unit_tests/tests/test_pid.cpp - GCC Code Coverage Report

Directory:	./
File:	unit_tests/tests/test_pid.cpp
Date:	2025-10-24 14:26:41

	Coverage	Exec	Excl	Total
Lines:	100.0%	69	0	69
Functions:	100.0%	11	0	11
Branches:	42.2%	87	0	206
Decisions:	-%	0	-	0

  
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      Decision
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      /*
    
       * @file test_pid_auto.cpp
    
       *
    
       * @date Sep 29, 2019
    
       * @author Andrey Belomutskiy, (c) 2012-2020
    
       */
    
      // see also idle.timingPid test
    
      #include "pch.h"
    
      #include "efi_pid.h"
    
      4
      TEST(util, pid) {
    
      1
      	pid_s pidS;
    
      1
      	pidS.pFactor = 50;
    
      1
      	pidS.iFactor = 0.5;
    
      1
      	pidS.dFactor = 0;
    
      1
      	pidS.offset = 0;
    
      1
      	pidS.minValue = 10;
    
      1
      	pidS.maxValue = 90;
    
      1
      	pidS.periodMs = 1;
    
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      1
      	Pid pid(&pidS);
    
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      1
      	ASSERT_FLOAT_EQ( 90,  pid.getOutput(14, 12, 0.1)) << "getValue#90";
    
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      1
      	ASSERT_FLOAT_EQ( 10,  pid.getOutput(14, 16, 0.1)) << "getValue#10";
    
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      1
      	ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
    
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      1
      	pid.updateFactors(29, 0, 0);
    
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      1
      	ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
    
      //	ASSERT_FLOAT_EQ(68, pid.getIntegration());
    
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      1
      	ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
    
      //	ASSERT_FLOAT_EQ(0, pid.getIntegration());
    
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      1
      	ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
    
      //	ASSERT_FLOAT_EQ(68, pid.getIntegration());
    
      1
      	pidS.pFactor = 1;
    
      1
      	pidS.iFactor = 0;
    
      1
      	pidS.dFactor = 0;
    
      1
      	pidS.offset = 0;
    
      1
      	pidS.minValue = 0;
    
      1
      	pidS.maxValue = 100;
    
      1
      	pidS.periodMs = 1;
    
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      1
      	pid.reset();
    
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      1
      	ASSERT_FLOAT_EQ( 50,  pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
    
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      1
      	ASSERT_FLOAT_EQ( 0,  pid.iTerm) << "target=50, input=0 iTerm";
    
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      	ASSERT_FLOAT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
    
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      1
      	ASSERT_FLOAT_EQ( 0,  pid.iTerm) << "target=50, input=70 iTerm";
    
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      1
      	ASSERT_FLOAT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
    
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      	ASSERT_FLOAT_EQ( 0,  pid.iTerm) << "target=50, input=70 iTerm #2";
    
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      	ASSERT_FLOAT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
    
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      1
      	ASSERT_FLOAT_EQ( 0,  pid.iTerm) << "target=50, input=50 iTerm";
    
      }
    
      2
      static void commonPidTestParameters(pid_s * pidS) {
    
      2
      	pidS->pFactor = 0;
    
      2
      	pidS->iFactor = 50;
    
      2
      	pidS->dFactor = 0;
    
      2
      	pidS->offset = 0;
    
      2
      	pidS->minValue = 10;
    
      2
      	pidS->maxValue = 40;
    
      2
      	pidS->periodMs = 1;
    
      2
      }
    
      2
      static void commonPidTest(Pid *pid) {
    
      2
      	pid->iTermMax = 45;
    
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      2
      	ASSERT_FLOAT_EQ( 12.5,  pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
    
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      2
      	ASSERT_FLOAT_EQ( 12.5,  pid->getIntegration());
    
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      	ASSERT_FLOAT_EQ( 25  ,  pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
    
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      	ASSERT_FLOAT_EQ( 37.5,  pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
    
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      	ASSERT_FLOAT_EQ( 37.5,  pid->getIntegration());
    
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      	ASSERT_FLOAT_EQ( 40.0,  pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
    
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      2
      	ASSERT_FLOAT_EQ( 45,    pid->getIntegration());
    
      }
    
      4
      TEST(util, parallelPidLimits) {
    
      1
      	pid_s pidS;
    
      1
      	commonPidTestParameters(&pidS);
    
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      1
      	Pid pid(&pidS);
    
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      1
      	commonPidTest(&pid);
    
      1
      }
    
      4
      TEST(util, industrialPidLimits) {
    
      1
      	pid_s pidS;
    
      1
      	commonPidTestParameters(&pidS);
    
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      1
      	PidIndustrial pid(&pidS);
    
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      1
      	commonPidTest(&pid);
    
      1
      }
    
      TEST(util, pidIndustrial) {
    
      	pid_s pidS;
    
      	pidS.pFactor = 1.0;
    
      	pidS.iFactor = 1.0;
    
      	pidS.dFactor = 1.0;
    
      	pidS.offset = 0;
    
      	pidS.minValue = 0;
    
      	pidS.maxValue = 100;
    
      	pidS.periodMs = 1;
    
      	PidIndustrial pid;
    
      	pid.initPidClass(&pidS);
    
      	// we want to compare with the "normal" PID controller
    
      	Pid pid0(&pidS);
    
      	// no additional features
    
      	pid.derivativeFilterLoss = 0;
    
      	pid.antiwindupFreq = 0;
    
      	float industValue = pid.getOutput(/*target*/1, /*input*/0);
    
      	// check if the first output is clamped because of large deviative
    
      	ASSERT_FLOAT_EQ(100.0, industValue);
    
      	// check if all output of the 'zeroed' PidIndustrial (w/o new features) is the same as our "normal" Pid
    
      	for (int i = 0; i < 10; i++) {
    
      		float normalValue = pid0.getOutput(1, 0);
    
      		ASSERT_FLOAT_EQ(normalValue, industValue) << "[" << i << "]";
    
      		industValue = pid.getOutput(1, 0);
    
      	}
    
      	pid.reset();
    
      	// now test the "derivative filter loss" param (some small value)
    
      	pid.derivativeFilterLoss = 0.01;
    
      	// now the first value is less (and not clipped!) due to the derivative filtering
    
      	ASSERT_FLOAT_EQ(67.671669f, pid.getOutput(1, 0));
    
      	// here we still have some leftovers of the initial D-term
    
      	ASSERT_FLOAT_EQ(45.4544487f, pid.getOutput(1, 0));
    
      	// but the value is quickly fading
    
      	ASSERT_FLOAT_EQ(30.6446342f, pid.getOutput(1, 0));
    
      	pid.reset();
    
      	// now test much stronger "derivative filter loss"
    
      	pid.derivativeFilterLoss = 0.1;
    
      	// now the first value is much less due to the derivative filtering
    
      	ASSERT_NEAR(10.5288095f, pid.getOutput(1, 0), EPS4D);
    
      	// here we still have some leftovers of the initial D-term
    
      	ASSERT_NEAR(10.0802946f, pid.getOutput(1, 0), EPS4D);
    
      	// but the fading is slower than with 'weaker' derivative filter above
    
      	ASSERT_NEAR(9.65337563f, pid.getOutput(1, 0), EPS4D);
    
      	pid.reset();
    
      	pid.derivativeFilterLoss = 0;
    
      	// now test "anti-windup" param
    
      	pid.antiwindupFreq = 0.1;
    
      	// the first value is clipped, and that's when the anti-windup comes into effect
    
      	ASSERT_FLOAT_EQ(100.0f, pid.getOutput(1, 0));
    
      	// it stores a small negative offset in the I-term to avoid it's saturation!
    
      	ASSERT_NEAR(-0.0455025025f, pid.getIntegration(), EPS4D);
    
      	// and that's why the second output is smaller then that of normal PID (=1.00999999)
    
      	ASSERT_NEAR(0.959497511f, pid.getOutput(1, 0), EPS4D);
    
      }

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1			/*
2			* @file test_pid_auto.cpp
3			*
4			* @date Sep 29, 2019
5			* @author Andrey Belomutskiy, (c) 2012-2020
6			*/
7
8			// see also idle.timingPid test
9
10			#include "pch.h"
11
12			#include "efi_pid.h"
13
14		4	TEST(util, pid) {
15		1	pid_s pidS;
16		1	pidS.pFactor = 50;
17		1	pidS.iFactor = 0.5;
18		1	pidS.dFactor = 0;
19		1	pidS.offset = 0;
20		1	pidS.minValue = 10;
21		1	pidS.maxValue = 90;
22		1	pidS.periodMs = 1;
23
24	1/1 ✓ Branch 2 taken 1 time.	1	Pid pid(&pidS);
25
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27
28
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31
32	1/1 ✓ Branch 1 taken 1 time.	1	pid.updateFactors(29, 0, 0);
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34			// ASSERT_FLOAT_EQ(68, pid.getIntegration());
35
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37			// ASSERT_FLOAT_EQ(0, pid.getIntegration());
38
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40			// ASSERT_FLOAT_EQ(68, pid.getIntegration());
41
42
43
44		1	pidS.pFactor = 1;
45		1	pidS.iFactor = 0;
46		1	pidS.dFactor = 0;
47		1	pidS.offset = 0;
48		1	pidS.minValue = 0;
49		1	pidS.maxValue = 100;
50		1	pidS.periodMs = 1;
51
52	1/1 ✓ Branch 1 taken 1 time.	1	pid.reset();
53
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56
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59
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62
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65			}
66
67		2	static void commonPidTestParameters(pid_s * pidS) {
68		2	pidS->pFactor = 0;
69		2	pidS->iFactor = 50;
70		2	pidS->dFactor = 0;
71		2	pidS->offset = 0;
72		2	pidS->minValue = 10;
73		2	pidS->maxValue = 40;
74		2	pidS->periodMs = 1;
75		2	}
76
77		2	static void commonPidTest(Pid *pid) {
78		2	pid->iTermMax = 45;
79
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83
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86
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89			}
90
91		4	TEST(util, parallelPidLimits) {
92		1	pid_s pidS;
93		1	commonPidTestParameters(&pidS);
94
95	1/1 ✓ Branch 2 taken 1 time.	1	Pid pid(&pidS);
96	1/1 ✓ Branch 1 taken 1 time.	1	commonPidTest(&pid);
97		1	}
98
99		4	TEST(util, industrialPidLimits) {
100		1	pid_s pidS;
101		1	commonPidTestParameters(&pidS);
102
103	1/1 ✓ Branch 2 taken 1 time.	1	PidIndustrial pid(&pidS);
104	1/1 ✓ Branch 1 taken 1 time.	1	commonPidTest(&pid);
105		1	}
106
107			TEST(util, pidIndustrial) {
108			pid_s pidS;
109			pidS.pFactor = 1.0;
110			pidS.iFactor = 1.0;
111			pidS.dFactor = 1.0;
112			pidS.offset = 0;
113			pidS.minValue = 0;
114			pidS.maxValue = 100;
115			pidS.periodMs = 1;
116
117			PidIndustrial pid;
118			pid.initPidClass(&pidS);
119
120			// we want to compare with the "normal" PID controller
121			Pid pid0(&pidS);
122
123			// no additional features
124			pid.derivativeFilterLoss = 0;
125			pid.antiwindupFreq = 0;
126
127			float industValue = pid.getOutput(/target/1, /input/0);
128			// check if the first output is clamped because of large deviative
129			ASSERT_FLOAT_EQ(100.0, industValue);
130
131			// check if all output of the 'zeroed' PidIndustrial (w/o new features) is the same as our "normal" Pid
132			for (int i = 0; i < 10; i++) {
133			float normalValue = pid0.getOutput(1, 0);
134			ASSERT_FLOAT_EQ(normalValue, industValue) << "[" << i << "]";
135			industValue = pid.getOutput(1, 0);
136			}
137
138			pid.reset();
139
140			// now test the "derivative filter loss" param (some small value)
141			pid.derivativeFilterLoss = 0.01;
142
143			// now the first value is less (and not clipped!) due to the derivative filtering
144			ASSERT_FLOAT_EQ(67.671669f, pid.getOutput(1, 0));
145			// here we still have some leftovers of the initial D-term
146			ASSERT_FLOAT_EQ(45.4544487f, pid.getOutput(1, 0));
147			// but the value is quickly fading
148			ASSERT_FLOAT_EQ(30.6446342f, pid.getOutput(1, 0));
149
150			pid.reset();
151
152			// now test much stronger "derivative filter loss"
153			pid.derivativeFilterLoss = 0.1;
154
155			// now the first value is much less due to the derivative filtering
156			ASSERT_NEAR(10.5288095f, pid.getOutput(1, 0), EPS4D);
157			// here we still have some leftovers of the initial D-term
158			ASSERT_NEAR(10.0802946f, pid.getOutput(1, 0), EPS4D);
159			// but the fading is slower than with 'weaker' derivative filter above
160			ASSERT_NEAR(9.65337563f, pid.getOutput(1, 0), EPS4D);
161
162			pid.reset();
163			pid.derivativeFilterLoss = 0;
164
165			// now test "anti-windup" param
166			pid.antiwindupFreq = 0.1;
167
168			// the first value is clipped, and that's when the anti-windup comes into effect
169			ASSERT_FLOAT_EQ(100.0f, pid.getOutput(1, 0));
170			// it stores a small negative offset in the I-term to avoid it's saturation!
171			ASSERT_NEAR(-0.0455025025f, pid.getIntegration(), EPS4D);
172			// and that's why the second output is smaller then that of normal PID (=1.00999999)
173			ASSERT_NEAR(0.959497511f, pid.getOutput(1, 0), EPS4D);
174
175			}
176

Function (Line)	Call count	Line coverage	Branch coverage	Block coverage
commonPidTest(Pid*) (line 77)	called 2 times	100.0%	41.8%	33.0%
commonPidTestParameters(pid_s*) (line 67)	called 2 times	100.0%	-%	100.0%
util_industrialPidLimits_Test::TestBody() (line 99)	called 1 time	100.0%	100.0%	82.0%
util_industrialPidLimits_Test::util_industrialPidLimits_Test() (line 99)	called 1 time	100.0%	-%	100.0%
util_industrialPidLimits_Test::~util_industrialPidLimits_Test() (line 99)	called 2 times	100.0%	-%	100.0%
util_parallelPidLimits_Test::TestBody() (line 91)	called 1 time	100.0%	100.0%	82.0%
util_parallelPidLimits_Test::util_parallelPidLimits_Test() (line 91)	called 1 time	100.0%	-%	100.0%
util_parallelPidLimits_Test::~util_parallelPidLimits_Test() (line 91)	called 2 times	100.0%	-%	100.0%
util_pid_Test::TestBody() (line 14)	called 1 time	100.0%	40.7%	32.0%
util_pid_Test::util_pid_Test() (line 14)	called 1 time	100.0%	-%	100.0%
util_pid_Test::~util_pid_Test() (line 14)	called 2 times	100.0%	-%	100.0%