C++ize PidController

4 files changed, 96 insertions, 79 deletions

diff --git a/test/core/transport/BUILD b/test/core/transport/BUILD
index ea5e577bd8..141381b6bd 100644
--- a/test/core/transport/BUILD
+++ b/test/core/transport/BUILD
@@ -71,7 +71,7 @@ grpc_cc_test(
 
 grpc_cc_test(
     name = "pid_controller_test",
-    srcs = ["pid_controller_test.c"],
+    srcs = ["pid_controller_test.cc"],
     language = "C",
     deps = [
         "//:gpr",
@@ -79,6 +79,9 @@ grpc_cc_test(
         "//test/core/util:gpr_test_util",
         "//test/core/util:grpc_test_util",
     ],
+    external_deps = [
+        "gtest",
+    ],
 )
 
 grpc_cc_test(
diff --git a/test/core/transport/bdp_estimator_test.cc b/test/core/transport/bdp_estimator_test.cc
index 56907b4e6a..a4a86f5b51 100644
--- a/test/core/transport/bdp_estimator_test.cc
+++ b/test/core/transport/bdp_estimator_test.cc
@@ -141,6 +141,7 @@ TEST_P(BdpEstimatorRandomTest, GetEstimateRandomValues) {
 INSTANTIATE_TEST_CASE_P(TooManyNames, BdpEstimatorRandomTest,
                         ::testing::Values(3, 4, 6, 9, 13, 19, 28, 42, 63, 94,
                                           141, 211, 316, 474, 711));
+
 }  // namespace testing
 }  // namespace grpc_core
 
diff --git a/test/core/transport/pid_controller_test.c b/test/core/transport/pid_controller_test.c
deleted file mode 100644
index 831c4b41ce..0000000000
--- a/test/core/transport/pid_controller_test.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- *
- * 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 "src/core/lib/support/string.h"
-#include "test/core/util/test_config.h"
-
-static void test_noop(void) {
-  gpr_log(GPR_INFO, "test_noop");
-  grpc_pid_controller pid;
-  grpc_pid_controller_init(
-      &pid, (grpc_pid_controller_args){.gain_p = 1,
-                                       .gain_i = 1,
-                                       .gain_d = 1,
-                                       .initial_control_value = 1,
-                                       .min_control_value = DBL_MIN,
-                                       .max_control_value = DBL_MAX,
-                                       .integral_range = DBL_MAX});
-}
-
-static void test_simple_convergence(double gain_p, double gain_i, double gain_d,
-                                    double dt, double set_point, double start) {
-  gpr_log(GPR_INFO,
-          "test_simple_convergence(p=%lf, i=%lf, d=%lf); dt=%lf set_point=%lf "
-          "start=%lf",
-          gain_p, gain_i, gain_d, dt, set_point, start);
-  grpc_pid_controller pid;
-  grpc_pid_controller_init(
-      &pid, (grpc_pid_controller_args){.gain_p = gain_p,
-                                       .gain_i = gain_i,
-                                       .gain_d = gain_d,
-                                       .initial_control_value = start,
-                                       .min_control_value = DBL_MIN,
-                                       .max_control_value = DBL_MAX,
-                                       .integral_range = DBL_MAX});
-
-  for (int i = 0; i < 100000; i++) {
-    grpc_pid_controller_update(&pid, set_point - grpc_pid_controller_last(&pid),
-                               1);
-  }
-
-  GPR_ASSERT(fabs(set_point - grpc_pid_controller_last(&pid)) < 0.1);
-  if (gain_i > 0) {
-    GPR_ASSERT(fabs(pid.error_integral) < 0.1);
-  }
-}
-
-int main(int argc, char **argv) {
-  grpc_test_init(argc, argv);
-  test_noop();
-  test_simple_convergence(0.2, 0, 0, 1, 100, 0);
-  test_simple_convergence(0.2, 0.1, 0, 1, 100, 0);
-  test_simple_convergence(0.2, 0.1, 0.1, 1, 100, 0);
-  return 0;
-}
diff --git a/test/core/transport/pid_controller_test.cc b/test/core/transport/pid_controller_test.cc
new file mode 100644
index 0000000000..081d03472a
--- /dev/null
+++ b/test/core/transport/pid_controller_test.cc
@@ -0,0 +1,91 @@
+/*
+ *
+ * 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();
+}