#!/usr/bin/env python
import rospy
import pytest
from mavros_msgs.msg import State

@pytest.fixture()
def node():
    return rospy.init_node('clever_test', anonymous=True)

def test_state(node):
    state = rospy.wait_for_message('mavros/state', State, timeout=10)
    assert state.connected == False
    assert state.armed == False
    assert state.guided == False
    assert state.mode == ''

def test_simple_offboard_services_available():
    rospy.wait_for_service('get_telemetry', timeout=5)
    rospy.wait_for_service('navigate', timeout=5)
    rospy.wait_for_service('navigate_global', timeout=5)
    rospy.wait_for_service('set_position', timeout=5)
    rospy.wait_for_service('set_velocity', timeout=5)
    rospy.wait_for_service('set_attitude', timeout=5)
    rospy.wait_for_service('set_rates', timeout=5)
    rospy.wait_for_service('land', timeout=5)

def test_web_video_server(node):
    import urllib2
    urllib2.urlopen("http://localhost:8080").read()