#include "TestModel.h"

using namespace Fuzzy;

// test model definition
TestModel::TestModel(string file): Model(file), angle(-1), velocity(-1), speed(-1)
{
	// fuzzy variables definitions created by the base class (Fuzzy::Model)
	// Input/Output methods; Input/Output arguments are refs
	// to double scalar variables
	
	Var& Angle = Input(angle);
	Var& Vlcty = Input(velocity);
	Var& Speed = Output(speed);
	
	// membership functions definitions created by fuzzy variables
	// Term method; Term method takes curve name as an argument;
	// cureve names are defined in the Fuzzy::Model curve definition
	// file

	MemFun& AngleNegHigh = Angle.Term("AngleNegHigh");
	MemFun& AngleNegLow	 = Angle.Term("AngleNegLow");
	MemFun& AngleZero	 = Angle.Term("AngleZero");
	MemFun& AnglePosLow	 = Angle.Term("AnglePosLow");
	MemFun& AnglePosHigh = Angle.Term("AnglePosHigh");

	MemFun& VlctyNegHigh = Vlcty.Term("VelocityNegHigh");
	MemFun& VlctyNegLow	 = Vlcty.Term("VelocityNegLow");
	MemFun& VlctyZero	 = Vlcty.Term("VelocityZero");
	MemFun& VlctyPosLow	 = Vlcty.Term("VelocityPosLow");
	MemFun& VlctyPosHigh = Vlcty.Term("VelocityPosHigh");

	MemFun& SpeedNegHigh = Speed.Term("AngleNegHigh");
	MemFun& SpeedNegLow	 = Speed.Term("AngleNegLow");
	MemFun& SpeedZero	 = Speed.Term("AngleZero");
	MemFun& SpeedPosLow	 = Speed.Term("AnglePosLow");
	MemFun& SpeedPosHigh = Speed.Term("AnglePosHigh");
	
	// these are the model rules; syntax is pretty strightforward;
	// rules look like operator >> where lhs is the condition and
	// rhs is the conclusion;
	// lhs and rhs have to be in parens if they contain more then
	// one term because of the c++ operators precedence rules;
	// conclusion may be a comma separated list of output terms
	// in parens
	
	((AngleZero and VlctyZero)or(AnglePosLow and VlctyNegLow)or(AngleNegLow and VlctyPosLow))
			>> SpeedZero;
	
	((AngleZero and VlctyNegLow)or(AngleNegLow and VlctyZero))
			>> SpeedNegLow;

	((AnglePosLow and VlctyZero)or(AngleZero and VlctyPosLow))
			>> SpeedPosLow;

	((AngleZero and VlctyNegHigh)or(AngleNegHigh and VlctyZero))
			>> SpeedNegHigh;
	
	((AnglePosHigh and VlctyZero)or(AngleZero and VlctyPosHigh))
			>> SpeedPosHigh;
}

TestModel::~TestModel() {
}

void
TestModel::run(double a, double v, double &s) {

	// we assign scalar variables to class members
	angle = a;
	velocity = v;
	speed = s;

	// then run the model
	// it should be pretty fast as it all designed to preallocate
	// all the needed large objects in the model constructor
	Model::run();
	
	// and assign the values of output variables
	s = speed;
}