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#include <gtest/gtest.h>
#include <math.h>
#include "EKF/ekf.h"

class EkfMeasurementSamplingTest : public ::testing::Test
{
 public:
	EkfMeasurementSamplingTest(): ::testing::Test(),
	_ekf{std::make_shared<Ekf>()}{};

	std::shared_ptr<Ekf> _ekf;

	void SetUp() override
	{
		_ekf->init(0);
	}
};

TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
{
	// Need to send imu samples to initialise
	imuSample imu_sample;

	// WHEN: baro data = {1, -1 , 1, -1, ...} being set at high rate
	int baro_rate_Hz = 10000;
	uint64_t time = 0;
	float baro_data = 1.0f;
	for(int i = 0; i < 2 * baro_rate_Hz; i++)
	{
		if(i % 100 == 0)
		{
			// send imu data at a 100 times lower rate
			imu_sample.time_us = time;
			_ekf->setIMUData(imu_sample);
		}
		const baroSample baro_sample {baro_data, time};
		_ekf->setBaroData(baro_sample);
		baro_data *= -1.0f;
		time += 1000000 / baro_rate_Hz;
	}
	_ekf->update();

	// THEN: average and buffered baro dato should be close to zero
	baroSample baro_sample_from_buffer = _ekf->get_baro_sample_delayed();
	EXPECT_NEAR(baro_sample_from_buffer.hgt, 0.0f, 0.01f);
}