lua/test/pid_neuro.lua

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