Added test cases with error signal in the middle (old behavior, NaN) (#…

…321)

modules/hcc-model/src/test/java/net/sf/dz3r/controller/AbstractProcessControllerTest.java

@@ -96,4 +96,95 @@ void setpointChangeEmitsSignalPid() {
 
         out.dispose();
     }
+
+    @Test
+    void errorSignalHysteresis() {
+
+        Sinks.Many<Signal<Double, Void>> sink = Sinks.many().unicast().onBackpressureError();
+        var source = sink.asFlux();
+
+        var pc = new HysteresisController<Void>("pc", 20);
+
+        var accumulator = new ArrayList<Signal<ProcessController.Status<Double>, Void>>();
+        var out = pc
+                .compute(source)
+                .log()
+                .subscribe(accumulator::add);
+
+        // Emit "change to 1" signal
+        sink.tryEmitNext(new Signal<>(Instant.now(), 25.0));
+
+        // Emit error signal
+        sink.tryEmitNext(new Signal<>(Instant.now(), null, null, Signal.Status.FAILURE_TOTAL, new IllegalStateException("oops")));
+
+        // ???
+        sink.tryEmitNext(new Signal<>(Instant.now(), 25.0));
+
+        // This should make the controller emit a signal since the setpoint now calls for action, but
+        // in imperative implementation it doesn't; it'll wait till the next incoming signal to do so
+        pc.setSetpoint(30.0);
+
+        sink.tryEmitNext(new Signal<>(Instant.now(), 35.0));
+
+        sink.tryEmitComplete();
+
+        assertThat(accumulator).hasSize(5);
+
+        // Normal signal triggering status change
+        assertThat(accumulator.get(0).getValue().signal).isEqualTo(1.0);
+
+        // Error signal
+        assertThat(accumulator.get(1).getValue().signal).isNaN();
+
+        // Normal again
+        assertThat(accumulator.get(2).getValue().signal).isEqualTo(1.0);
+
+        // Setpoint change
+        assertThat(accumulator.get(3).getValue().signal).isEqualTo(-1.0);
+
+        // PV change again
+        assertThat(accumulator.get(4).getValue().signal).isEqualTo(1.0);
+
+        out.dispose();
+    }
+
+    @Test
+    void errorSignalPid() {
+
+        Sinks.Many<Signal<Double, Void>> sink = Sinks.many().unicast().onBackpressureError();
+        var source = sink.asFlux();
+
+        var pc = new SimplePidController<Void>("pc", 20d, 1, 0, 0, 1.1);
+
+        var accumulator = new ArrayList<Signal<ProcessController.Status<Double>, Void>>();
+        var out = pc
+                .compute(source)
+                .log()
+                .subscribe(accumulator::add);
+
+        sink.tryEmitNext(new Signal<>(Instant.now(), 15.0));
+        sink.tryEmitNext(new Signal<>(Instant.now(), null, null, Signal.Status.FAILURE_TOTAL, new IllegalStateException("oops")));
+        sink.tryEmitNext(new Signal<>(Instant.now(), 25.0));
+
+        pc.setSetpoint(30.0);
+
+        sink.tryEmitNext(new Signal<>(Instant.now(), 35.0));
+
+        sink.tryEmitComplete();
+
+        assertThat(accumulator).hasSize(5);
+
+        // PV change
+        assertThat(accumulator.get(0).getValue().signal).isEqualTo(-5.0);
+        assertThat(accumulator.get(1).getValue().signal).isNaN();
+        assertThat(accumulator.get(2).getValue().signal).isEqualTo(5.0);
+
+        // Setpoint change
+        assertThat(accumulator.get(3).getValue().signal).isEqualTo(-5.0);
+
+        // PV change again
+        assertThat(accumulator.get(4).getValue().signal).isEqualTo(5.0);
+
+        out.dispose();
+    }
 }