diff options
author | Craig Tiller <ctiller@google.com> | 2017-10-18 12:06:59 -0700 |
---|---|---|
committer | GitHub <noreply@github.com> | 2017-10-18 12:06:59 -0700 |
commit | 0d1150855d5c812d649111a4675ad0c444dafdc4 (patch) | |
tree | affc6a980f55a8df657226aa1794bb08c41be1f2 /test | |
parent | 11676552c80c1627aca757bc5cf192f1bf14a85f (diff) | |
parent | ff84ae8b7a7b3d14109c8c0278de870ebb1fed6f (diff) |
Merge pull request #12903 from ctiller/pid++
C++ize PidController
Diffstat (limited to 'test')
-rw-r--r-- | test/core/transport/BUILD | 5 | ||||
-rw-r--r-- | test/core/transport/bdp_estimator_test.cc | 1 | ||||
-rw-r--r-- | test/core/transport/pid_controller_test.c | 78 | ||||
-rw-r--r-- | test/core/transport/pid_controller_test.cc | 91 |
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 7ac35016c0..a944762a88 100644 --- a/test/core/transport/bdp_estimator_test.cc +++ b/test/core/transport/bdp_estimator_test.cc @@ -143,6 +143,7 @@ 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(); +} |