diff options
Diffstat (limited to 'src/core/lib/transport/pid_controller.c')
-rw-r--r-- | src/core/lib/transport/pid_controller.c | 63 |
1 files changed, 0 insertions, 63 deletions
diff --git a/src/core/lib/transport/pid_controller.c b/src/core/lib/transport/pid_controller.c deleted file mode 100644 index 4b304f17b2..0000000000 --- a/src/core/lib/transport/pid_controller.c +++ /dev/null @@ -1,63 +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 <grpc/support/useful.h> - -void grpc_pid_controller_init(grpc_pid_controller *pid_controller, - grpc_pid_controller_args args) { - pid_controller->args = args; - pid_controller->last_control_value = args.initial_control_value; - grpc_pid_controller_reset(pid_controller); -} - -void grpc_pid_controller_reset(grpc_pid_controller *pid_controller) { - pid_controller->last_error = 0.0; - pid_controller->last_dc_dt = 0.0; - pid_controller->error_integral = 0.0; -} - -double grpc_pid_controller_update(grpc_pid_controller *pid_controller, - double error, double dt) { - if (dt == 0) return pid_controller->last_control_value; - /* integrate error using the trapezoid rule */ - pid_controller->error_integral += - dt * (pid_controller->last_error + error) * 0.5; - pid_controller->error_integral = GPR_CLAMP( - pid_controller->error_integral, -pid_controller->args.integral_range, - pid_controller->args.integral_range); - double diff_error = (error - pid_controller->last_error) / dt; - /* calculate derivative of control value vs time */ - double dc_dt = pid_controller->args.gain_p * error + - pid_controller->args.gain_i * pid_controller->error_integral + - pid_controller->args.gain_d * diff_error; - /* and perform trapezoidal integration */ - double new_control_value = pid_controller->last_control_value + - dt * (pid_controller->last_dc_dt + dc_dt) * 0.5; - new_control_value = - GPR_CLAMP(new_control_value, pid_controller->args.min_control_value, - pid_controller->args.max_control_value); - pid_controller->last_error = error; - pid_controller->last_dc_dt = dc_dt; - pid_controller->last_control_value = new_control_value; - return new_control_value; -} - -double grpc_pid_controller_last(grpc_pid_controller *pid_controller) { - return pid_controller->last_control_value; -} |