#!/usr/bin/env python
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import os
import sys
try:
    from cStringIO import StringIO
except ImportError:
    from io import BytesIO as StringIO
import struct
import unittest
import time

try:
    import numpy
    disable = False
except ImportError:
    print("cannot import numpy, test is disabled")
    disable = True

# this is partially a teste of the rospy/Tutorials/numpy
from test_rospy.msg import Floats

# test rospy.names package
class TestRospyNumpy(unittest.TestCase):

    def test_floats(self):
        if disable:
            return
        vals = [1.0, 2.1, 3.2, 4.3, 5.4, 6.5]
        b = StringIO()
        f = Floats(numpy.array([1.0, 2.1, 3.2, 4.3, 5.4, 6.5], dtype=numpy.float32))
        f.serialize(b)

        # deserialize twice, once with numpy wrappers, once without
        f2 = Floats()
        self.assert_(type(f2.data) == list)
        f2.deserialize(b.getvalue())
        for x, y in zip(f2.data, vals):
            self.assertAlmostEquals(x, y, 2)

        from rospy.numpy_msg import numpy_msg
        f3 = numpy_msg(Floats)()
        if 0:
            # future
            self.assert_(isinstance(f3.data, numpy.ndarray), type(f3.data))
        f3.deserialize(b.getvalue())
        self.assert_(isinstance(f3.data, numpy.ndarray), type(f3.data))
        v = numpy.equal(f3.data, numpy.array([1.0, 2.1, 3.2, 4.3, 5.4, 6.5], dtype=numpy.float32))
        self.assert_(v.all())

    def test_class_identity(self):
        from rospy.numpy_msg import numpy_msg
        self.assert_(isinstance(numpy_msg(Floats)(), numpy_msg(Floats)))

        FloatsNP = numpy_msg(Floats)
        FloatsNP2 = numpy_msg(Floats)

        self.assert_(FloatsNP is FloatsNP2)
