"""
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved

See LICENSE for the license information

TestCase class with GTSAM assert utils.
Author: Frank Dellaert
"""
import pickle
import unittest
from copy import deepcopy


class GtsamTestCase(unittest.TestCase):
    """TestCase class with GTSAM assert utils."""

    def gtsamAssertEquals(self, actual, expected, tol=1e-9):
        """ AssertEqual function that prints out actual and expected if not equal.
            Usage:
                self.gtsamAssertEqual(actual,expected)
            Keyword Arguments:
                tol {float} -- tolerance passed to 'equals', default 1e-9
        """
        import numpy
        if isinstance(expected, numpy.ndarray):
            equal = numpy.allclose(actual, expected, atol=tol)
        else:
            equal = actual.equals(expected, tol)
        if not equal:
            raise self.failureException("Values are not equal:\n{}!={}".format(
                actual, expected))

    def assertEqualityOnPickleRoundtrip(self, obj: object, tol=1e-9) -> None:
        """ Performs a round-trip using pickle and asserts equality.

            Usage:
                self.assertEqualityOnPickleRoundtrip(obj)
            Keyword Arguments:
                tol {float} -- tolerance passed to 'equals', default 1e-9
        """
        roundTripObj = pickle.loads(pickle.dumps(obj))
        self.gtsamAssertEquals(roundTripObj, obj)

    def assertDeepCopyEquality(self, obj):
        """Perform assertion by checking if a
        deep copied version of `obj` is equal to itself.

        Args:
            obj: The object to check is deep-copyable.
        """
        # If deep copy failed, then this will throw an error
        obj2 = deepcopy(obj)
        self.gtsamAssertEquals(obj, obj2)