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/*
*
* 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 <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;
}
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