TestCaseMatlabDataPoolPID_1.cpp

//
// Copyright 2004 P&P Software GmbH - All Rights Reserved
//
// TestCaseMatlabDataPoolPID_1.cpp
//
// Version      1.0
// Date         29.10.03 (Version 1.0)
// Author       R. Totaro

#include "../GeneralInclude/CompilerSwitches.h"
#include "../GeneralInclude/ClassId.h"
#include "../GeneralInclude/Constants.h"
#include "../Data/DC_BasicDataPool.h"
#include "../Data/DC_MatlabDataPoolPID.h"
#include "../Data/ControlBlock.h"
#include "TestCaseMatlabDataPoolPID_1.h"

TestCaseMatlabDataPoolPID_1::TestCaseMatlabDataPoolPID_1(void) :
        TestCaseGenericSetUp(ID_MATLABDATAPOOLPID*10+1,"TestCaseMatlabDataPoolPID_1") {
        return;
}

void TestCaseMatlabDataPoolPID_1::runTestCase(void) {
        const unsigned int    numParams=3;
    const TD_DataPoolId   inputId  =0;
    const TD_DataPoolId   outputId =sizeof(TD_Float);
    DC_BasicDataPool     *pDataPool=new DC_BasicDataPool;
    DC_MatlabDataPoolPID *pMPID    =new DC_MatlabDataPoolPID;

    // Initialize the data pool
    pDataPool->setDataPoolSize(2*sizeof(TD_Float));
    CC_RootObject::setDataPool(pDataPool);

        // Verify correctness of class identifier
    if (pMPID->getClassId()!=ID_MATLABDATAPOOLPID) {
                setTestResult(TEST_FAILURE,"Wrong class identifier");
                return;
        }

        // A newly created DC_MatlabDataPoolPID shall not be configured
        if (pMPID->isObjectConfigured()) {
                setTestResult(TEST_FAILURE,"Newly created control block is not configured");
                return;
        }

    // Link the input and verify the block is not yet configured
    pMPID->setInputLink(0,inputId);
        if (pMPID->isObjectConfigured()) {
                setTestResult(TEST_FAILURE,"Wrong configuration status");
                return;
        }

    // Link the output and verify the block is now configured
    pMPID->setOutputLink(0,outputId);
        if (!pMPID->isObjectConfigured()) {
                setTestResult(TEST_FAILURE,"Failed to configure the control block");
                return;
        }

        // Verify the correctness of the number of parameters
        if (pMPID->getNumberOfParameters()!=numParams) {
                setTestResult(TEST_FAILURE,"Wrong number of parameters");
                return;
        }

#ifdef HAVE_SIMULINK
        // Initialize the model's parameters
        const TD_Float defaultParameters[]={(TD_Float)-1.0,(TD_Float)1.0,(TD_Float)1.0};

        for (unsigned int i=0;i<numParams;i++)
        pMPID->setParameter(i,defaultParameters[i]);

        // The following array contains the expected output values. These
        // are correct if and only if the initial value of Kp, Ki and Kd
        // (see pid.c and DC_MatlabDataPoolPID.cpp) are, respectively, -1.0, 1.0
        // and 1.0. The value of the time step shall be 0.25.
        const TD_Float  expectedResults[]={(TD_Float)3.0,(TD_Float)-0.75,
                                       (TD_Float)3.0,(TD_Float)-1.0,(TD_Float)0.25};
        const TD_Float *pRes             =expectedResults;

        // Set the input to a fixed value and verify that
        // the model is invoked and properly working.
        // Initially the parameters are left at their default
        // values (see pid.c and DC_MatlabDataPoolPID.cpp).
    pDataPool->setValue(inputId,(TD_Float)1.0);

        pMPID->propagate();
        if (fabsf(pDataPool->getFloatValue(outputId)-*pRes++)>=FLT_EPSILON) {
                setTestResult(TEST_FAILURE,"Control block returned wrong value");
                return;
        }

        pMPID->propagate();
        if (fabsf(pDataPool->getFloatValue(outputId)-*pRes++)>=FLT_EPSILON) {
                setTestResult(TEST_FAILURE,"Control block returned wrong value");
                return;
        }

        // Let's reset the model and verify that we get the right output
        // value after a propagate.
        pMPID->reset();
        pMPID->propagate();
        if (fabsf(pDataPool->getFloatValue(outputId)-*pRes++)>=FLT_EPSILON) {
                setTestResult(TEST_FAILURE,"Control block reset failed");
                return;
        }

        // We now reset the model and set the value of Kd to 0.0f
        pMPID->reset();
        pMPID->setParameter(2,(TD_Float)0.0);
        pMPID->propagate();
        if (fabsf(pDataPool->getFloatValue(outputId)-*pRes++)>=FLT_EPSILON) {
                setTestResult(TEST_FAILURE,"Failed to set the D gain");
                return;
        }

        // We do the same with Kp
        pMPID->reset();
        pMPID->setParameter(0,(TD_Float)0.0);
        pMPID->propagate();
        pMPID->propagate();
        if (fabsf(pDataPool->getFloatValue(outputId)-*pRes++)>=FLT_EPSILON) {
                setTestResult(TEST_FAILURE,"Failed to set the P gain");
                return;
        }
#else
    // This is done to prevent the test coverage results from
    // degrading when Simulink is not available. These two calls
    // become a no-op.
    pMPID->propagate();
    pMPID->reset();
#endif

        setTestResult(TEST_SUCCESS,"Test Successful");
        return;
}

Copyright 2003 P&P Software GmbH - All Rights Reserved