import unittest

from ctypes import *
from ctypes import cdll

import matplotlib.pyplot as plt
import threading

case_count = 0

class LimitedArray:
    def __init__(self, capacity):
        self.capacity = capacity
        self.array = []

    def append(self, element):
        if len(self.array) >= self.capacity:
            self.array.pop(0)
        self.array.append(element)



class TestPIDCases(unittest.TestCase):
    # 给定一个X轴和Y轴的参数列表，用作后面承载数据
    max_point = 50
    obsX = LimitedArray(max_point)
    obsY = LimitedArray(max_point)
    @classmethod
    def setUpClass(cls) -> None:
        cls.dll = cdll.LoadLibrary('./epm.dll')
        print('[TestPIDCases] PID模块开始测试...')
        print('----------------------------------------------------')
        pass

    @classmethod
    def tearDownClass(cls) -> None:
        print('[TestPIDCases] 结束测试,测试用例%d个' % case_count)
        print('----------------------------------------------------')
        pass

    def setUp(self) -> None:
        global case_count
        case_count += 1
        P= c_float(0.2)
        I= c_float(0.4)
        D= c_float(0.02)
        self.dll.pid_controller_init(P,I,D)
        pass

    def tearDown(self) -> None:
        # print("\r")
        pass

    # def testPID0(self):
    #     print('PID 0')
    #     dst = 500
    #     src = 200
    #     setpoint = c_float(dst)
    #     process_variable = c_float(src)
    #     self.dll.pid_position_control.restype = c_float
    #     for i in range(100):
    #         # 往列表插入展示的点的坐标
    #         self.obsX.append(i)
    #         process_variable = self.dll.pid_position_control(setpoint, process_variable)
    #         print(process_variable)
    #         if process_variable<0:
    #             process_variable = 0
    #         self.obsY.append(process_variable)
    #         process_variable = c_float(process_variable)
    #         plt.clf()              # 清除之前画的图
    #         plt.plot(self.obsX.array,self.obsY.array,c="blue",lw=4)        # 画出当前 ax 列表和 ay 列表中的值的图形
    #         plt.ylim(0, 1000)           # 设置y轴的范围
    #         plt.axhline(dst, 0, 100,c="r",ls='--',lw=1)#横线 
    #         plt.pause(1/1000)     
    #         plt.ion()                  # 开启一个画图的窗口

    #     plt.pause(3)
    #     pass


if __name__ == '__main__':
    unittest.main()