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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 <gtest/gtest.h>
#include "src/core/lib/gpr/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();
}
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