1 /*
2 *
3 * Copyright 2016 gRPC authors.
4 *
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
8 *
9 * http://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
16 *
17 */
18
19 #include "src/core/lib/transport/pid_controller.h"
20
21 #include <float.h>
22 #include <math.h>
23
24 #include <grpc/support/alloc.h>
25 #include <grpc/support/log.h>
26 #include <grpc/support/string_util.h>
27
28 #include <gtest/gtest.h>
29 #include "src/core/lib/gpr/string.h"
30 #include "test/core/util/test_config.h"
31
32 namespace grpc_core {
33 namespace testing {
34
TEST(PidController,NoOp)35 TEST(PidController, NoOp) {
36 PidController pid(PidController::Args()
37 .set_gain_p(1)
38 .set_gain_i(1)
39 .set_gain_d(1)
40 .set_initial_control_value(1));
41 }
42
43 struct SimpleConvergenceTestArgs {
44 double gain_p;
45 double gain_i;
46 double gain_d;
47 double dt;
48 double set_point;
49 double start;
50 };
51
operator <<(std::ostream & out,SimpleConvergenceTestArgs args)52 std::ostream& operator<<(std::ostream& out, SimpleConvergenceTestArgs args) {
53 return out << "gain_p:" << args.gain_p << " gain_i:" << args.gain_i
54 << " gain_d:" << args.gain_d << " dt:" << args.dt
55 << " set_point:" << args.set_point << " start:" << args.start;
56 }
57
58 class SimpleConvergenceTest
59 : public ::testing::TestWithParam<SimpleConvergenceTestArgs> {};
60
TEST_P(SimpleConvergenceTest,Converges)61 TEST_P(SimpleConvergenceTest, Converges) {
62 PidController pid(PidController::Args()
63 .set_gain_p(GetParam().gain_p)
64 .set_gain_i(GetParam().gain_i)
65 .set_gain_d(GetParam().gain_d)
66 .set_initial_control_value(GetParam().start));
67
68 for (int i = 0; i < 100000; i++) {
69 pid.Update(GetParam().set_point - pid.last_control_value(), GetParam().dt);
70 }
71
72 EXPECT_LT(fabs(GetParam().set_point - pid.last_control_value()), 0.1);
73 if (GetParam().gain_i > 0) {
74 EXPECT_LT(fabs(pid.error_integral()), 0.1);
75 }
76 }
77
78 INSTANTIATE_TEST_CASE_P(
79 X, SimpleConvergenceTest,
80 ::testing::Values(SimpleConvergenceTestArgs{0.2, 0, 0, 1, 100, 0},
81 SimpleConvergenceTestArgs{0.2, 0.1, 0, 1, 100, 0},
82 SimpleConvergenceTestArgs{0.2, 0.1, 0.1, 1, 100, 0}));
83
84 } // namespace testing
85 } // namespace grpc_core
86
main(int argc,char ** argv)87 int main(int argc, char** argv) {
88 grpc_test_init(argc, argv);
89 ::testing::InitGoogleTest(&argc, argv);
90 return RUN_ALL_TESTS();
91 }
92