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 <gtest/gtest.h>
25
26 #include <grpc/support/alloc.h>
27 #include <grpc/support/log.h>
28 #include <grpc/support/string_util.h>
29
30 #include "src/core/lib/gpr/string.h"
31 #include "test/core/util/test_config.h"
32
33 namespace grpc_core {
34 namespace testing {
35
TEST(PidController,NoOp)36 TEST(PidController, NoOp) {
37 PidController pid(PidController::Args()
38 .set_gain_p(1)
39 .set_gain_i(1)
40 .set_gain_d(1)
41 .set_initial_control_value(1));
42 }
43
44 struct SimpleConvergenceTestArgs {
45 double gain_p;
46 double gain_i;
47 double gain_d;
48 double dt;
49 double set_point;
50 double start;
51 };
52
operator <<(std::ostream & out,SimpleConvergenceTestArgs args)53 std::ostream& operator<<(std::ostream& out, SimpleConvergenceTestArgs args) {
54 return out << "gain_p:" << args.gain_p << " gain_i:" << args.gain_i
55 << " gain_d:" << args.gain_d << " dt:" << args.dt
56 << " set_point:" << args.set_point << " start:" << args.start;
57 }
58
59 class SimpleConvergenceTest
60 : public ::testing::TestWithParam<SimpleConvergenceTestArgs> {};
61
TEST_P(SimpleConvergenceTest,Converges)62 TEST_P(SimpleConvergenceTest, Converges) {
63 PidController pid(PidController::Args()
64 .set_gain_p(GetParam().gain_p)
65 .set_gain_i(GetParam().gain_i)
66 .set_gain_d(GetParam().gain_d)
67 .set_initial_control_value(GetParam().start));
68
69 for (int i = 0; i < 100000; i++) {
70 pid.Update(GetParam().set_point - pid.last_control_value(), GetParam().dt);
71 }
72
73 EXPECT_LT(fabs(GetParam().set_point - pid.last_control_value()), 0.1);
74 if (GetParam().gain_i > 0) {
75 EXPECT_LT(fabs(pid.error_integral()), 0.1);
76 }
77 }
78
79 INSTANTIATE_TEST_SUITE_P(
80 X, SimpleConvergenceTest,
81 ::testing::Values(SimpleConvergenceTestArgs{0.2, 0, 0, 1, 100, 0},
82 SimpleConvergenceTestArgs{0.2, 0.1, 0, 1, 100, 0},
83 SimpleConvergenceTestArgs{0.2, 0.1, 0.1, 1, 100, 0}));
84
85 } // namespace testing
86 } // namespace grpc_core
87
main(int argc,char ** argv)88 int main(int argc, char** argv) {
89 grpc::testing::TestEnvironment env(argc, argv);
90 ::testing::InitGoogleTest(&argc, argv);
91 return RUN_ALL_TESTS();
92 }
93