Merge pull request #8456 from ctiller/pid_ctl

Simple PID controller
pull/8643/head
Craig Tiller 8 years ago committed by GitHub
commit 503653e27e
  1. 8
      BUILD
  2. 3
      CMakeLists.txt
  3. 40
      Makefile
  4. 1
      binding.gyp
  5. 12
      build.yaml
  6. 1
      config.m4
  7. 3
      gRPC-Core.podspec
  8. 2
      grpc.gemspec
  9. 2
      package.xml
  10. 57
      src/core/lib/transport/pid_controller.c
  11. 64
      src/core/lib/transport/pid_controller.h
  12. 1
      src/python/grpcio/grpc_core_dependencies.py
  13. 77
      test/core/transport/pid_controller_test.c
  14. 2
      tools/doxygen/Doxyfile.core.internal
  15. 20
      tools/run_tests/sources_and_headers.json
  16. 22
      tools/run_tests/tests.json
  17. 27
      vsprojects/buildtests_c.sln
  18. 3
      vsprojects/vcxproj/grpc/grpc.vcxproj
  19. 6
      vsprojects/vcxproj/grpc/grpc.vcxproj.filters
  20. 3
      vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj
  21. 6
      vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj.filters
  22. 3
      vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj
  23. 6
      vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj.filters
  24. 199
      vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj
  25. 21
      vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj.filters

@ -252,6 +252,7 @@ cc_library(
"src/core/lib/transport/metadata.h",
"src/core/lib/transport/metadata_batch.h",
"src/core/lib/transport/method_config.h",
"src/core/lib/transport/pid_controller.h",
"src/core/lib/transport/static_metadata.h",
"src/core/lib/transport/timeout_encoding.h",
"src/core/lib/transport/transport.h",
@ -436,6 +437,7 @@ cc_library(
"src/core/lib/transport/metadata.c",
"src/core/lib/transport/metadata_batch.c",
"src/core/lib/transport/method_config.c",
"src/core/lib/transport/pid_controller.c",
"src/core/lib/transport/static_metadata.c",
"src/core/lib/transport/timeout_encoding.c",
"src/core/lib/transport/transport.c",
@ -676,6 +678,7 @@ cc_library(
"src/core/lib/transport/metadata.h",
"src/core/lib/transport/metadata_batch.h",
"src/core/lib/transport/method_config.h",
"src/core/lib/transport/pid_controller.h",
"src/core/lib/transport/static_metadata.h",
"src/core/lib/transport/timeout_encoding.h",
"src/core/lib/transport/transport.h",
@ -845,6 +848,7 @@ cc_library(
"src/core/lib/transport/metadata.c",
"src/core/lib/transport/metadata_batch.c",
"src/core/lib/transport/method_config.c",
"src/core/lib/transport/pid_controller.c",
"src/core/lib/transport/static_metadata.c",
"src/core/lib/transport/timeout_encoding.c",
"src/core/lib/transport/transport.c",
@ -1055,6 +1059,7 @@ cc_library(
"src/core/lib/transport/metadata.h",
"src/core/lib/transport/metadata_batch.h",
"src/core/lib/transport/method_config.h",
"src/core/lib/transport/pid_controller.h",
"src/core/lib/transport/static_metadata.h",
"src/core/lib/transport/timeout_encoding.h",
"src/core/lib/transport/transport.h",
@ -1216,6 +1221,7 @@ cc_library(
"src/core/lib/transport/metadata.c",
"src/core/lib/transport/metadata_batch.c",
"src/core/lib/transport/method_config.c",
"src/core/lib/transport/pid_controller.c",
"src/core/lib/transport/static_metadata.c",
"src/core/lib/transport/timeout_encoding.c",
"src/core/lib/transport/transport.c",
@ -2073,6 +2079,7 @@ objc_library(
"src/core/lib/transport/metadata.c",
"src/core/lib/transport/metadata_batch.c",
"src/core/lib/transport/method_config.c",
"src/core/lib/transport/pid_controller.c",
"src/core/lib/transport/static_metadata.c",
"src/core/lib/transport/timeout_encoding.c",
"src/core/lib/transport/transport.c",
@ -2292,6 +2299,7 @@ objc_library(
"src/core/lib/transport/metadata.h",
"src/core/lib/transport/metadata_batch.h",
"src/core/lib/transport/method_config.h",
"src/core/lib/transport/pid_controller.h",
"src/core/lib/transport/static_metadata.h",
"src/core/lib/transport/timeout_encoding.h",
"src/core/lib/transport/transport.h",

@ -393,6 +393,7 @@ add_library(grpc
src/core/lib/transport/metadata.c
src/core/lib/transport/metadata_batch.c
src/core/lib/transport/method_config.c
src/core/lib/transport/pid_controller.c
src/core/lib/transport/static_metadata.c
src/core/lib/transport/timeout_encoding.c
src/core/lib/transport/transport.c
@ -665,6 +666,7 @@ add_library(grpc_cronet
src/core/lib/transport/metadata.c
src/core/lib/transport/metadata_batch.c
src/core/lib/transport/method_config.c
src/core/lib/transport/pid_controller.c
src/core/lib/transport/static_metadata.c
src/core/lib/transport/timeout_encoding.c
src/core/lib/transport/transport.c
@ -909,6 +911,7 @@ add_library(grpc_unsecure
src/core/lib/transport/metadata.c
src/core/lib/transport/metadata_batch.c
src/core/lib/transport/method_config.c
src/core/lib/transport/pid_controller.c
src/core/lib/transport/static_metadata.c
src/core/lib/transport/timeout_encoding.c
src/core/lib/transport/transport.c

@ -1028,6 +1028,7 @@ timer_heap_test: $(BINDIR)/$(CONFIG)/timer_heap_test
timer_list_test: $(BINDIR)/$(CONFIG)/timer_list_test
transport_connectivity_state_test: $(BINDIR)/$(CONFIG)/transport_connectivity_state_test
transport_metadata_test: $(BINDIR)/$(CONFIG)/transport_metadata_test
transport_pid_controller_test: $(BINDIR)/$(CONFIG)/transport_pid_controller_test
transport_security_test: $(BINDIR)/$(CONFIG)/transport_security_test
udp_server_test: $(BINDIR)/$(CONFIG)/udp_server_test
uri_fuzzer_test: $(BINDIR)/$(CONFIG)/uri_fuzzer_test
@ -1352,6 +1353,7 @@ buildtests_c: privatelibs_c \
$(BINDIR)/$(CONFIG)/timer_list_test \
$(BINDIR)/$(CONFIG)/transport_connectivity_state_test \
$(BINDIR)/$(CONFIG)/transport_metadata_test \
$(BINDIR)/$(CONFIG)/transport_pid_controller_test \
$(BINDIR)/$(CONFIG)/transport_security_test \
$(BINDIR)/$(CONFIG)/udp_server_test \
$(BINDIR)/$(CONFIG)/uri_parser_test \
@ -1762,6 +1764,8 @@ test_c: buildtests_c
$(Q) $(BINDIR)/$(CONFIG)/transport_connectivity_state_test || ( echo test transport_connectivity_state_test failed ; exit 1 )
$(E) "[RUN] Testing transport_metadata_test"
$(Q) $(BINDIR)/$(CONFIG)/transport_metadata_test || ( echo test transport_metadata_test failed ; exit 1 )
$(E) "[RUN] Testing transport_pid_controller_test"
$(Q) $(BINDIR)/$(CONFIG)/transport_pid_controller_test || ( echo test transport_pid_controller_test failed ; exit 1 )
$(E) "[RUN] Testing transport_security_test"
$(Q) $(BINDIR)/$(CONFIG)/transport_security_test || ( echo test transport_security_test failed ; exit 1 )
$(E) "[RUN] Testing udp_server_test"
@ -2693,6 +2697,7 @@ LIBGRPC_SRC = \
src/core/lib/transport/metadata.c \
src/core/lib/transport/metadata_batch.c \
src/core/lib/transport/method_config.c \
src/core/lib/transport/pid_controller.c \
src/core/lib/transport/static_metadata.c \
src/core/lib/transport/timeout_encoding.c \
src/core/lib/transport/transport.c \
@ -2983,6 +2988,7 @@ LIBGRPC_CRONET_SRC = \
src/core/lib/transport/metadata.c \
src/core/lib/transport/metadata_batch.c \
src/core/lib/transport/method_config.c \
src/core/lib/transport/pid_controller.c \
src/core/lib/transport/static_metadata.c \
src/core/lib/transport/timeout_encoding.c \
src/core/lib/transport/transport.c \
@ -3264,6 +3270,7 @@ LIBGRPC_TEST_UTIL_SRC = \
src/core/lib/transport/metadata.c \
src/core/lib/transport/metadata_batch.c \
src/core/lib/transport/method_config.c \
src/core/lib/transport/pid_controller.c \
src/core/lib/transport/static_metadata.c \
src/core/lib/transport/timeout_encoding.c \
src/core/lib/transport/transport.c \
@ -3474,6 +3481,7 @@ LIBGRPC_UNSECURE_SRC = \
src/core/lib/transport/metadata.c \
src/core/lib/transport/metadata_batch.c \
src/core/lib/transport/method_config.c \
src/core/lib/transport/pid_controller.c \
src/core/lib/transport/static_metadata.c \
src/core/lib/transport/timeout_encoding.c \
src/core/lib/transport/transport.c \
@ -11067,6 +11075,38 @@ endif
endif
TRANSPORT_PID_CONTROLLER_TEST_SRC = \
test/core/transport/pid_controller_test.c \
TRANSPORT_PID_CONTROLLER_TEST_OBJS = $(addprefix $(OBJDIR)/$(CONFIG)/, $(addsuffix .o, $(basename $(TRANSPORT_PID_CONTROLLER_TEST_SRC))))
ifeq ($(NO_SECURE),true)
# You can't build secure targets if you don't have OpenSSL.
$(BINDIR)/$(CONFIG)/transport_pid_controller_test: openssl_dep_error
else
$(BINDIR)/$(CONFIG)/transport_pid_controller_test: $(TRANSPORT_PID_CONTROLLER_TEST_OBJS) $(LIBDIR)/$(CONFIG)/libgrpc_test_util.a $(LIBDIR)/$(CONFIG)/libgrpc.a $(LIBDIR)/$(CONFIG)/libgpr_test_util.a $(LIBDIR)/$(CONFIG)/libgpr.a
$(E) "[LD] Linking $@"
$(Q) mkdir -p `dirname $@`
$(Q) $(LD) $(LDFLAGS) $(TRANSPORT_PID_CONTROLLER_TEST_OBJS) $(LIBDIR)/$(CONFIG)/libgrpc_test_util.a $(LIBDIR)/$(CONFIG)/libgrpc.a $(LIBDIR)/$(CONFIG)/libgpr_test_util.a $(LIBDIR)/$(CONFIG)/libgpr.a $(LDLIBS) $(LDLIBS_SECURE) -o $(BINDIR)/$(CONFIG)/transport_pid_controller_test
endif
$(OBJDIR)/$(CONFIG)/test/core/transport/pid_controller_test.o: $(LIBDIR)/$(CONFIG)/libgrpc_test_util.a $(LIBDIR)/$(CONFIG)/libgrpc.a $(LIBDIR)/$(CONFIG)/libgpr_test_util.a $(LIBDIR)/$(CONFIG)/libgpr.a
deps_transport_pid_controller_test: $(TRANSPORT_PID_CONTROLLER_TEST_OBJS:.o=.dep)
ifneq ($(NO_SECURE),true)
ifneq ($(NO_DEPS),true)
-include $(TRANSPORT_PID_CONTROLLER_TEST_OBJS:.o=.dep)
endif
endif
TRANSPORT_SECURITY_TEST_SRC = \
test/core/tsi/transport_security_test.c \

@ -671,6 +671,7 @@
'src/core/lib/transport/metadata.c',
'src/core/lib/transport/metadata_batch.c',
'src/core/lib/transport/method_config.c',
'src/core/lib/transport/pid_controller.c',
'src/core/lib/transport/static_metadata.c',
'src/core/lib/transport/timeout_encoding.c',
'src/core/lib/transport/transport.c',

@ -256,6 +256,7 @@ filegroups:
- src/core/lib/transport/metadata.h
- src/core/lib/transport/metadata_batch.h
- src/core/lib/transport/method_config.h
- src/core/lib/transport/pid_controller.h
- src/core/lib/transport/static_metadata.h
- src/core/lib/transport/timeout_encoding.h
- src/core/lib/transport/transport.h
@ -364,6 +365,7 @@ filegroups:
- src/core/lib/transport/metadata.c
- src/core/lib/transport/metadata_batch.c
- src/core/lib/transport/method_config.c
- src/core/lib/transport/pid_controller.c
- src/core/lib/transport/static_metadata.c
- src/core/lib/transport/timeout_encoding.c
- src/core/lib/transport/transport.c
@ -2668,6 +2670,16 @@ targets:
- grpc
- gpr_test_util
- gpr
- name: transport_pid_controller_test
build: test
language: c
src:
- test/core/transport/pid_controller_test.c
deps:
- grpc_test_util
- grpc
- gpr_test_util
- gpr
- name: transport_security_test
build: test
language: c

@ -187,6 +187,7 @@ if test "$PHP_GRPC" != "no"; then
src/core/lib/transport/metadata.c \
src/core/lib/transport/metadata_batch.c \
src/core/lib/transport/method_config.c \
src/core/lib/transport/pid_controller.c \
src/core/lib/transport/static_metadata.c \
src/core/lib/transport/timeout_encoding.c \
src/core/lib/transport/transport.c \

@ -339,6 +339,7 @@ Pod::Spec.new do |s|
'src/core/lib/transport/metadata.h',
'src/core/lib/transport/metadata_batch.h',
'src/core/lib/transport/method_config.h',
'src/core/lib/transport/pid_controller.h',
'src/core/lib/transport/static_metadata.h',
'src/core/lib/transport/timeout_encoding.h',
'src/core/lib/transport/transport.h',
@ -527,6 +528,7 @@ Pod::Spec.new do |s|
'src/core/lib/transport/metadata.c',
'src/core/lib/transport/metadata_batch.c',
'src/core/lib/transport/method_config.c',
'src/core/lib/transport/pid_controller.c',
'src/core/lib/transport/static_metadata.c',
'src/core/lib/transport/timeout_encoding.c',
'src/core/lib/transport/transport.c',
@ -735,6 +737,7 @@ Pod::Spec.new do |s|
'src/core/lib/transport/metadata.h',
'src/core/lib/transport/metadata_batch.h',
'src/core/lib/transport/method_config.h',
'src/core/lib/transport/pid_controller.h',
'src/core/lib/transport/static_metadata.h',
'src/core/lib/transport/timeout_encoding.h',
'src/core/lib/transport/transport.h',

@ -259,6 +259,7 @@ Gem::Specification.new do |s|
s.files += %w( src/core/lib/transport/metadata.h )
s.files += %w( src/core/lib/transport/metadata_batch.h )
s.files += %w( src/core/lib/transport/method_config.h )
s.files += %w( src/core/lib/transport/pid_controller.h )
s.files += %w( src/core/lib/transport/static_metadata.h )
s.files += %w( src/core/lib/transport/timeout_encoding.h )
s.files += %w( src/core/lib/transport/transport.h )
@ -447,6 +448,7 @@ Gem::Specification.new do |s|
s.files += %w( src/core/lib/transport/metadata.c )
s.files += %w( src/core/lib/transport/metadata_batch.c )
s.files += %w( src/core/lib/transport/method_config.c )
s.files += %w( src/core/lib/transport/pid_controller.c )
s.files += %w( src/core/lib/transport/static_metadata.c )
s.files += %w( src/core/lib/transport/timeout_encoding.c )
s.files += %w( src/core/lib/transport/transport.c )

@ -266,6 +266,7 @@
<file baseinstalldir="/" name="src/core/lib/transport/metadata.h" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/metadata_batch.h" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/method_config.h" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/pid_controller.h" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/static_metadata.h" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/timeout_encoding.h" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/transport.h" role="src" />
@ -454,6 +455,7 @@
<file baseinstalldir="/" name="src/core/lib/transport/metadata.c" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/metadata_batch.c" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/method_config.c" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/pid_controller.c" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/static_metadata.c" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/timeout_encoding.c" role="src" />
<file baseinstalldir="/" name="src/core/lib/transport/transport.c" role="src" />

@ -0,0 +1,57 @@
/*
*
* 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"
void grpc_pid_controller_init(grpc_pid_controller *pid_controller,
double gain_p, double gain_i, double gain_d) {
pid_controller->gain_p = gain_p;
pid_controller->gain_i = gain_i;
pid_controller->gain_d = gain_d;
grpc_pid_controller_reset(pid_controller);
}
void grpc_pid_controller_reset(grpc_pid_controller *pid_controller) {
pid_controller->last_error = 0.0;
pid_controller->error_integral = 0.0;
}
double grpc_pid_controller_update(grpc_pid_controller *pid_controller,
double error, double dt) {
pid_controller->error_integral += error * dt;
double diff_error = (error - pid_controller->last_error) / dt;
pid_controller->last_error = error;
return dt * (pid_controller->gain_p * error +
pid_controller->gain_i * pid_controller->error_integral +
pid_controller->gain_d * diff_error);
}

@ -0,0 +1,64 @@
/*
*
* 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.
*
*/
#ifndef GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
#define GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
/* \file Simple PID controller.
Implements a proportional-integral-derivative controller.
Used when we want to iteratively control a variable to converge some other
observed value to a 'set-point'.
Gains can be set to adjust sensitivity to current error (p), the integral
of error (i), and the derivative of error (d). */
typedef struct {
double gain_p;
double gain_i;
double gain_d;
double last_error;
double error_integral;
} grpc_pid_controller;
/** Initialize the controller */
void grpc_pid_controller_init(grpc_pid_controller *pid_controller,
double gain_p, double gain_i, double gain_d);
/** Reset the controller: useful when things have changed significantly */
void grpc_pid_controller_reset(grpc_pid_controller *pid_controller);
/** Update the controller: given a current error estimate, and the time since
the last update, returns a delta to the control value */
double grpc_pid_controller_update(grpc_pid_controller *pid_controller,
double error, double dt);
#endif

@ -181,6 +181,7 @@ CORE_SOURCE_FILES = [
'src/core/lib/transport/metadata.c',
'src/core/lib/transport/metadata_batch.c',
'src/core/lib/transport/method_config.c',
'src/core/lib/transport/pid_controller.c',
'src/core/lib/transport/static_metadata.c',
'src/core/lib/transport/timeout_encoding.c',
'src/core/lib/transport/transport.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 <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, 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;
}

@ -876,6 +876,7 @@ src/core/lib/transport/mdstr_hash_table.h \
src/core/lib/transport/metadata.h \
src/core/lib/transport/metadata_batch.h \
src/core/lib/transport/method_config.h \
src/core/lib/transport/pid_controller.h \
src/core/lib/transport/static_metadata.h \
src/core/lib/transport/timeout_encoding.h \
src/core/lib/transport/transport.h \
@ -1064,6 +1065,7 @@ src/core/lib/transport/mdstr_hash_table.c \
src/core/lib/transport/metadata.c \
src/core/lib/transport/metadata_batch.c \
src/core/lib/transport/method_config.c \
src/core/lib/transport/pid_controller.c \
src/core/lib/transport/static_metadata.c \
src/core/lib/transport/timeout_encoding.c \
src/core/lib/transport/transport.c \

@ -2062,6 +2062,23 @@
"third_party": false,
"type": "target"
},
{
"deps": [
"gpr",
"gpr_test_util",
"grpc",
"grpc_test_util"
],
"headers": [],
"is_filegroup": false,
"language": "c",
"name": "transport_pid_controller_test",
"src": [
"test/core/transport/pid_controller_test.c"
],
"third_party": false,
"type": "target"
},
{
"deps": [
"gpr",
@ -6650,6 +6667,7 @@
"src/core/lib/transport/metadata.h",
"src/core/lib/transport/metadata_batch.h",
"src/core/lib/transport/method_config.h",
"src/core/lib/transport/pid_controller.h",
"src/core/lib/transport/static_metadata.h",
"src/core/lib/transport/timeout_encoding.h",
"src/core/lib/transport/transport.h",
@ -6859,6 +6877,8 @@
"src/core/lib/transport/metadata_batch.h",
"src/core/lib/transport/method_config.c",
"src/core/lib/transport/method_config.h",
"src/core/lib/transport/pid_controller.c",
"src/core/lib/transport/pid_controller.h",
"src/core/lib/transport/static_metadata.c",
"src/core/lib/transport/static_metadata.h",
"src/core/lib/transport/timeout_encoding.c",

@ -2193,6 +2193,28 @@
"windows"
]
},
{
"args": [],
"ci_platforms": [
"linux",
"mac",
"posix",
"windows"
],
"cpu_cost": 1.0,
"exclude_configs": [],
"exclude_iomgrs": [],
"flaky": false,
"gtest": false,
"language": "c",
"name": "transport_pid_controller_test",
"platforms": [
"linux",
"mac",
"posix",
"windows"
]
},
{
"args": [],
"ci_platforms": [

@ -1494,6 +1494,17 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "transport_metadata_test", "
{B23D3D1A-9438-4EDA-BEB6-9A0A03D17792} = {B23D3D1A-9438-4EDA-BEB6-9A0A03D17792}
EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "transport_pid_controller_test", "vcxproj\test\transport_pid_controller_test\transport_pid_controller_test.vcxproj", "{B8790A2E-1106-2510-9D95-32C1D68E72EE}"
ProjectSection(myProperties) = preProject
lib = "False"
EndProjectSection
ProjectSection(ProjectDependencies) = postProject
{17BCAFC0-5FDC-4C94-AEB9-95F3E220614B} = {17BCAFC0-5FDC-4C94-AEB9-95F3E220614B}
{29D16885-7228-4C31-81ED-5F9187C7F2A9} = {29D16885-7228-4C31-81ED-5F9187C7F2A9}
{EAB0A629-17A9-44DB-B5FF-E91A721FE037} = {EAB0A629-17A9-44DB-B5FF-E91A721FE037}
{B23D3D1A-9438-4EDA-BEB6-9A0A03D17792} = {B23D3D1A-9438-4EDA-BEB6-9A0A03D17792}
EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "unknown_frame_bad_client_test", "vcxproj\test\unknown_frame_bad_client_test\unknown_frame_bad_client_test.vcxproj", "{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}"
ProjectSection(myProperties) = preProject
lib = "False"
@ -3781,6 +3792,22 @@ Global
{89A119C5-0F62-33B8-5D08-1FAA29DA7DEB}.Release-DLL|Win32.Build.0 = Release|Win32
{89A119C5-0F62-33B8-5D08-1FAA29DA7DEB}.Release-DLL|x64.ActiveCfg = Release|x64
{89A119C5-0F62-33B8-5D08-1FAA29DA7DEB}.Release-DLL|x64.Build.0 = Release|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|Win32.ActiveCfg = Debug|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|x64.ActiveCfg = Debug|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|Win32.ActiveCfg = Release|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|x64.ActiveCfg = Release|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|Win32.Build.0 = Debug|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|x64.Build.0 = Debug|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|Win32.Build.0 = Release|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|x64.Build.0 = Release|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|Win32.ActiveCfg = Debug|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|Win32.Build.0 = Debug|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|x64.ActiveCfg = Debug|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|x64.Build.0 = Debug|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|Win32.ActiveCfg = Release|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|Win32.Build.0 = Release|Win32
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|x64.ActiveCfg = Release|x64
{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|x64.Build.0 = Release|x64
{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}.Debug|Win32.ActiveCfg = Debug|Win32
{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}.Debug|x64.ActiveCfg = Debug|x64
{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}.Release|Win32.ActiveCfg = Release|Win32

@ -385,6 +385,7 @@
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata_batch.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\transport.h" />
@ -679,6 +680,8 @@
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.c">

@ -313,6 +313,9 @@
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
@ -977,6 +980,9 @@
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>

@ -278,6 +278,7 @@
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata_batch.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\transport.h" />
@ -530,6 +531,8 @@
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.c">

@ -370,6 +370,9 @@
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
@ -773,6 +776,9 @@
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>

@ -375,6 +375,7 @@
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata_batch.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.h" />
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\transport.h" />
@ -647,6 +648,8 @@
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.c">

@ -316,6 +316,9 @@
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
<ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
<Filter>src\core\lib\transport</Filter>
</ClCompile>
@ -890,6 +893,9 @@
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>
<ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h">
<Filter>src\core\lib\transport</Filter>
</ClInclude>

@ -0,0 +1,199 @@
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@ -0,0 +1,21 @@
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