/*******************************************************************************
Copyright(c) 2015-2018 LORD Corporation. All rights reserved.

MIT Licensed. See the included LICENSE.txt for a copy of the full MIT License.
*******************************************************************************/
#include "mscl/MicroStrain/MIP/MipChannel.h"

#include <boost/test/unit_test.hpp>

using namespace mscl;

BOOST_AUTO_TEST_SUITE(InertialChannel_Test)

BOOST_AUTO_TEST_CASE(InertialChannel_Constructor_Success)
{
    MipChannel ch1(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Hertz(20));

    BOOST_CHECK_EQUAL(ch1.channelField(), MipTypes::CH_FIELD_GNSS_LLH_POSITION);
    BOOST_CHECK_EQUAL(ch1.rateDecimation(200), 10);
    BOOST_CHECK_EQUAL(ch1.sampleRate().samplesPerSecond(), SampleRate::Hertz(20).samplesPerSecond());
    BOOST_CHECK_EQUAL(ch1.fieldDescriptor(), 0x03);
    BOOST_CHECK_EQUAL(ch1.descriptorSet(), 0x81);

    MipChannel ch2(MipTypes::CH_FIELD_SENSOR_EULER_ANGLES, SampleRate::Hertz(32));

    BOOST_CHECK_EQUAL(ch2.channelField(), MipTypes::CH_FIELD_SENSOR_EULER_ANGLES);
    BOOST_CHECK_EQUAL(ch2.rateDecimation(128), 4);
    BOOST_CHECK_EQUAL(ch2.sampleRate().samplesPerSecond(), SampleRate::Hertz(32).samplesPerSecond());
    BOOST_CHECK_EQUAL(ch2.fieldDescriptor(), 0x0C);
    BOOST_CHECK_EQUAL(ch2.descriptorSet(), 0x80);
}

BOOST_AUTO_TEST_CASE(InertialChannel_validateSampleRate_noChange)
{
    SampleRate result;

    MipChannel ch1(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Hertz(2));

    result = ch1.validateSampleRate(1000);
    BOOST_CHECK_EQUAL(ch1.sampleRate().samplesPerSecond(), SampleRate::Hertz(2).samplesPerSecond());    //check nothing changed
    BOOST_CHECK_EQUAL(result.samplesPerSecond(), SampleRate::Hertz(2).samplesPerSecond());    //check nothing changed
}

BOOST_AUTO_TEST_CASE(InertialChannel_validateSampleRate_changed)
{
    SampleRate result;

    MipChannel ch1(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Hertz(3));

    result = ch1.validateSampleRate(1000);
    BOOST_CHECK_EQUAL(ch1.sampleRate().samplesPerSecond(), SampleRate::Hertz(4).samplesPerSecond());    //check it was updated to 4 hz
    BOOST_CHECK_EQUAL(result.samplesPerSecond(), SampleRate::Hertz(4).samplesPerSecond());    //check it is 4hz


    MipChannel ch2(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Hertz(275));

    result = ch2.validateSampleRate(1000);
    BOOST_CHECK_EQUAL(ch2.sampleRate().samplesPerSecond(), SampleRate::Hertz(500).samplesPerSecond());    //check it was updated
    BOOST_CHECK_EQUAL(result.samplesPerSecond(), SampleRate::Hertz(500).samplesPerSecond());    //check it is updated


    MipChannel ch3(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Hertz(3));

    result = ch3.validateSampleRate(4);
    BOOST_CHECK_EQUAL(ch3.sampleRate().samplesPerSecond(), SampleRate::Hertz(4).samplesPerSecond());    //check it was updated
    BOOST_CHECK_EQUAL(result.samplesPerSecond(), SampleRate::Hertz(4).samplesPerSecond());    //check it is updated

    MipChannel ch4(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Hertz(100));

    result = ch4.validateSampleRate(4);
    BOOST_CHECK_EQUAL(ch4.sampleRate().samplesPerSecond(), SampleRate::Hertz(4).samplesPerSecond());    //check it was updated
    BOOST_CHECK_EQUAL(result.samplesPerSecond(), SampleRate::Hertz(4).samplesPerSecond());    //check it is updated

    MipChannel ch5(MipTypes::CH_FIELD_GNSS_LLH_POSITION, SampleRate::Seconds(10));

    result = ch5.validateSampleRate(1000);
    BOOST_CHECK_EQUAL(ch5.sampleRate().samplesPerSecond(), SampleRate::Hertz(1).samplesPerSecond());    //check it was updated
    BOOST_CHECK_EQUAL(result.samplesPerSecond(), SampleRate::Hertz(1).samplesPerSecond());    //check it is updated
}

BOOST_AUTO_TEST_SUITE_END()