blob: d95f16ec4701f0bc7e2e7a6a02733f397eb9be65 [file] [log] [blame]
#include "pid/ec/pid.hpp"
#include "pid/thermalcontroller.hpp"
#include "test/zone_mock.hpp"
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
using ::testing::_;
using ::testing::Return;
using ::testing::StrEq;
TEST(ThermalControllerTest, BoringFactoryTest)
{
// Verifies building a ThermalPIDController with the factory works as
// expected in the boring (uninteresting) case.
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0"};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
// Success
EXPECT_FALSE(p == nullptr);
}
TEST(ThermalControllerTest, VerifyFactoryFailsWithZeroInputs)
{
// A thermal controller needs at least one input.
ZoneMock z;
std::vector<std::string> inputs = {};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p;
EXPECT_THROW(
{
p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
},
std::exception);
EXPECT_TRUE(p == nullptr);
}
TEST(ThermalControllerTest, InputProc_BehavesAsExpected)
{
// This test just verifies inputProc behaves as expected.
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0"};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
EXPECT_FALSE(p == nullptr);
EXPECT_CALL(z, getCachedValue(StrEq("fleeting0"))).WillOnce(Return(5.0));
EXPECT_EQ(5.0, p->inputProc());
}
TEST(ThermalControllerTest, SetPtProc_BehavesAsExpected)
{
// This test just verifies inputProc behaves as expected.
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0"};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
EXPECT_FALSE(p == nullptr);
EXPECT_EQ(setpoint, p->setptProc());
}
TEST(ThermalControllerTest, OutputProc_BehavesAsExpected)
{
// This test just verifies outputProc behaves as expected.
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0"};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
EXPECT_FALSE(p == nullptr);
double value = 90.0;
EXPECT_CALL(z, addSetPoint(value));
p->outputProc(value);
}
TEST(ThermalControllerTest, InputProc_MultipleInputsAbsolute)
{
// This test verifies inputProc behaves as expected with multiple absolute
// inputs.
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0", "fleeting1"};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::absolute);
EXPECT_FALSE(p == nullptr);
EXPECT_CALL(z, getCachedValue(StrEq("fleeting0"))).WillOnce(Return(5.0));
EXPECT_CALL(z, getCachedValue(StrEq("fleeting1"))).WillOnce(Return(10.0));
EXPECT_EQ(10.0, p->inputProc());
}
TEST(ThermalControllerTest, InputProc_MultipleInputsMargin)
{
// This test verifies inputProc behaves as expected with multiple margin
// inputs.
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0", "fleeting1"};
double setpoint = 10.0;
ec::pidinfo initial;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
EXPECT_FALSE(p == nullptr);
EXPECT_CALL(z, getCachedValue(StrEq("fleeting0"))).WillOnce(Return(5.0));
EXPECT_CALL(z, getCachedValue(StrEq("fleeting1"))).WillOnce(Return(10.0));
EXPECT_EQ(5.0, p->inputProc());
}
TEST(ThermalControllerTest, NegHysteresis_BehavesAsExpected)
{
// This test verifies Negative hysteresis behaves as expected by
// crossing the setpoint and noticing readings don't change until past the
// hysteresis value
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0"};
double setpoint = 10.0;
ec::pidinfo initial;
initial.negativeHysteresis = 4.0;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
EXPECT_FALSE(p == nullptr);
EXPECT_CALL(z, getCachedValue(StrEq("fleeting0")))
.Times(3)
.WillOnce(Return(12.0))
.WillOnce(Return(9.0))
.WillOnce(Return(7.0));
EXPECT_CALL(z, addSetPoint(_)).Times(3);
std::vector<double> lastReadings = {12.0, 12.0, 7.0};
for (auto& reading : lastReadings)
{
p->process();
EXPECT_EQ(p->getLastInput(), reading);
}
}
TEST(ThermalControllerTest, PosHysteresis_BehavesAsExpected)
{
// This test verifies Positive hysteresis behaves as expected by
// crossing the setpoint and noticing readings don't change until past the
// hysteresis value
ZoneMock z;
std::vector<std::string> inputs = {"fleeting0"};
double setpoint = 10.0;
ec::pidinfo initial;
initial.positiveHysteresis = 5.0;
std::unique_ptr<PIDController> p = ThermalController::createThermalPid(
&z, "therm1", inputs, setpoint, initial, ThermalType::margin);
EXPECT_FALSE(p == nullptr);
EXPECT_CALL(z, getCachedValue(StrEq("fleeting0")))
.Times(3)
.WillOnce(Return(8.0))
.WillOnce(Return(13.0))
.WillOnce(Return(14.0));
EXPECT_CALL(z, addSetPoint(_)).Times(3);
std::vector<double> lastReadings = {8.0, 8.0, 14.0};
for (auto& reading : lastReadings)
{
p->process();
EXPECT_EQ(p->getLastInput(), reading);
}
}