From dd2fa6482a945c17eba4c37ff42a8af0e9c4fa26 Mon Sep 17 00:00:00 2001 From: Craig Tiller Date: Thu, 20 Oct 2016 15:46:32 -0700 Subject: Add pid controller test --- test/core/transport/pid_controller_test.c | 77 +++++++++++++++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 test/core/transport/pid_controller_test.c (limited to 'test/core/transport/pid_controller_test.c') diff --git a/test/core/transport/pid_controller_test.c b/test/core/transport/pid_controller_test.c new file mode 100644 index 0000000000..9614983b00 --- /dev/null +++ b/test/core/transport/pid_controller_test.c @@ -0,0 +1,77 @@ +/* + * + * Copyright 2016, Google Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following disclaimer + * in the documentation and/or other materials provided with the + * distribution. + * * Neither the name of Google Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, + * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY + * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "src/core/lib/transport/pid_controller.h" + +#include + +#include +#include +#include +#include +#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, 1, 1, 1); +} + +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, 0.2, 0.1, 0.1); + + double current = start; + + for (int i = 0; i < 1000; i++) { + current += grpc_pid_controller_update(&pid, set_point - current, 1); + } + + GPR_ASSERT(fabs(set_point - current) < 0.1); + 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; +} -- cgit v1.2.3