/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <units/angular_velocity.h>
#include <units/length.h>
#include <units/velocity.h>
#include <wpi/math>

#include "frc/kinematics/ChassisSpeeds.h"
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "gtest/gtest.h"

using namespace frc;

static constexpr double kEpsilon = 1E-9;

TEST(DifferentialDriveKinematics, InverseKinematicsFromZero) {
  const DifferentialDriveKinematics kinematics{0.381_m * 2};
  const ChassisSpeeds chassisSpeeds;
  const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);

  EXPECT_NEAR(wheelSpeeds.left.to<double>(), 0, kEpsilon);
  EXPECT_NEAR(wheelSpeeds.right.to<double>(), 0, kEpsilon);
}

TEST(DifferentialDriveKinematics, ForwardKinematicsFromZero) {
  const DifferentialDriveKinematics kinematics{0.381_m * 2};
  const DifferentialDriveWheelSpeeds wheelSpeeds;
  const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);

  EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
  EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
}

TEST(DifferentialDriveKinematics, InverseKinematicsForStraightLine) {
  const DifferentialDriveKinematics kinematics{0.381_m * 2};
  const ChassisSpeeds chassisSpeeds{3.0_mps, 0_mps, 0_rad_per_s};
  const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);

  EXPECT_NEAR(wheelSpeeds.left.to<double>(), 3, kEpsilon);
  EXPECT_NEAR(wheelSpeeds.right.to<double>(), 3, kEpsilon);
}

TEST(DifferentialDriveKinematics, ForwardKinematicsForStraightLine) {
  const DifferentialDriveKinematics kinematics{0.381_m * 2};
  const DifferentialDriveWheelSpeeds wheelSpeeds{3.0_mps, 3.0_mps};
  const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);

  EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 3, kEpsilon);
  EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
}

TEST(DifferentialDriveKinematics, InverseKinematicsForRotateInPlace) {
  const DifferentialDriveKinematics kinematics{0.381_m * 2};
  const ChassisSpeeds chassisSpeeds{0.0_mps, 0.0_mps,
                                    units::radians_per_second_t{wpi::math::pi}};
  const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);

  EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::math::pi, kEpsilon);
  EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::math::pi, kEpsilon);
}

TEST(DifferentialDriveKinematics, ForwardKinematicsForRotateInPlace) {
  const DifferentialDriveKinematics kinematics{0.381_m * 2};
  const DifferentialDriveWheelSpeeds wheelSpeeds{
      units::meters_per_second_t(+0.381 * wpi::math::pi),
      units::meters_per_second_t(-0.381 * wpi::math::pi)};
  const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);

  EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
  EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::math::pi, kEpsilon);
}
