Framkvæmdi test á hegðun PI_controller

platformio.ini

@@ -14,10 +14,12 @@ board = nanoatmega328new
 framework = arduino
 
 monitor_speed = 115200
-
-
-[env:native]
-platform = native
 test_framework = unity
 test_build_src = yes
-build_src_filter = -<*> +<p_controller.cpp> +<pi_controller.cpp>
+
+
+; [env:native]
+; platform = native
+; test_framework = unity
+; test_build_src = yes
+; build_src_filter = -<*> +<p_controller.cpp> +<pi_controller.cpp>

src/main.cpp

@@ -1,3 +1,6 @@
+// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+#ifndef PIO_UNIT_TESTING
+
 #include <Arduino.h>
 #include <avr/interrupt.h>
 
@@ -89,3 +92,4 @@ int main()
 // int main(){
 //     return 0;
 // }
+#endif // PIO_UNIT_TESTING

src/pi_controller.cpp

@@ -23,6 +23,7 @@ double PI_controller::update(double ref, double actual)
         integral = new_integral;
     }
     return u;
+    // return 0.0;
 }
 
 void PI_controller::reset()

test/test_pi_controller/test_main.cpp

@@ -1,21 +1,25 @@
 #include <unity.h>
 
+// #ifdef ARDUINO
+#include <Arduino.h>
+// #endif
+
 #include "p_controller.h"
 #include "pi_controller.h"
 
 static const double KP = 2.0;
 static const double TI = 1.0;
 static const double T = 0.1;
-static const double TOL = 1e-6;
+static const double TOL = 1e-4;  // double er 32-bita float a AVR
 
-void setUp(void) {}
+// void setUp(void) {}
-void tearDown(void) {}
+// void tearDown(void) {}
 
 // Normal flow: engin villa -> ekkert úttak
 void test_zero_error_gives_zero_output(void)
 {
     PI_controller c(KP, TI, T);
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
 }
 
 // Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
@@ -23,7 +27,7 @@ void test_first_step(void)
 {
     PI_controller c(KP, TI, T);
     double e = 5.0;
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
 }
 
 // Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
@@ -35,7 +39,7 @@ void test_integral_accumulates(void)
     for (int n = 1; n <= 5; n++)
     {
         u = c.update(e, 0.0);
-        TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * (e + n * e * T / TI), u);
+        TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
     }
 }
 
@@ -49,21 +53,21 @@ void test_output_held_when_error_zero(void)
         c.update(e, 0.0);
     }
     double E = 5 * e * T;
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
 }
 
 // Alt flow: villa langt utan getu -> mettun í +100 %
 void test_saturates_high(void)
 {
     PI_controller c(KP, TI, T);
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
 }
 
 // Alt flow: mettun í -100 %
 void test_saturates_low(void)
 {
     PI_controller c(KP, TI, T);
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
 }
 
 // Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
@@ -88,7 +92,7 @@ void test_reset_clears_integral(void)
         c.update(5.0, 0.0);
     }
     c.reset();
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
 }
 
 // Polymorphism: kall í gegnum P_controller& gefur PI hegðun
@@ -97,18 +101,20 @@ void test_polymorphic_update(void)
     PI_controller pi(KP, TI, T);
     P_controller& c = pi;
     double e = 5.0;
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
 }
 
 // P_controller hegðar sér óbreytt
 void test_p_controller_unchanged(void)
 {
     P_controller c(KP);
-    TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
 }
 
-int main(int argc, char** argv)
+void setup()
 {
+    // init();
+    delay(2000);
     UNITY_BEGIN();
     RUN_TEST(test_zero_error_gives_zero_output);
     RUN_TEST(test_first_step);
@@ -120,5 +126,25 @@ int main(int argc, char** argv)
     RUN_TEST(test_reset_clears_integral);
     RUN_TEST(test_polymorphic_update);
     RUN_TEST(test_p_controller_unchanged);
-    return UNITY_END();
+    // return UNITY_END();
+    UNITY_END();
 }
+
+void loop() {}
+
+// #ifdef ARDUINO
+// void setup()
+// {
+//     delay(2000);  // bida eftir serial tengingu eftir reset
+//     run_tests();
+// }
+
+// void loop()
+// {
+// }
+// #else
+// int main(int argc, char** argv)
+// {
+//     return run_tests();
+// }
+// #endif