| /* |
| * |
| * 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 <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 "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, (grpc_pid_controller_args){.gain_p = 1, |
| .gain_i = 1, |
| .gain_d = 1, |
| .initial_control_value = 1, |
| .min_control_value = DBL_MIN, |
| .max_control_value = DBL_MAX, |
| .integral_range = DBL_MAX}); |
| } |
| |
| 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, (grpc_pid_controller_args){.gain_p = gain_p, |
| .gain_i = gain_i, |
| .gain_d = gain_d, |
| .initial_control_value = start, |
| .min_control_value = DBL_MIN, |
| .max_control_value = DBL_MAX, |
| .integral_range = DBL_MAX}); |
| |
| for (int i = 0; i < 100000; i++) { |
| grpc_pid_controller_update(&pid, set_point - grpc_pid_controller_last(&pid), |
| 1); |
| } |
| |
| GPR_ASSERT(fabs(set_point - grpc_pid_controller_last(&pid)) < 0.1); |
| if (gain_i > 0) { |
| 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; |
| } |