mirror of https://github.com/grpc/grpc.git
Mark D. Roth
8 years ago
commit
c6a752d901
31 changed files with 699 additions and 103 deletions
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/*
|
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* |
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* Copyright 2016, Google Inc. |
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* All rights reserved. |
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* |
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* 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. |
||||
* |
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*/ |
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|
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#include "src/core/lib/transport/pid_controller.h" |
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|
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void grpc_pid_controller_init(grpc_pid_controller *pid_controller, |
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double gain_p, double gain_i, double gain_d) { |
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pid_controller->gain_p = gain_p; |
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pid_controller->gain_i = gain_i; |
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pid_controller->gain_d = gain_d; |
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grpc_pid_controller_reset(pid_controller); |
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} |
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|
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void grpc_pid_controller_reset(grpc_pid_controller *pid_controller) { |
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pid_controller->last_error = 0.0; |
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pid_controller->error_integral = 0.0; |
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} |
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|
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double grpc_pid_controller_update(grpc_pid_controller *pid_controller, |
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double error, double dt) { |
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pid_controller->error_integral += error * dt; |
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double diff_error = (error - pid_controller->last_error) / dt; |
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pid_controller->last_error = error; |
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return dt * (pid_controller->gain_p * error + |
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pid_controller->gain_i * pid_controller->error_integral + |
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pid_controller->gain_d * diff_error); |
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} |
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@ -0,0 +1,64 @@ |
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/*
|
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* |
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* Copyright 2016, Google Inc. |
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* 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. |
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* |
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*/ |
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|
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#ifndef GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H |
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#define GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H |
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/* \file Simple PID controller.
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Implements a proportional-integral-derivative controller. |
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Used when we want to iteratively control a variable to converge some other |
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observed value to a 'set-point'. |
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Gains can be set to adjust sensitivity to current error (p), the integral |
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of error (i), and the derivative of error (d). */ |
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typedef struct { |
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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 last_error; |
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double error_integral; |
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} grpc_pid_controller; |
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|
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/** Initialize the controller */ |
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void grpc_pid_controller_init(grpc_pid_controller *pid_controller, |
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double gain_p, double gain_i, double gain_d); |
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/** Reset the controller: useful when things have changed significantly */ |
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void grpc_pid_controller_reset(grpc_pid_controller *pid_controller); |
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|
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/** Update the controller: given a current error estimate, and the time since
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the last update, returns a delta to the control value */ |
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double grpc_pid_controller_update(grpc_pid_controller *pid_controller, |
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double error, double dt); |
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|
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#endif |
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@ -0,0 +1,77 @@ |
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/*
|
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* |
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* Copyright 2016, Google Inc. |
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* All rights reserved. |
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* |
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* 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. |
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* |
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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 <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(&pid, 1, 1, 1); |
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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(&pid, 0.2, 0.1, 0.1); |
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double current = start; |
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for (int i = 0; i < 1000; i++) { |
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current += grpc_pid_controller_update(&pid, set_point - current, 1); |
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} |
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GPR_ASSERT(fabs(set_point - current) < 0.1); |
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GPR_ASSERT(fabs(pid.error_integral) < 0.1); |
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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 +1,199 @@ |
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<ItemGroup> |
||||
<ClCompile Include="$(SolutionDir)\..\test\core\transport\pid_controller_test.c"> |
||||
<Filter>test\core\transport</Filter> |
||||
</ClCompile> |
||||
</ItemGroup> |
||||
|
||||
<ItemGroup> |
||||
<Filter Include="test"> |
||||
<UniqueIdentifier>{dd5fb527-8567-108a-e6d2-51380df8a82f}</UniqueIdentifier> |
||||
</Filter> |
||||
<Filter Include="test\core"> |
||||
<UniqueIdentifier>{18437a81-c8a9-fd37-ad74-63e9ebf0eb7a}</UniqueIdentifier> |
||||
</Filter> |
||||
<Filter Include="test\core\transport"> |
||||
<UniqueIdentifier>{6325372c-19b9-37ab-e8ff-16554de3bb3b}</UniqueIdentifier> |
||||
</Filter> |
||||
</ItemGroup> |
||||
</Project> |
||||
|
||||
Loading…
Reference in new issue