mirror of https://github.com/rusefi/rusefi.git
125 lines
3.4 KiB
C++
125 lines
3.4 KiB
C++
#include "closed_loop_controller.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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using ::testing::StrictMock;
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using ::testing::Return;
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using ::testing::Eq;
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class TestController : public ClosedLoopController<float, float> {
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public:
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MOCK_METHOD(expected<float>, getSetpoint, (), (override));
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MOCK_METHOD(expected<float>, observePlant, (), (override));
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MOCK_METHOD(expected<float>, getOpenLoop, (float setpoint), (override));
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MOCK_METHOD(expected<float>, getClosedLoop, (float setpoint, float observation), (override));
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MOCK_METHOD(void, setOutput, (expected<float> outputValue), (override));
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};
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TEST(ClosedLoopController, TestSetpoint) {
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StrictMock<TestController> controller;
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// If getSetpoint returns unexpected, no other functions should be called
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EXPECT_CALL(controller, getSetpoint())
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.WillOnce(Return(unexpected));
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// And output should be called with unexpected
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EXPECT_CALL(controller, setOutput(Eq(unexpected)));
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controller.update();
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}
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TEST(ClosedLoopController, TestSetpointSuccessPlantFail) {
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StrictMock<TestController> controller;
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// If getSetpoint returns unexpected, no other functions should be called
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EXPECT_CALL(controller, getSetpoint())
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.WillOnce(Return(25.0f));
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// Fail to observe plant - exec should stop there
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EXPECT_CALL(controller, observePlant())
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.WillOnce(Return(unexpected));
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// And output should be called with unexpected
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EXPECT_CALL(controller, setOutput(Eq(unexpected)));
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controller.update();
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}
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TEST(ClosedLoopController, TestPlantSuccessOpenLoopFail) {
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StrictMock<TestController> controller;
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// Return valid setpoint
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EXPECT_CALL(controller, getSetpoint())
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.WillOnce(Return(25.0f));
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// Return valid observation
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EXPECT_CALL(controller, observePlant())
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.WillOnce(Return(75.0f));
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// Setpoint should get passed to open loop
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// It will fail, nothing else should be called
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EXPECT_CALL(controller, getOpenLoop(25.0f))
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.WillOnce(Return(unexpected));
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// And output should be called with unexpected
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EXPECT_CALL(controller, setOutput(Eq(unexpected)));
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controller.update();
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}
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TEST(ClosedLoopController, TestPlantOpenLoopSuccessClosedLoopFail) {
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StrictMock<TestController> controller;
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// Return valid setpoint
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EXPECT_CALL(controller, getSetpoint())
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.WillOnce(Return(25.0f));
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// Return valid observation
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EXPECT_CALL(controller, observePlant())
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.WillOnce(Return(75.0f));
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// Setpoint should get passed to open loop
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// Return something valid
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EXPECT_CALL(controller, getOpenLoop(25.0f))
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.WillOnce(Return(37.0f));
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// Setpoint & observation should get passed
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// But return invalid
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EXPECT_CALL(controller, getClosedLoop(25.0f, 75.0f))
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.WillOnce(Return(unexpected));
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// And output should be called with unexpected
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EXPECT_CALL(controller, setOutput(Eq(unexpected)));
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controller.update();
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}
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TEST(ClosedLoopController, TestAllSuccess) {
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StrictMock<TestController> controller;
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// Return valid setpoint
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EXPECT_CALL(controller, getSetpoint())
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.WillOnce(Return(25.0f));
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// Return valid observation
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EXPECT_CALL(controller, observePlant())
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.WillOnce(Return(75.0f));
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// Setpoint should get passed to open loop
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// Return something valid
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EXPECT_CALL(controller, getOpenLoop(25.0f))
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.WillOnce(Return(37.0f));
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// Setpoint & observation should get passed
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// Return something valid
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EXPECT_CALL(controller, getClosedLoop(25.0f, 75.0f))
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.WillOnce(Return(22.0f));
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// Output should get called with sum of open & closed loop
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EXPECT_CALL(controller, setOutput(expected<float>(59.0f)));
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controller.update();
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}
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