/*
 * test_planb_release.c — 方案B (快滤波 + 灵敏度表现场调校) 单测
 *
 * 验证 (V4.06, USE_SLOW_RELEASE=0, USE_PLANB_TABLE=1):
 *   1. 调校表各档滞回为正: SensTable_1(释放) < SensTable(进入)
 *   2. SENS=3 调校值: 进入 25 / 释放 12 (现场实测接近 PD132T 最高灵敏手感)
 *   3. 调浅释放(12) 比原始(14) 释放更晚
 *   4. 全档释放时刻合理
 *
 * 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

/* 方案B V4.06 调校表 (与 TaskLoop.c 一致) */
static const uint16_t SensTable[4]   = {357,  71,  38,  25};   /* 进入: 原{300,60,32,21} ×1.190 */
static const uint16_t SensTable_1[4] = { 51,  27,  18,  12};   /* 释放: 原{60,32,21,14} ×0.857 */
static const uint16_t SensTable_1_old[4] = { 60, 32, 21, 14};  /* 原始表(对比用) */

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(SensTable_1[s] < SensTable[s]);
    }
    printf("[OK] 滞回为正: 四档释放表均 < 进入表\n");
}

static void test_v406_tuned_values(void)
{
    /* SENS=3: 进入 25 / 释放 12 (用户现场实测) */
    assert(SensTable[3] == 25);
    assert(SensTable_1[3] == 12);
    /* 其他档等比: ×25/21 与 ×12/14 */
    assert(SensTable[2] == 38 && SensTable[1] == 71 && SensTable[0] == 357);
    assert(SensTable_1[2] == 18 && SensTable_1[1] == 27 && SensTable_1[0] == 51);
    printf("[OK] V4.06 调校表值正确: 进入{357,71,38,25} 释放{51,27,18,12}\n");
}

static void test_tuned_later_than_old(void)
{
    int s, T_ms;
    for (s = 0; s < 4; s++) {
        for (T_ms = 2000; T_ms <= 5000; T_ms += 1000) {
            int t_old = sim_release_ms(400, SensTable_1_old[s], T_ms);
            int t_new = sim_release_ms(400, SensTable_1[s], T_ms);
            assert(t_old > 0 && t_new > 0);
            /* 调浅释放表 → 释放线更高 → 更晚释放 */
            assert(t_new >= t_old);
            printf("[OK] SENS=%d T=%dms: 原始@%dms, 调校@%dms (调校≥原始 ✓)\n",
                   s, T_ms, t_old, t_new);
        }
    }
}

static void test_release_reasonable(void)
{
    /* SENS=3 调校表 3s 抬板(400cnt): 必须能释放 */
    int t = sim_release_ms(400, SensTable_1[3], 3000);
    assert(t > 0 && t <= 3000);
    printf("[OK] SENS=3 调校表 3s 抬板释放@%dms (合理范围)\n", t);
}

int main(void)
{
    printf("=== 方案B (快滤波+灵敏度表现场调校 V4.06) 单测 ===\n");
    test_hysteresis_positive();
    test_v406_tuned_values();
    test_tuned_later_than_old();
    test_release_reasonable();
    printf("\n全部通过 ✓\n");
    return 0;
}