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#define BOOST_TEST_MAIN

#define BOOST_TEST_MODULE PID

#include "PID.hpp"

#include <boost/test/floating_point_comparison.hpp>

#include <boost/test/unit_test.hpp>



#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);

}