mirror of https://github.com/FOME-Tech/fome-fw.git
75 lines
1.9 KiB
C++
75 lines
1.9 KiB
C++
#include "pch.h"
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#include "vvt.h"
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using ::testing::StrictMock;
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using ::testing::Return;
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TEST(Vvt, TestSetPoint) {
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EngineTestHelper eth(engine_type_e::TEST_ENGINE);
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// Set up a mock target map
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StrictMock<MockVp3d> targetMap;
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EXPECT_CALL(targetMap, getValue(4321, 55))
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.WillOnce(Return(20));
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// Mock necessary inputs
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engine->engineState.fuelingLoad = 55;
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Sensor::setMockValue(SensorType::Rpm, 4321);
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VvtController dut(0, 0, 0);
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dut.init(&targetMap, nullptr);
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// Test dut
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EXPECT_EQ(20, dut.getSetpoint().value_or(0));
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}
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TEST(Vvt, observePlant) {
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EngineTestHelper eth(engine_type_e::TEST_ENGINE);
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engine->triggerCentral.vvtPosition[0][0] = 23;
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VvtController dut(0, 0, 0);
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dut.init(nullptr, nullptr);
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EXPECT_EQ(23, dut.observePlant().value_or(0));
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}
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TEST(Vvt, openLoop) {
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VvtController dut(0, 0, 0);
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// No open loop for now
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EXPECT_EQ(dut.getOpenLoop(10), 0);
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}
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TEST(Vvt, ClosedLoopNotInverted) {
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EngineTestHelper eth(engine_type_e::TEST_ENGINE);
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VvtController dut(0, 0, 0);
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dut.init(nullptr, nullptr);
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engineConfiguration->auxPid[0].pFactor = 1.5f;
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engineConfiguration->auxPid[0].iFactor = 0;
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engineConfiguration->auxPid[0].dFactor = 0;
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engineConfiguration->auxPid[0].offset = 0;
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// Target of 30 with position 20 should yield positive duty, P=1.5 means 15% duty for 10% error
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EXPECT_EQ(dut.getClosedLoop(30, 20).value_or(0), 15);
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}
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TEST(Vvt, ClosedLoopInverted) {
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EngineTestHelper eth(engine_type_e::TEST_ENGINE);
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VvtController dut(0, 0, 0);
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dut.init(nullptr, nullptr);
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engineConfiguration->invertVvtControlIntake = true;
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engineConfiguration->auxPid[0].pFactor = 1.5f;
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engineConfiguration->auxPid[0].iFactor = 0;
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engineConfiguration->auxPid[0].dFactor = 0;
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engineConfiguration->auxPid[0].offset = 0;
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// Target of -30 with position -20 should yield positive duty, P=1.5 means 15% duty for 10% error
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EXPECT_EQ(dut.getClosedLoop(-30, -20).value_or(0), 15);
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}
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