mirror of https://github.com/rusefi/rusefi-1.git
86 lines
1.8 KiB
C++
86 lines
1.8 KiB
C++
/*
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* test_pid_auto.cpp
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*
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* Created on: Sep 14, 2017
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* @author Andrey Belomutskiy, (c) 2012-2018
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*/
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#include "global.h"
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#include "test_pid_auto.h"
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#include "pid_auto_tune.h"
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#include "unit_test_framework.h"
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efitimems_t mockTimeMs = 0;
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efitimems_t currentTimeMillis(void) {
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return mockTimeMs;
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}
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Logging logging;
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static float zigZagOffset = 0;
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static zigZagValue(int index) {
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int i = index % 20;
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if ( i <= 10)
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return i * 10 + zigZagOffset;
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return (20 - i) * 10 + zigZagOffset;
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}
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void testPidAutoZigZag() {
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mockTimeMs = 0;
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PID_AutoTune at;
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at.outputStart = 50;
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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mockTimeMs++;
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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assertEqualsLM("min@1", 0, at.absMin);
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assertEqualsLM("max@1", 10, at.absMax);
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assertEqualsM("peakCount", 0, at.peakCount);
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for (; mockTimeMs <= 11; mockTimeMs++) {
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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}
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assertEqualsLM("min@11", 0, at.absMin);
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assertEqualsLM("max@11", 100, at.absMax);
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assertEqualsM("peakCount", 0, at.peakCount);
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for (; mockTimeMs <= 21; mockTimeMs++) {
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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}
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assertEqualsM("peakCount@21", 1, at.peakCount);
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for (; mockTimeMs <= 41; mockTimeMs++) {
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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}
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assertEqualsM("peakCount@41", 2, at.peakCount);
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assertEqualsM("Pu@41", 1, cisnan(at.Pu));
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for (; mockTimeMs <= 60; mockTimeMs++) {
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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}
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assertEqualsM("peakCount@60", 3, at.peakCount);
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assertEqualsM("Pu@60", 0.02, at.Pu);
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// zigZagOffset = 10;
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for (; mockTimeMs <= 80; mockTimeMs++) {
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at.input = zigZagValue(mockTimeMs);
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at.Runtime(&logging);
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}
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assertEqualsM("peakCount@80", 1, at.peakCount);
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// todo: test the same code with noisy zig-zag function
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}
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