/*
 * MIT License
 *
 * Copyright (c) 2022 Nicolas JUHEL
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 */

package duration

import (
	libpid "github.com/nabbar/golib/pidcontroller"
)

var (
	DefaultRateProportional float64 = 0.1
	DefaultRateIntegral     float64 = 0.01
	DefaultRateDerivative   float64 = 0.05
)

func (d Duration) RangeTo(dur Duration, rateP, rateI, rateD float64) []Duration {
	var (
		p = libpid.New(rateP, rateI, rateD)
		r = make([]Duration, 0)
	)

	for _, v := range p.Range(d.Float64(), dur.Float64()) {
		r = append(r, ParseFloat64(v).TruncateSeconds())
	}

	if len(r) < 3 {
		r = append(make([]Duration, 0), d, dur)
	}

	if r[0] > d {
		r = append(append(make([]Duration, 0), d), r...)
	}

	if r[len(r)-1] < dur {
		r = append(r, dur)
	}

	return r
}

func (d Duration) RangeDefTo(dur Duration) []Duration {
	return d.RangeTo(dur, DefaultRateProportional, DefaultRateIntegral, DefaultRateDerivative)
}

func (d Duration) RangeFrom(dur Duration, rateP, rateI, rateD float64) []Duration {
	var (
		p = libpid.New(rateP, rateI, rateD)
		r = make([]Duration, 0)
	)

	for _, v := range p.Range(dur.Float64(), d.Float64()) {
		r = append(r, ParseFloat64(v).TruncateSeconds())
	}

	if len(r) < 3 {
		r = append(make([]Duration, 0), d, dur)
	}

	if r[0] > dur {
		r = append(append(make([]Duration, 0), dur), r...)
	}

	if r[len(r)-1] < d {
		r = append(r, d)
	}

	return r
}

func (d Duration) RangeDefFrom(dur Duration) []Duration {
	return d.RangeFrom(dur, DefaultRateProportional, DefaultRateIntegral, DefaultRateDerivative)
}
