/*
 * test_planb_release.c — 方案B (快滤波 + 调深释放阈值表) 单测
 *
 * 验证 (V4.05, USE_SLOW_RELEASE=0, USE_PLANB_TABLE=1):
 *   1. ReleaseTable_B 各档 < SensTable(进入表) → 滞回为正, 无结构假释放
 *   2. 同快滤波下, 加深表(ReleaseTable_B)释放早于原始表(SensTable_1)
 *      (物理方向: 释放线低 → CAPVD 恢复更早碰到 → 释放更早)
 *   3. 慢速抬板场景: 方案B 释放时刻合理, 无 NaN
 *
 * 编译: gcc -o /tmp/test_planb test_planb_release.c && /tmp/test_planb
 */
#include <stdio.h>
#include <stdint.h>
#include <assert.h>

#define ALFA_FAST   79          /* 主滤波 @10ms, τ≈22ms */
#define TICK_MS     10
#define ORIGIN      100000UL

/* 与 TaskLoop.h 方案B 配置保持一致 */
static const uint16_t SensTable[4]      = {300, 60, 32, 21};   /* 进入表 */
static const uint16_t SensTable_1[4]    = { 60, 32, 21, 14};   /* 原始离开表 */
static const uint16_t ReleaseTable_B[4] = { 80, 42, 27, 18};   /* 方案B 加深表 */

static uint32_t iir(uint32_t v, uint32_t flt, int alfa)
{
    return flt + (uint32_t)(((int32_t)v - (int32_t)flt) * alfa >> 8);
}

/* 快滤波释放仿真: 板信号 dev0 匀速恢复, 返回释放时刻 ms (0=未释放) */
static int sim_release_ms(uint32_t dev0, uint32_t leave_l, int T_ms)
{
    uint32_t flt = ORIGIN - dev0;
    int cnt = 0, n = T_ms / TICK_MS, i;
    for (i = 1; i <= n; i++) {
        uint32_t true_v = ORIGIN - dev0 * (n - i) / n;
        flt = iir(true_v, flt, ALFA_FAST);
        if (flt > ORIGIN - leave_l) {
            if (++cnt >= 3) return i * TICK_MS;
        } else {
            cnt = 0;
        }
    }
    return 0;
}

static void test_hysteresis_positive(void)
{
    int s;
    for (s = 0; s < 4; s++) {
        assert(ReleaseTable_B[s] < SensTable[s]);
        assert(SensTable_1[s] < SensTable[s]);
    }
    printf("[OK] 滞回为正: ReleaseTable_B/SensTable_1 各档均 < 进入表\n");
}

static void test_deep_table_earlier(void)
{
    int s, T_ms;
    for (s = 0; s < 4; s++) {
        for (T_ms = 2000; T_ms <= 5000; T_ms += 1000) {
            int t_orig = sim_release_ms(400, SensTable_1[s], T_ms);
            int t_deep = sim_release_ms(400, ReleaseTable_B[s], T_ms);
            assert(t_orig > 0 && t_deep > 0);
            /* 加深表释放不晚于原始表 (同快滤波, 线低 → 早碰) */
            assert(t_deep <= t_orig);
            printf("[OK] SENS=%d T=%dms: 原始表@%dms, 加深表@%dms (加深≤原始 ✓)\n",
                   s, T_ms, t_orig, t_deep);
        }
    }
}

static void test_release_reasonable(void)
{
    /* 慢速抬板 3s: 各档都必须能释放, 且加深表 SENS=3 释放时刻在 2~3s 内 */
    int t = sim_release_ms(200, ReleaseTable_B[3], 3000);
    assert(t > 0 && t <= 3000);
    printf("[OK] SENS=3 加深表 3s 抬板释放@%dms (合理范围)\n", t);
}

int main(void)
{
    printf("=== 方案B (快滤波+调深释放表) 单测 ===\n");
    test_hysteresis_positive();
    test_deep_table_earlier();
    test_release_reasonable();
    printf("\n全部通过 ✓\n");
    return 0;
}