lua/test/pid.lua

   1 #!/usr/bin/env lua
   2
   3 ---@diagnostic disable: redefined-local
   4 package.path = arg[0]:sub(0, -arg[0]:match("([^/\\]*)$"):len() - 1) .. "?.lua;" .. package.path
   5 local test = require("test")
   6 local a = require("liba")
   7 test.dir(getmetatable(a.pid))
   8 local ctx = a.pid.new()
   9 assert(ctx)
  10 test.dir(getmetatable(ctx))
  11 assert(type(a.pid.kpid(ctx, 10, 0.1, 1)) == "userdata")
  12 assert(type(a.pid.run(ctx, 1, 0)) == "number")
  13 assert(type(a.pid.pos(ctx, 1, 0)) == "number")
  14 assert(type(a.pid.inc(ctx, 1, 0)) == "number")
  15 assert(type(a.pid.zero(ctx)) == "userdata")
  16 ctx:kpid(3, 2, 1):zero()
  17 assert(type(ctx:run(1, 0)) == "number")
  18 assert(type(ctx:pos(1, 0)) == "number")
  19 assert(type(ctx:inc(1, 0)) == "number")
  20 assert(type(ctx.kp) == "number")
  21 assert(type(ctx.ki) == "number")
  22 assert(type(ctx.kd) == "number")
  23 assert(type(ctx.summax) == "number")
  24 assert(type(ctx.summin) == "number")
  25 assert(type(ctx.sum) == "number")
  26 assert(type(ctx.outmax) == "number")
  27 assert(type(ctx.outmin) == "number")
  28 assert(type(ctx.out) == "number")
  29 assert(type(ctx.fdb) == "number")
  30 assert(type(ctx.err) == "number")
  31 ctx.outmin = -10
  32 ctx.outmax = 10
  33 ctx.summin = -5
  34 ctx.summax = 5
  35 ctx.kp = 3
  36 ctx.ki = 2
  37 ctx.kd = 1
  38 ctx.__name = nil
  39 assert(ctx.__name)
  40 ctx.__index = nil
  41 assert(ctx.__index)
  42 ctx.__newindex = nil
  43 assert(ctx.__newindex)
  44 ---@class a.pid
  45 ---@field __name string
  46 ---@field __index table
  47 ---@field __newindex table