// using this fixture test case macro resets the fixture
BOOST_FIXTURE_TEST_CASE(just_proportional_cooling, PidTest)
{
pid->setConstants(10.0, 0, 0);
pid->setActuatorIsNegative(true);
sp->write(19.0);
sensor->setTemp(20.0);
pid->update();
BOOST_CHECK_EQUAL(act->getValue(), temp_t(10.0));
// now try changing the temperature input
sensor->setTemp(22.0);
pid->update();
// inputs are filtered, so output should still be close to the old value
BOOST_CHECK_CLOSE(double(act->getValue()), 10.0, 1);
for(int i = 0; i<100; i++){
pid->update();
act->update();
}
// after a enough updates, filters have settled and new PID value is Kp*error
BOOST_CHECK_CLOSE(double(act->getValue()), 30.0, 1);
}
BOOST_FIXTURE_TEST_CASE(proportional_plus_derivative_cooling, PidTest)
{
pid->setConstants(10.0, 0, 60);
pid->setActuatorIsNegative(true);
sp->write(5.0);
// update for 10 minutes
for(int i = 0; i <= 600; i++){
sensor->setTemp(temp_t(20.0) - temp_t(i*0.015625));
pid->update();
act->update();
}
BOOST_CHECK_EQUAL(sensor->read(), temp_t(10.625)); // sensor value should have gone up 9.375 degrees
BOOST_CHECK_CLOSE(double(act->getValue()), 10.0*(10.625-5.0) - 10*0.015625*60, 5);
}
BOOST_FIXTURE_TEST_CASE(proportional_plus_derivative, PidTest)
{
pid->setConstants(10.0, 0, 60);
sp->write(35.0);
pid->setInputFilter(0);
pid->setDerivativeFilter(4);
// update for 10 minutes
for(int i = 0; i <= 600; i++){
sensor->setTemp(temp_t(20.0) + temp_t(i*0.015625));
pid->update();
act->update();
}
BOOST_CHECK_EQUAL(sensor->read(), temp_t(29.375)); // sensor value should have gone up 9.375 degrees
// derivative part is -9.375 (-10*60*0.015625)
// proportional part is 10.0*(35 - 29.375) = 56.25
BOOST_CHECK_CLOSE(double(act->getValue()), 10.0*(35 - 29.375) - 10*60*0.015625, 5);
}
temp_t randomIntervalTest(ActuatorPwm* act, ActuatorDigital * target, temp_t duty, int delayMax) {
act->setValue(duty);
ticks_millis_t lowToHighTime = ticks.millis();
ticks_millis_t highToLowTime = ticks.millis();
ticks_millis_t totalHighTime = 0;
ticks_millis_t totalLowTime = 0;
output << format("\n\n*** Results running 100 periods and random 0-%d ms update intervals,"
"with duty cycle %u and period %u ***\n") % delayMax % duty % act->getPeriod();
#if PRINT_TOGGLE_TIMES
output << "\n\nl->h timestamp h->l timestamp high time low time\n";
#endif
// run for 100 periods
for (int i = 0; i < 100; i++) {
do {
highToLowTime = random_delay(delayMax);
act->update();
} while (target->isActive());
ticks_millis_t highTime = highToLowTime - lowToHighTime;
if (i > 0) { // skip first cycle in totals, it can be incomplete
totalHighTime += highTime;
}
#if PRINT_TOGGLE_TIMES
output << format("_/ %10u \t \\_ %10u \t") % lowToHighTime % highToLowTime;
output << format(" %10u ms \t") % highTime;
#endif
do {
lowToHighTime = random_delay(delayMax);
act->update();
} while (!target->isActive());
ticks_millis_t lowTime = lowToHighTime - highToLowTime;
if (i > 0) { // skip first cycle in totals, it can have old duty cycle
totalLowTime += lowTime;
#if PRINT_TOGGLE_TIMES
output << format("%10u ms \n") % lowTime;
#endif
}
else{
#if PRINT_TOGGLE_TIMES
output << format("%10u ms (ignored)\n") % lowTime;
#endif
}
}
double avgDuty = double(totalHighTime) / (totalHighTime + totalLowTime);
temp_t avgDutyTemp = temp_t(round(avgDuty * double(act->max())));
output << "total high time: " << totalHighTime << "\n"
<< "total low time: " << totalLowTime << "\n"
<< "avg duty: " << avgDutyTemp << "/" << act->max() << "\n";
return avgDutyTemp;
}
void PiLink::setBeerSetting(const char* val) {
const char* source = NULL;
temp_t newTemp;
if(!newTemp.fromTempString(val, tempControl.cc.tempFormat, true)){
return; // could not parse value
}
if(tempControl.cs.mode == 'p'){
if((newTemp-tempControl.cs.beerSetting) > temp_t(0.2) || (tempControl.cs.beerSetting - newTemp) > temp_t(0.2)){ // this excludes gradual updates under 0.2 degrees
source = STR_TEMPERATURE_PROFILE;
}
}
else {
source = STR_WEB_INTERFACE;
}
if (source){
printBeerAnnotation(STR_FMT_SET_TO, STR_BEER_TEMP, val, source);
}
tempControl.setBeerTemp(newTemp, true);
}
void FuseProb::readProbTime(vector<Mat> P, vector<Mat> T)
{
cout<<"Size of P is "<<P.size()<<endl;
cout<<"rows and cols are "<<P[0].rows<<" "<<P[0].cols<<endl;
for(int id=0; id<orient; id++)
{
cout<<"At id"<<id<<endl;
Mat temp_p(m_rows, m_cols, CV_64F);
Mat temp_t(m_rows, m_cols, CV_64F);
for(int i=0; i<m_rows; i++)
for(int j=0; j<m_cols; j++)
{
// cout<<"At i="<<i<<" j="<<j<<endl;
temp_p.at<double>(i, j) = P[id].at<double>(i, j);
temp_t.at<double>(i, j) = T[id].at<double>(i, j);
}
Prob.push_back(temp_p);
Time.push_back(temp_t);
}
}
