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/*
*
* 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;
}
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