From 64ecbb16ab321ac0b68eb556e3ea0aa9ef95c089 Mon Sep 17 00:00:00 2001
From: rusefillc <sdfsdfqsf2334234234>
Date: Thu, 28 Oct 2021 23:41:23 -0400
Subject: [PATCH] Revert "lua pid class #3411"

This reverts commit dde80bb900df135cde30209b538f2311b2a94383.
---
 firmware/controllers/lua/lua_hooks.cpp  | 78 -------------------------
 unit_tests/tests/lua/test_lua_hooks.cpp | 38 ------------
 2 files changed, 116 deletions(-)

diff --git a/firmware/controllers/lua/lua_hooks.cpp b/firmware/controllers/lua/lua_hooks.cpp
index 5a162e9273..3f406e58d4 100644
--- a/firmware/controllers/lua/lua_hooks.cpp
+++ b/firmware/controllers/lua/lua_hooks.cpp
@@ -374,71 +374,6 @@ struct LuaSensor : public StoredValueSensor {
 	void showInfo(const char*) const {}
 };
 
-struct LuaPid {
-	LuaPid
-	()
-// todo	(float kp, float ki, float kd, float min, float max)
-		: m_pid(&m_params)
-	{
-		m_params.pFactor = 0;
-		m_params.iFactor = 0;
-		m_params.dFactor = 0;
-
-		m_params.offset = 0;
-		m_params.periodMs = 0;
-		m_params.minValue = 0;
-		m_params.maxValue = 0;
-
-		m_lastUpdate.reset();
-	}
-
-	float get(float input) {
-#if EFI_UNIT_TEST
-		extern int timeNowUs;
-		// this is how we avoid zero dt
-		timeNowUs += 1000;
-#endif
-		float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
-
-		return m_pid.getOutput(target, input, dt);
-	}
-
-	void setTarget(float value) {
-		target = value;
-	}
-
-	void setP(float value) {
-		m_params.pFactor = value;
-	}
-
-	void setI(float value) {
-		m_params.iFactor = value;
-	}
-
-	void setD(float value) {
-		m_params.dFactor = value;
-	}
-
-	void setMinValue(float value) {
-		m_params.minValue = value;
-	}
-
-	void setMaxValue(float value) {
-		m_params.maxValue = value;
-	}
-
-	void reset() {
-		m_pid.reset();
-	}
-
-private:
-	Pid m_pid;
-	Timer m_lastUpdate;
-	pid_s m_params;
-	// ugly as hell, a way to move forward while we wait for https://github.com/gengyong/luaaa/issues/7
-	float target;
-};
-
 void configureRusefiLuaHooks(lua_State* l) {
 
 	LuaClass<Timer> luaTimer(l, "Timer");
@@ -453,19 +388,6 @@ void configureRusefiLuaHooks(lua_State* l) {
 		.fun("set", &LuaSensor::set)
 		.fun("invalidate", &LuaSensor::invalidate);
 
-	LuaClass<LuaPid> luaPid(l, "Pid");
-	luaPid
-		.ctor()
-		.fun("get", &LuaPid::get)
-		.fun("setTarget", &LuaPid::setTarget)
-		.fun("setP", &LuaPid::setP)
-		.fun("setI", &LuaPid::setI)
-		.fun("setD", &LuaPid::setD)
-		.fun("setMinValue", &LuaPid::setMinValue)
-		.fun("setMaxValue", &LuaPid::setMaxValue)
-		.fun("reset", &LuaPid::reset)
-		;
-
 	lua_register(l, "print", lua_efi_print);
 	lua_register(l, "readPin", lua_readpin);
 	lua_register(l, "getAuxAnalog", lua_getAuxAnalog);
diff --git a/unit_tests/tests/lua/test_lua_hooks.cpp b/unit_tests/tests/lua/test_lua_hooks.cpp
index 0e2ffd8503..99031e5410 100644
--- a/unit_tests/tests/lua/test_lua_hooks.cpp
+++ b/unit_tests/tests/lua/test_lua_hooks.cpp
@@ -130,41 +130,3 @@ TEST(LuaHooks, LuaSensor) {
 	// Ensure that the sensor got unregistered on teardown of the Lua interpreter
 	EXPECT_FALSE(Sensor::hasSensor(SensorType::Clt));
 }
-
-static const char* pidTest = R"(
-function testFunc()
-	local pid = Pid.new()
-	pid:setP(0.5)
-	pid:setMinValue(-10)
-    pid:setMaxValue(10)
-
-	pid:setTarget(3)
-
-	-- delta is -4, output -2
-	if pid:get(7) ~= -2 then
-		return 1
-	end
-
-	pid:setTarget(4)
-	-- delta is 6, output 3
-	if pid:get(-2) ~= 3 then
-		return 2
-	end
-
-	pid:setTarget(0)
-	-- test clamping
-	if pid:get(100) ~= -10 then
-		return 3
-	end
-
-	if pid:get(-100) ~= 10 then
-		return 4
-	end
-
-	return 0
-end
-)";
-
-TEST(LuaHooks, LuaPid) {
-	EXPECT_EQ(testLuaReturnsNumber(pidTest), 0);
-}