| /* |
| * |
| * Copyright 2016 gRPC authors. |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| * |
| */ |
| |
| #include "src/core/lib/transport/pid_controller.h" |
| |
| #include <float.h> |
| #include <math.h> |
| |
| #include <grpc/support/alloc.h> |
| #include <grpc/support/log.h> |
| #include <grpc/support/string_util.h> |
| #include <grpc/support/useful.h> |
| #include <gtest/gtest.h> |
| #include "src/core/lib/support/string.h" |
| #include "test/core/util/test_config.h" |
| |
| namespace grpc_core { |
| namespace testing { |
| |
| TEST(PidController, NoOp) { |
| PidController pid(PidController::Args() |
| .set_gain_p(1) |
| .set_gain_i(1) |
| .set_gain_d(1) |
| .set_initial_control_value(1)); |
| } |
| |
| struct SimpleConvergenceTestArgs { |
| double gain_p; |
| double gain_i; |
| double gain_d; |
| double dt; |
| double set_point; |
| double start; |
| }; |
| |
| std::ostream& operator<<(std::ostream& out, SimpleConvergenceTestArgs args) { |
| return out << "gain_p:" << args.gain_p << " gain_i:" << args.gain_i |
| << " gain_d:" << args.gain_d << " dt:" << args.dt |
| << " set_point:" << args.set_point << " start:" << args.start; |
| } |
| |
| class SimpleConvergenceTest |
| : public ::testing::TestWithParam<SimpleConvergenceTestArgs> {}; |
| |
| TEST_P(SimpleConvergenceTest, Converges) { |
| PidController pid(PidController::Args() |
| .set_gain_p(GetParam().gain_p) |
| .set_gain_i(GetParam().gain_i) |
| .set_gain_d(GetParam().gain_d) |
| .set_initial_control_value(GetParam().start)); |
| |
| for (int i = 0; i < 100000; i++) { |
| pid.Update(GetParam().set_point - pid.last_control_value(), GetParam().dt); |
| } |
| |
| EXPECT_LT(fabs(GetParam().set_point - pid.last_control_value()), 0.1); |
| if (GetParam().gain_i > 0) { |
| EXPECT_LT(fabs(pid.error_integral()), 0.1); |
| } |
| } |
| |
| INSTANTIATE_TEST_CASE_P( |
| X, SimpleConvergenceTest, |
| ::testing::Values(SimpleConvergenceTestArgs{0.2, 0, 0, 1, 100, 0}, |
| SimpleConvergenceTestArgs{0.2, 0.1, 0, 1, 100, 0}, |
| SimpleConvergenceTestArgs{0.2, 0.1, 0.1, 1, 100, 0})); |
| |
| } // namespace testing |
| } // namespace grpc_core |
| |
| int main(int argc, char** argv) { |
| grpc_test_init(argc, argv); |
| ::testing::InitGoogleTest(&argc, argv); |
| return RUN_ALL_TESTS(); |
| } |