {
                        std::stringstream ss;
                        ss << "{";
                        for(auto& param : value)
                        {
                                ss << "\"" << param.first << "\"=" << StringMaker<XmlRpc::XmlRpcValue>::convert(param.second) << ", ";
                        }
                        ss << "}";

                        return ss.str();
                }
        };
}

template<class T>
void checkTypedParam(const ParameterMap& parameters, const std::string& name, XmlRpc::XmlRpcValue::Type expectedType, T expected)
{
        CAPTURE(parameters);
        CAPTURE(name);

        auto it = parameters.find(name);
        REQUIRE(it != parameters.end());

        XmlRpc::XmlRpcValue value = it->second;

        REQUIRE(value.getType() == expectedType);

        T typedValue = value;

        REQUIRE(typedValue == expected);
}

template<class T>
T getTypedParam(const ParameterMap& parameters, const std::string& name)
{
        CAPTURE(parameters);
        CAPTURE(name);

        auto it = parameters.find(name);
        REQUIRE(it != parameters.end());

        XmlRpc::XmlRpcValue value = it->second;

        T typedValue = value;

        return typedValue;
}

template<class T>
T getTypedParam(const ParameterMap& parameters, const std::string& name, XmlRpc::XmlRpcValue::Type expectedType)
{
        CAPTURE(parameters);
        CAPTURE(name);

        auto it = parameters.find(name);
        REQUIRE(it != parameters.end());

        XmlRpc::XmlRpcValue value = it->second;

        REQUIRE(value.getType() == expectedType);

        T typedValue = value;

        return typedValue;
}

#endif