#!/usr/bin/env lua

---@diagnostic disable: redefined-local
package.path = arg[0]:sub(0, -arg[0]:match("([^/\\]*)$"):len() - 1) .. "?.lua;" .. package.path
local test = require("test")
local a = require("liba")
local NL = -3
local NM = -2
local NS = -1
local ZO = 0
local PS = 1
local PM = 2
local PL = 3
local me = {
    -- LuaFormatter off
    { a.mf.TRI, NL, NL, NM },
    { a.mf.TRI, NL, NM, NS },
    { a.mf.TRI, NM, NS, ZO },
    { a.mf.TRI, NS, ZO, PS },
    { a.mf.TRI, ZO, PS, PM },
    { a.mf.TRI, PS, PM, PL },
    { a.mf.TRI, PM, PL, PL },
    -- LuaFormatter on
}
local NL = -6
local NM = -4
local NS = -3
local ZO = 0
local PS = 2
local PM = 4
local PL = 6
local mec = {
    -- LuaFormatter off
    { a.mf.TRI, NL, NL, NM },
    { a.mf.TRI, NL, NM, NS },
    { a.mf.TRI, NM, NS, ZO },
    { a.mf.TRI, NS, ZO, PS },
    { a.mf.TRI, ZO, PS, PM },
    { a.mf.TRI, PS, PM, PL },
    { a.mf.TRI, PM, PL, PL },
    -- LuaFormatter on
}
local NL = -15
local NM = -10
local NS = -5
local ZO = 0
local PS = 5
local PM = 10
local PL = 15
local mkp = {
    -- LuaFormatter off
    { NL, NL, NM, NM, NS, ZO, ZO },
    { NL, NL, NM, NS, NS, ZO, PS },
    { NM, NM, NM, NS, ZO, PS, PS },
    { NM, NM, NS, ZO, PS, PM, PM },
    { NS, NS, ZO, PS, PS, PM, PM },
    { NS, ZO, PS, PM, PM, PM, PL },
    { ZO, ZO, PM, PM, PM, PL, PL },
    -- LuaFormatter on
}
local NL = -3
local NM = -2
local NS = -1
local ZO = 0
local PS = 1
local PM = 2
local PL = 3
local mki = {
    -- LuaFormatter off
    { PL, PL, PM, PM, PS, ZO, ZO },
    { PL, PL, PM, PS, PS, ZO, ZO },
    { PL, PM, PS, PS, ZO, NS, NS },
    { PM, PM, PS, ZO, NS, NM, NM },
    { PM, PS, ZO, NS, NS, NM, NL },
    { ZO, ZO, NS, NS, NM, NL, NL },
    { ZO, ZO, NS, NM, NM, NL, NL },
    -- LuaFormatter on
}
local mkd = {
    -- LuaFormatter off
    { NS, PS, PL, PL, PL, PM, NS },
    { NS, PS, PL, PM, PM, PS, ZO },
    { ZO, PS, PM, PM, PS, PS, ZO },
    { ZO, PS, PS, PS, PS, PS, ZO },
    { ZO, ZO, ZO, ZO, ZO, ZO, ZO },
    { NL, NS, NS, NS, NS, NS, NL },
    { NL, NM, NM, NM, NS, NS, NL },
    -- LuaFormatter on
}
test.dir(getmetatable(a.pid_fuzzy))
local ctx = a.pid_fuzzy.new()
assert(ctx)
test.dir(getmetatable(ctx))
assert(type(a.pid_fuzzy.set_rule(ctx, me, mec, mkp, mki, mkd)) == "userdata")
assert(type(a.pid_fuzzy.set_kpid(ctx, 10, 0.1, 1)) == "userdata")
assert(type(a.pid_fuzzy.set_nfuzz(ctx, 2)) == "userdata")
assert(type(a.pid_fuzzy.run(ctx, 1, 0)) == "number")
assert(type(a.pid_fuzzy.pos(ctx, 1, 0)) == "number")
assert(type(a.pid_fuzzy.inc(ctx, 1, 0)) == "number")
assert(type(a.pid_fuzzy.zero(ctx)) == "userdata")
ctx:set_rule(me, mec, mkp, mki, mkd):set_kpid(3, 2, 1):set_nfuzz(2):set_opr(a.pid_fuzzy.EQU):zero()
assert(type(ctx:run(1, 0)) == "number")
assert(type(ctx:pos(1, 0)) == "number")
assert(type(ctx:inc(1, 0)) == "number")
assert(type(ctx.kp) == "number")
assert(type(ctx.ki) == "number")
assert(type(ctx.kd) == "number")
assert(type(ctx.summax) == "number")
assert(type(ctx.summin) == "number")
assert(type(ctx.sum) == "number")
assert(type(ctx.outmax) == "number")
assert(type(ctx.outmin) == "number")
assert(type(ctx.out) == "number")
assert(type(ctx.fdb) == "number")
assert(type(ctx.err) == "number")
assert(type(ctx.nrule) == "number")
assert(type(ctx.nfuzz) == "number")
ctx.outmin = -10
ctx.outmax = 10
ctx.summin = -5
ctx.summax = 5
ctx.kp = 3
ctx.ki = 2
ctx.kd = 1
ctx.__name = nil
assert(ctx.__name)
ctx.__index = nil
assert(ctx.__index)
ctx.__newindex = nil
assert(ctx.__newindex)
---@class a.pid_fuzzy
---@field __name string
---@field __index table
---@field __newindex table