# vim:textwidth=80:expandtab:shiftwidth=4:softtabstop=4
library(oce)
data(adp)

test_that("enuToOther(adv) test of rotation", {
    data(adv)
    # 1. test with zero heading,pitch,roll (default)
    adv2 <- enuToOther(adv) # all angles are 0 by default, so result should be same
    expect_equal(adv2[["v"]], adv[["v"]])
    # 2. test with heading shift of 10deg
    heading <- 10 # heading shift
    adv3 <- enuToOther(adv, heading = heading)
    expect_false(identical(adv3[["v"]], adv[["v"]]))
    V <- adv[["v"]][, 1:2]
    theta <- heading * pi / 180
    S <- sin(theta)
    C <- cos(theta)
    rotationMatrix <- matrix(c(C, -S, S, C), byrow = TRUE, nrow = 2)
    VR <- V %*% rotationMatrix
    expect_equal(VR[1:5, 1], adv3[["v"]][1:5, 1])
    expect_equal(VR[1:5, 2], adv3[["v"]][1:5, 2])
})

f <- "~/Dropbox/data/archive/sleiwex/2008/moorings/m03/adv/sontek_b373h/raw/adv_sontek_b373h.adr"
if (file.exists(f)) {
    test_that("read private Sontek file, with numeric 'to' and 'from'", {
        n <- 500000
        adv <- read.oce(f, from = n + 10, to = n + 12)
        expect_equal(adv[["time"]], as.POSIXct(
            c(
                "2008-06-26 11:12:47.864",
                "2008-06-26 11:12:48.031", "2008-06-26 11:12:48.198"
            ),
            tz = "UTC"
        ))
        expect_equal(adv[["v"]], matrix(c(
            -0.02, -0.018, -0.0374, 0.0824,
            0.0492, 0.0798, 0.004, 0.0054,
            0.0026
        ), ncol = 3))
        expect_equal(adv[["a"]], matrix(as.raw(c(
            0x77, 0x6a, 0x6f, 0x79,
            0x6d, 0x67, 0x77, 0x74,
            0x67
        )), ncol = 3))
        expect_equal(adv[["q"]], matrix(as.raw(c(
            0x63, 0x61, 0x63, 0x61, 0x62, 0x62, 0x63, 0x63,
            0x63
        )), ncol = 3))
        expect_equal(adv[["pressure"]], c(6.66560152, 6.66560152, 6.56820440))
        expect_equal(adv[["heading"]], c(161.4, 0.0, 0.0))
        expect_equal(adv[["pitch"]], c(0, 0, 0))
        expect_equal(adv[["roll"]], c(-50, 0, 0))
    })
}

f <- "~/Dropbox/data/archive/sleiwex/2008/moorings/m05/adv/nortek_1943/raw/adv_nortek_1943.vec"
if (file.exists(f)) {
    test_that("read private Nortek file, with numeric 'to' and 'from'", {
        d <- read.oce(f, from = 1, to = 100)
        expect_equal(
            d[["v"]][1:3, 1:3],
            matrix(
                c(
                    0.094, 0.603, 0.483,
                    -0.706, -0.264, 0.037,
                    -0.402, 0.194, 0.173
                ),
                byrow = TRUE, ncol = 3
            )
        )
        expect_equal(
            as.numeric(d[["time"]][1:3]) - 1214388002,
            c(0.000, 0.125, 0.250)
        )
        expect_equal(
            d[["pressure"]][1:3],
            c(0.215, 0.205, 0.217)
        )
        expect_equal(
            d[["transformationMatrix"]],
            matrix(
                c(
                    2.69360351562, -2.0759277344, -1.2788085938,
                    0.08471679688, -7.9997558594, 2.2797851562,
                    -0.34619140625, -0.3603515625, -0.3254394531
                ),
                byrow = TRUE, ncol = 3
            )
        )
    })
}