From 9b0f617664ad0c7ac70ac947d4e960c1038c964a Mon Sep 17 00:00:00 2001
From: Andrey <rusefillc@gmail.com>
Date: Sun, 7 Nov 2021 09:53:40 -0500
Subject: [PATCH] lua pid class #3411

---
 firmware/controllers/lua/lua_hooks.cpp  |  5 ++--
 unit_tests/tests/lua/test_lua_hooks.cpp | 38 +++++++++++++++++++++++++
 2 files changed, 41 insertions(+), 2 deletions(-)

diff --git a/firmware/controllers/lua/lua_hooks.cpp b/firmware/controllers/lua/lua_hooks.cpp
index b95c8f2ec7..562fce5604 100644
--- a/firmware/controllers/lua/lua_hooks.cpp
+++ b/firmware/controllers/lua/lua_hooks.cpp
@@ -484,10 +484,11 @@ void configureRusefiLuaHooks(lua_State* l) {
 		.fun("set", &LuaSensor::set)
 		.fun("invalidate", &LuaSensor::invalidate);
 
+// not enough Lua memory even to initialize Lua :(
+#if defined(STM32F7) || defined(STM32H7) || EFI_UNIT_TEST
 	LuaClass<LuaPid> luaPid(l, "Pid");
 	luaPid
 		.ctor()
-/*
 		.fun("get", &LuaPid::get)
 		.fun("setTarget", &LuaPid::setTarget)
 		.fun("setP", &LuaPid::setP)
@@ -496,8 +497,8 @@ void configureRusefiLuaHooks(lua_State* l) {
 		.fun("setMinValue", &LuaPid::setMinValue)
 		.fun("setMaxValue", &LuaPid::setMaxValue)
 		.fun("reset", &LuaPid::reset)
-*/
 		;
+#endif
 
 	configureRusefiLuaUtilHooks(l);
 
diff --git a/unit_tests/tests/lua/test_lua_hooks.cpp b/unit_tests/tests/lua/test_lua_hooks.cpp
index ab6b1da58d..00ccaca9e3 100644
--- a/unit_tests/tests/lua/test_lua_hooks.cpp
+++ b/unit_tests/tests/lua/test_lua_hooks.cpp
@@ -140,3 +140,41 @@ 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);
+}