{-

hsPID
Copyright (C) 2018 Jonathan Lamothe
<jlamothe1980@gmail.com>

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation, either version 3 of the
License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this program.  If not, see
<https://www.gnu.org/licenses/>.

-}

module Run (tests) where

import Control.Lens
import Test.HUnit

import Control.PID

tests = TestLabel "run" $ TestList
  [ propTests
  , intTests
  , derivTests
  , limitTests
  ]

propTests = TestLabel "proportional" $ TestList $ map propTest
  --  input setpoint factor bias reversed expected
  [ ( 0,    0,       1,     0,   False,   0        )
  , ( 1,    0,       1,     0,   False,   1        )
  , ( 2,    1,       1,     0,   False,   1        )
  , ( 1,    0,       2,     0,   False,   2        )
  , ( 0,    0,       1,     50,  False,   50       )
  , ( 1,    0,       1,     50,  False,   51       )
  , ( 1,    0,       2,     50,  False,   52       )
  , ( -1,   0,       1,     50,  False,   49       )
  , ( 0,    0,       1,     100, False,   100      )
  , ( -1,   0,       1,     100, False,   99       )
  , ( 0,    0,       1,     0,   True,    0        )
  , ( -1,   0,       1,     0,   True,    1        )
  , ( 0,    0,       1,     50,  True,    50       )
  , ( -1,   0,       1,     50,  True,    51       )
  , ( 1,    0,       1,     50,  True,    49       )
  , ( 0,    0,       1,     100, True,    100      )
  , ( 1,    0,       1,     100, True,    99       )
  ]

propTest (x, sp, k, b, r, expect) =
  TestLabel label $ out ~?= expect where
  label = "input=" ++ show x ++
    ", setpoint=" ++ show sp ++
    ", factor=" ++ show k ++
    ", bias=" ++ show b ++
    ", reversed=" ++ show r
  (out, _) = run 1 x $
    set (settings.setpoint) sp $
    set (settings.pFactor) k $
    set (settings.iFactor) 0 $
    set (settings.dFactor) 0 $
    set (settings.bias) b $
    set (settings.isReversed) r
    newStatus

intTests = TestLabel "integral" $ TestList $ map intTest
  --  time1 input1 time2 input2 setpoint factor bias reversed expected
  [ ( 1,    0,     1,    0,     0,       1,     0,   False,   0        )
  , ( 1,    1,     1,    1,     0,       1,     0,   False,   2        )
  , ( 1,    2,     1,    2,     1,       1,     0,   False,   2        )
  , ( 1,    1,     2,    1,     0,       1,     0,   False,   3        )
  , ( 1,    2,     1,    1,     0,       1,     0,   False,   3        )
  , ( 2,    1,     2,    1,     0,       1,     0,   False,   4        )
  , ( 1,    1,     1,    1,     0,       2,     0,   False,   4        )
  , ( 1,    1,     1,    1,     0,       1,     50,  False,   52       )
  , ( 1,    1,     1,    1,     0,       1,     50,  True,    48       )
  , ( 1,    1,     1,    1,     0,       1,     100, True,    98       )
  ]

intTest (t1, x1, t2, x2, sp, k, b, r, expect) =
  TestLabel label $ out ~?= expect where
  label = "time1=" ++ show t1 ++
    ", input1=" ++ show x1 ++
    ", time2=" ++ show t2 ++
    ", input2=" ++ show x2 ++
    ", setpoint=" ++ show sp ++
    ", factor=" ++ show k ++
    ", bias=" ++ show b ++
    ", reversed=" ++ show r
  (out, _) = run t2 x2 s2
  (_, s2) = run t1 x1 s1
  s1 = set (settings.setpoint) sp $
    set (settings.pFactor) 0 $
    set (settings.iFactor) k $
    set (settings.dFactor) 0 $
    set (settings.bias) b $
    set (settings.isReversed) r
    newStatus

derivTests = TestLabel "derivative" $ TestList $ map derivTest
  --  time in1 sp1 in2 sp2 factor bias reversed expected
  [ ( 1,   0,  0,  0,  0,  1,     0,   False,   0        )
  , ( 1,   1,  1,  1,  1,  1,     0,   False,   0        )
  , ( 1,   0,  0,  1,  0,  1,     0,   False,   1        )
  , ( 1,   1,  0,  1,  0,  1,     0,   False,   0        )
  , ( 1,   1,  0,  2,  1,  1,     0,   False,   0        )
  , ( 1,   0,  0,  1,  0,  2,     0,   False,   2        )
  , ( 2,   0,  0,  1,  0,  1,     0,   False,   0.5      )
  , ( 1,   0,  0,  1,  0,  2,     0,   False,   2        )
  , ( 1,   0,  0,  1,  0,  1,     50,  False,   51       )
  , ( 1,   0,  0,  1,  0,  1,     50,  True,    49       )
  , ( 1,   0,  0,  1,  0,  1,     100, True,    99       )
  , ( 0,   0,  0,  1,  0,  1,     0,   False,   0        )
  ]

derivTest (t, x1, sp1, x2, sp2, k, b, r, expect) =
  TestLabel label $ out ~?= expect where
  label = "time=" ++ show t ++
    ", input1=" ++ show x1 ++
    ", setpoint1=" ++ show sp1 ++
    ", input2=" ++ show x2 ++
    ", setpoint2=" ++ show sp2 ++
    ", factor=" ++ show k ++
    ", bias=" ++ show b ++
    ", reversed=" ++ show r
  (out, _) = run t x2 s2'
  s2' = set (settings.setpoint) sp2 s2
  (_, s2) = run 1 x1 s1
  s1 = set (settings.setpoint) sp1 $
    set (settings.pFactor) 0 $
    set (settings.iFactor) 0 $
    set (settings.dFactor) k $
    set (settings.bias) b $
    set (settings.isReversed) r
    newStatus

limitTests = TestLabel "output limits" $ TestList $ map limitTest
  --  input max  expected
  [ ( 999,  100, 100      )
  , ( 999,  10,  10       )
  , ( 0,    100, 0        )
  , ( -999, 100, 0        )
  ]

limitTest (x, max, expect) = TestLabel label $ out ~?= expect where
  label = "input=" ++ show x ++
    ", max=" ++ show max
  (out, _) = run 1 x s
  s = set (settings.maxOutput) max newStatus

--jl