Craig Tiller
9 years ago
parent
6c7b6bfff1
commit
dd2fa6482a
24 changed files with 470 additions and 3 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 |
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* modification, are permitted provided that the following conditions are |
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* met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following disclaimer |
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* in the documentation and/or other materials provided with the |
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* distribution. |
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* * Neither the name of Google Inc. nor the names of its |
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* contributors may be used to endorse or promote products derived from |
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* this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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* 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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#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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