#include "fces/controller.hpp"
#include <gtest/gtest.h>

using namespace fces;

TEST(ControllerTest, Construction) {
  FuzzyController ctrl;
  EXPECT_GT(ctrl.id, 0u);
  EXPECT_EQ(ctrl.fitness, 0.0f);
  EXPECT_EQ(ctrl.origin, "random");
}

TEST(ControllerTest, GenomeSize) {
  FuzzyController ctrl;
  EXPECT_EQ(ctrl.genome.weights.size(), static_cast<size_t>(GENOME_SIZE));
}

TEST(ControllerTest, Mutation) {
  FuzzyController parent;
  auto child = parent.mutate(1.0f);
  EXPECT_NE(child.id, parent.id);
  EXPECT_EQ(child.origin, "mutation");
  // Child should differ from parent
  bool differs = false;
  for (size_t i = 0; i < parent.genome.weights.size(); ++i) {
    if (parent.genome.weights[i] != child.genome.weights[i]) {
      differs = true;
      break;
    }
  }
  EXPECT_TRUE(differs);
}

TEST(ControllerTest, Crossover) {
  FuzzyController a, b;
  auto child = a.crossover(b);
  EXPECT_EQ(child.origin, "crossover");
}

TEST(ControllerTest, DecideUpdate) {
  FuzzyController ctrl;
  std::vector<std::vector<float>> stats = {{0.1f, 0.2f, 0.3f, 0.4f, 0.5f}};
  auto actions =
      ctrl.decide_update(stats, 0.0f, 0.5f, 0.0f, 0.1f, 0.0f, 0.0f, 1.0f, 0.0f);
  EXPECT_EQ(actions.size(0), 1);
  EXPECT_EQ(actions.size(1), GENOME_OUTPUT_DIM);
}

TEST(ControllerTest, OrthogonalChild) {
  FuzzyController parent;
  auto child = parent.create_orthogonal_child(1.0f);
  EXPECT_EQ(child.origin, "phoenix_rebirth");
}

TEST(ControllerTest, BanachFission) {
  FuzzyController parent;
  auto [plus, minus] = parent.banach_tarski_fission(1.0f);
  EXPECT_NE(plus.id, minus.id);
}