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#define BOOST_TEST_MAIN

#define BOOST_TEST_MODULE PID

#include <boost/test/unit_test.hpp>

#include <boost/test/floating_point_comparison.hpp>

#include "PID.h"



#include <fstream>



using namespace Vamos_Geometry;



BOOST_AUTO_TEST_CASE (proportional)

{

  PID pid (2.0, 0.0, 0.0);

  pid.set (10.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.1),   20.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.1),   20.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (5.0, 0.1),   10.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (5.0, 0.1),   10.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (10.0, 0.1),   0.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (15.0, 0.5), -10.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (10.0, 0.5),   0.0, 1e-6);

}



BOOST_AUTO_TEST_CASE (integral)

{

  PID pid (0.0, 2.0, 0.0);

  pid.set (10.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.1),  2.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.1),  4.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (5.0, 0.1),  5.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (5.0, 0.1),  6.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (10.0, 0.1), 6.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (15.0, 0.5), 1.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (10.0, 0.5), 1.0, 1e-6);

}



BOOST_AUTO_TEST_CASE (derivative)

{

  PID pid (0.0, 0.0, 2.0);

  pid.set (10.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.1),     0.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.1),     0.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (5.0, 0.1),  -100.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (5.0, 0.1),     0.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (10.0, 0.1), -100.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (15.0, 0.5),  -20.0, 1e-6);

  BOOST_CHECK_CLOSE (pid.propagate (10.0, 0.5),   20.0, 1e-6);

}



BOOST_AUTO_TEST_CASE (zero_delta_t)

{

  PID pid (2.0, 3.0, 4.0);

  pid.set (10.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 0.0), 20.0, 1e-6);

}



BOOST_AUTO_TEST_CASE (change_setpoint)

{

  PID pid (2.0, 3.0, 4.0);

  pid.set (10.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 1.0), 20.0 + 30.0 + 0.0, 1e-6);

  pid.set (5.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 1.0), 10.0 + 45.0 - 20.0, 1e-6);

}



BOOST_AUTO_TEST_CASE (reset)

{

  PID pid (2.0, 3.0, 4.0);

  pid.set (10.0);

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 1.0), 20.0 + 30.0 + 0.0, 1e-6);

  pid.set (5.0);

  pid.reset ();

  BOOST_CHECK_CLOSE (pid.propagate (0.0, 1.0), 10.0 + 15.0 + 0.0, 1e-6);

}