From b27ab719d15e7ccbd631cfca805d78936d83eb12 Mon Sep 17 00:00:00 2001
From: Ramon Wijnands <ramon.wijnands@nobleo.nl>
Date: Mon, 7 Mar 2022 11:12:24 +0100
Subject: [PATCH] Add reset() and configure() tests

---
 test/unittests/test_derivative.cpp | 11 +++++++++++
 test/unittests/test_integral.cpp   | 29 +++++++++++++++++++++++++++++
 2 files changed, 40 insertions(+)

diff --git a/test/unittests/test_derivative.cpp b/test/unittests/test_derivative.cpp
index d98c7def..23f033e5 100644
--- a/test/unittests/test_derivative.cpp
+++ b/test/unittests/test_derivative.cpp
@@ -21,3 +21,14 @@ TEST(Derivative, StepResponse)
     EXPECT_NEAR(result, expected_response[i], eps);
   }
 }
+
+TEST(Derivative, Reset)
+{
+  double dt = 0.1;
+
+  Derivative filter;
+
+  EXPECT_NEAR(filter.filter(1, dt), 10, eps);
+  filter.reset();
+  EXPECT_NEAR(filter.filter(0, dt), 0, eps);
+}
diff --git a/test/unittests/test_integral.cpp b/test/unittests/test_integral.cpp
index 1510fcc7..1032cfc9 100644
--- a/test/unittests/test_integral.cpp
+++ b/test/unittests/test_integral.cpp
@@ -22,3 +22,32 @@ TEST(Integral, StepResponse)
     EXPECT_NEAR(result, expected_response[i], eps);
   }
 }
+
+TEST(Integral, Reset)
+{
+  double dt = 0.1;
+  double windup_limit = 0.5;
+
+  Integral filter{windup_limit};
+
+  EXPECT_NEAR(filter.filter(1, dt), 0.05, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.15, eps);
+  filter.reset();
+  EXPECT_NEAR(filter.filter(1, dt), 0.05, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.15, eps);
+}
+
+TEST(Integral, Configure)
+{
+  double dt = 0.1;
+  double windup_limit = 0.2;
+
+  Integral filter{windup_limit};
+
+  EXPECT_NEAR(filter.filter(1, dt), 0.05, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.15, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.20, eps);
+  filter.configure(0.35);
+  EXPECT_NEAR(filter.filter(1, dt), 0.30, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.35, eps);
+}