// BSD 3-Clause License
//
// Copyright (c) 2024, Woven by Toyota.
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// modification, are permitted provided that the following conditions are met:
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//   list of conditions and the following disclaimer.
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use maliput::{api::RoadNetwork, ResourceManager};
use std::collections::HashMap;

#[allow(dead_code)]
pub fn create_t_shape_road_network() -> RoadNetwork {
    // Get location of odr resources
    let package_location = std::env::var("CARGO_MANIFEST_DIR").unwrap();
    let xodr_path = format!("{}/data/xodr/TShapeRoad.xodr", package_location);

    let road_network_properties = HashMap::from([
        ("road_geometry_id", "my_rg_from_rust"),
        ("opendrive_file", xodr_path.as_str()),
        ("linear_tolerance", "0.01"),
    ]);
    RoadNetwork::new("maliput_malidrive", &road_network_properties)
}

#[allow(dead_code)]
pub fn create_t_shape_road_network_with_books() -> RoadNetwork {
    let rm = ResourceManager::new();
    let t_shape_xodr_path = rm
        .get_resource_path_by_name("maliput_malidrive", "TShapeRoad.xodr")
        .unwrap();
    let t_shape_books_path = rm
        .get_resource_path_by_name("maliput_malidrive", "TShapeRoad.yaml")
        .unwrap();

    let road_network_properties = HashMap::from([
        ("road_geometry_id", "my_rg_from_rust"),
        ("opendrive_file", t_shape_xodr_path.to_str().unwrap()),
        ("road_rule_book", t_shape_books_path.to_str().unwrap()),
        ("traffic_light_book", t_shape_books_path.to_str().unwrap()),
        ("phase_ring_book", t_shape_books_path.to_str().unwrap()),
        ("intersection_book", t_shape_books_path.to_str().unwrap()),
        ("linear_tolerance", "0.01"),
    ]);
    RoadNetwork::new("maliput_malidrive", &road_network_properties)
}

#[allow(dead_code)]
pub fn assert_inertial_position_equality(
    left: &maliput::api::InertialPosition,
    right: &maliput::api::InertialPosition,
    tolerance: f64,
) {
    assert!((left.x() - right.x()).abs() < tolerance);
    assert!((left.y() - right.y()).abs() < tolerance);
    assert!((left.z() - right.z()).abs() < tolerance);
}

#[allow(dead_code)]
pub fn assert_lane_position_equality(
    left: &maliput::api::LanePosition,
    right: &maliput::api::LanePosition,
    tolerance: f64,
) {
    assert!((left.s() - right.s()).abs() < tolerance);
    assert!((left.r() - right.r()).abs() < tolerance);
    assert!((left.h() - right.h()).abs() < tolerance);
}