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#include "pid/controller.hpp"
#include "pid/ec/stepwise.hpp"
#include "pid/stepwisecontroller.hpp"
#include "test/zone_mock.hpp"
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
using ::testing::Return;
using ::testing::StrEq;
TEST(StepwiseControllerTest, HysteresisTestPositive)
{
// Verifies positive hysteresis works as expected
ZoneMock z;
std::vector<std::string> inputs = {"test"};
ec::StepwiseInfo initial;
initial.negativeHysteresis = 3.0;
initial.positiveHysteresis = 2.0;
initial.reading[0] = 20.0;
initial.reading[1] = 30.0;
initial.reading[2] = std::numeric_limits<double>::quiet_NaN();
initial.output[0] = 40.0;
initial.output[1] = 60.0;
initial.isCeiling = false;
std::unique_ptr<Controller> p =
StepwiseController::createStepwiseController(&z, "foo", inputs,
initial);
EXPECT_CALL(z, getCachedValue(StrEq("test")))
.Times(3)
.WillOnce(Return(29.0)) // return 40
.WillOnce(Return(31.0)) // return 40
.WillOnce(Return(32.0)); // return 60
EXPECT_CALL(z, addSetPoint(40.0)).Times(2);
EXPECT_CALL(z, addSetPoint(60.0)).Times(1);
for (int ii = 0; ii < 3; ii++)
{
p->process();
}
}
TEST(StepwiseControllerTest, HysteresisTestNegative)
{
// Verifies negative hysteresis works as expected
ZoneMock z;
std::vector<std::string> inputs = {"test"};
ec::StepwiseInfo initial;
initial.negativeHysteresis = 3.0;
initial.positiveHysteresis = 2.0;
initial.reading[0] = 20.0;
initial.reading[1] = 30.0;
initial.reading[2] = std::numeric_limits<double>::quiet_NaN();
initial.output[0] = 40.0;
initial.output[1] = 60.0;
initial.isCeiling = false;
std::unique_ptr<Controller> p =
StepwiseController::createStepwiseController(&z, "foo", inputs,
initial);
EXPECT_CALL(z, getCachedValue(StrEq("test")))
.Times(3)
.WillOnce(Return(30.0)) // return 60
.WillOnce(Return(27.0)) // return 60
.WillOnce(Return(26.0)); // return 40
EXPECT_CALL(z, addSetPoint(40.0)).Times(1);
EXPECT_CALL(z, addSetPoint(60.0)).Times(2);
for (int ii = 0; ii < 3; ii++)
{
p->process();
}
}
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