mirror of https://github.com/grpc/grpc.git
Craig Tiller
7 years ago
parent
6f41ad760b
commit
247b23114d
13 changed files with 482 additions and 391 deletions
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/*
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* |
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* Copyright 2016 gRPC authors. |
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* |
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* Licensed under the Apache License, Version 2.0 (the "License"); |
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* you may not use this file except in compliance with the License. |
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* You may obtain a copy of the License at |
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* |
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* http://www.apache.org/licenses/LICENSE-2.0
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* |
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* Unless required by applicable law or agreed to in writing, software |
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* distributed under the License is distributed on an "AS IS" BASIS, |
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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* See the License for the specific language governing permissions and |
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* limitations under the License. |
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* |
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*/ |
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#include "src/core/lib/transport/pid_controller.h" |
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#include <float.h> |
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#include <math.h> |
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#include <grpc/support/alloc.h> |
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#include <grpc/support/log.h> |
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#include <grpc/support/string_util.h> |
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#include <grpc/support/useful.h> |
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#include "src/core/lib/support/string.h" |
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#include "test/core/util/test_config.h" |
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static void test_noop(void) { |
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gpr_log(GPR_INFO, "test_noop"); |
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grpc_pid_controller pid; |
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grpc_pid_controller_init( |
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&pid, (grpc_pid_controller_args){.gain_p = 1, |
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.gain_i = 1, |
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.gain_d = 1, |
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.initial_control_value = 1, |
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.min_control_value = DBL_MIN, |
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.max_control_value = DBL_MAX, |
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.integral_range = DBL_MAX}); |
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} |
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static void test_simple_convergence(double gain_p, double gain_i, double gain_d, |
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double dt, double set_point, double start) { |
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gpr_log(GPR_INFO, |
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"test_simple_convergence(p=%lf, i=%lf, d=%lf); dt=%lf set_point=%lf " |
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"start=%lf", |
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gain_p, gain_i, gain_d, dt, set_point, start); |
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grpc_pid_controller pid; |
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grpc_pid_controller_init( |
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&pid, (grpc_pid_controller_args){.gain_p = gain_p, |
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.gain_i = gain_i, |
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.gain_d = gain_d, |
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.initial_control_value = start, |
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.min_control_value = DBL_MIN, |
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.max_control_value = DBL_MAX, |
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.integral_range = DBL_MAX}); |
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for (int i = 0; i < 100000; i++) { |
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grpc_pid_controller_update(&pid, set_point - grpc_pid_controller_last(&pid), |
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1); |
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} |
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GPR_ASSERT(fabs(set_point - grpc_pid_controller_last(&pid)) < 0.1); |
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if (gain_i > 0) { |
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GPR_ASSERT(fabs(pid.error_integral) < 0.1); |
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} |
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} |
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int main(int argc, char **argv) { |
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grpc_test_init(argc, argv); |
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test_noop(); |
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test_simple_convergence(0.2, 0, 0, 1, 100, 0); |
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test_simple_convergence(0.2, 0.1, 0, 1, 100, 0); |
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test_simple_convergence(0.2, 0.1, 0.1, 1, 100, 0); |
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return 0; |
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} |
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@ -0,0 +1,91 @@ |
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/*
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* |
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* Copyright 2016 gRPC authors. |
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* |
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* Licensed under the Apache License, Version 2.0 (the "License"); |
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* you may not use this file except in compliance with the License. |
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* You may obtain a copy of the License at |
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* |
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* http://www.apache.org/licenses/LICENSE-2.0
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* |
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* Unless required by applicable law or agreed to in writing, software |
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* distributed under the License is distributed on an "AS IS" BASIS, |
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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* See the License for the specific language governing permissions and |
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* limitations under the License. |
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* |
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*/ |
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#include "src/core/lib/transport/pid_controller.h" |
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#include <float.h> |
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#include <math.h> |
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#include <grpc/support/alloc.h> |
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#include <grpc/support/log.h> |
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#include <grpc/support/string_util.h> |
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#include <grpc/support/useful.h> |
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#include <gtest/gtest.h> |
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#include "src/core/lib/support/string.h" |
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#include "test/core/util/test_config.h" |
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namespace grpc_core { |
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namespace testing { |
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TEST(PidController, NoOp) { |
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PidController pid(PidController::Args() |
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.set_gain_p(1) |
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.set_gain_i(1) |
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.set_gain_d(1) |
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.set_initial_control_value(1)); |
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} |
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struct SimpleConvergenceTestArgs { |
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double gain_p; |
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double gain_i; |
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double gain_d; |
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double dt; |
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double set_point; |
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double start; |
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}; |
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std::ostream& operator<<(std::ostream& out, SimpleConvergenceTestArgs args) { |
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return out << "gain_p:" << args.gain_p << " gain_i:" << args.gain_i |
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<< " gain_d:" << args.gain_d << " dt:" << args.dt |
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<< " set_point:" << args.set_point << " start:" << args.start; |
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} |
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class SimpleConvergenceTest |
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: public ::testing::TestWithParam<SimpleConvergenceTestArgs> {}; |
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TEST_P(SimpleConvergenceTest, Converges) { |
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PidController pid(PidController::Args() |
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.set_gain_p(GetParam().gain_p) |
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.set_gain_i(GetParam().gain_i) |
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.set_gain_d(GetParam().gain_d) |
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.set_initial_control_value(GetParam().start)); |
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for (int i = 0; i < 100000; i++) { |
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pid.Update(GetParam().set_point - pid.last_control_value(), GetParam().dt); |
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} |
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EXPECT_LT(fabs(GetParam().set_point - pid.last_control_value()), 0.1); |
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if (GetParam().gain_i > 0) { |
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EXPECT_LT(fabs(pid.error_integral()), 0.1); |
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} |
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} |
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INSTANTIATE_TEST_CASE_P( |
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X, SimpleConvergenceTest, |
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::testing::Values(SimpleConvergenceTestArgs{0.2, 0, 0, 1, 100, 0}, |
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SimpleConvergenceTestArgs{0.2, 0.1, 0, 1, 100, 0}, |
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SimpleConvergenceTestArgs{0.2, 0.1, 0.1, 1, 100, 0})); |
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} // namespace testing
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} // namespace grpc_core
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int main(int argc, char** argv) { |
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grpc_test_init(argc, argv); |
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::testing::InitGoogleTest(&argc, argv); |
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return RUN_ALL_TESTS(); |
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} |
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