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extracting pid test to separate file

This commit is contained in:
rusefi 2019-09-29 14:36:41 -04:00
parent df7fe0ec3b
commit 3201df7fbe
4 changed files with 71 additions and 58 deletions
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56
unit_tests/tests/test_idle_controller.cpp
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@ -48,61 +48,7 @@ TEST(idle, fsioPidParameters) {
}
TEST(idle, pid) {
print("******************************************* testPidController\r\n");
pid_s pidS;
pidS.pFactor = 50;
pidS.iFactor = 0.5;
pidS.dFactor = 0;
pidS.offset = 0;
pidS.minValue = 10;
pidS.maxValue = 90;
pidS.periodMs = 1;
Pid pid(&pidS);
ASSERT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
ASSERT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
pid.updateFactors(29, 0, 0);
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(0, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
pidS.pFactor = 1;
pidS.iFactor = 0;
pidS.dFactor = 0;
pidS.offset = 0;
pidS.minValue = 0;
pidS.maxValue = 100;
pidS.periodMs = 1;
pid.reset();
ASSERT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
}
// see also util.pid test
TEST(idle, timingPid) {
print("******************************************* testTimingPidController\r\n");

66
unit_tests/tests/test_pid.cpp Normal file
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@ -0,0 +1,66 @@
/*
* @file test_pid_auto.cpp
*
* @date Sep 29, 2019
* @author Andrey Belomutskiy, (c) 2012-2019
*/
// see also idle.timingPid test
#include "unit_test_framework.h"
#include "pid.h"
TEST(util, pid) {
print("******************************************* testPidController\r\n");
pid_s pidS;
pidS.pFactor = 50;
pidS.iFactor = 0.5;
pidS.dFactor = 0;
pidS.offset = 0;
pidS.minValue = 10;
pidS.maxValue = 90;
pidS.periodMs = 1;
Pid pid(&pidS);
ASSERT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
ASSERT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
pid.updateFactors(29, 0, 0);
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(0, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
pidS.pFactor = 1;
pidS.iFactor = 0;
pidS.dFactor = 0;
pidS.offset = 0;
pidS.minValue = 0;
pidS.maxValue = 100;
pidS.periodMs = 1;
pid.reset();
ASSERT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
}

6
unit_tests/tests/test_pid_auto.cpp
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@ -1,8 +1,8 @@
/*
* test_pid_auto.cpp
* @file test_pid_auto.cpp
*
* Created on: Sep 14, 2017
* @author Andrey Belomutskiy, (c) 2012-2018
* @date Sep 14, 2017
* @author Andrey Belomutskiy, (c) 2012-2019
*/
#include "global.h"

1
unit_tests/tests/tests.mk
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@ -25,6 +25,7 @@ TESTS_SRC_CPP = \
tests/test_cpp_memory_layout.cpp \
tests/test_sensors.cpp \
tests/test_pid_auto.cpp \
tests/test_pid.cpp \
tests/test_accel_enrichment.cpp \
tests/test_gpiochip.cpp \
\