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tests/limit3/sunny-day/README

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+This test exposes limit3 to an input signal that it is capable of
+following perfectly (but just barely), and verifies that the output
+follows the input very closely, while not violating position, velocity,
+and acceleration constraints.

tests/limit3/sunny-day/checkresult

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+#!/usr/bin/env python3
+
+import sys
+import math
+
+max_value = 0.0
+min_value = -100.0
+
+max_vel = 315
+max_accel = 1975
+
+result_filename = sys.argv[1]
+result_file = open(result_filename, 'r')
+
+retval = 0
+
+for line in result_file.readlines():
+    (line, in_value, in_vel, in_accel, out_value, out_vel, out_accel) = line.split()
+    in_value = float(in_value)
+    in_vel = float(in_vel)
+    in_accel = float(in_accel)
+    out_value = float(out_value)
+    out_vel = float(out_vel)
+    out_accel = float(out_accel)
+
+
+    #
+    # constraints
+    #
+
+    if out_value > max_value:
+        print(("max=%.3f, out=%.3f, position violation on line %s" % (max_value, out_value, line)))
+        retval = 1
+
+    if out_value < min_value:
+        print(("min=%.3f, out=%.3f, position violation on line %s" % (min_value, out_value, line)))
+        retval = 1
+
+    if math.fabs(out_vel) > max_vel:
+        print(("max_vel=%.3f, out_vel=%.3f, velocity violation on line %s" % (max_vel, out_vel, line)))
+        retval = 1
+
+    if math.fabs(out_accel) > max_accel:
+        print(("max_accel=%.3f, out_accel=%.3f, acceleration violation on line %s" % (max_accel, out_accel, line)))
+        retval = 1
+
+
+    #
+    # input -> output following
+    # 
+
+    error = math.fabs(in_value - out_value)
+    if error > 0.0:
+        print(("input=%.6f, output=%.6f, error=%.6f, threshold=%.6f, following failure on line %s" % (in_value, out_value, error, threshold, line)))
+        retval = 1
+
+sys.exit(retval)

tests/limit3/sunny-day/test.hal

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+setexact_for_test_suite_only
+
+loadrt limit3
+
+# These pos/vel/accel limits are just a hair above the limits of the
+# input sine wave.
+setp limit3.0.min -150
+setp limit3.0.max 50
+setp limit3.0.maxv 630
+setp limit3.0.maxa 4000
+
+
+loadrt siggen
+setp siggen.0.amplitude 50
+setp siggen.0.offset -50
+
+
+loadrt ddt names=ddt.in-accel,ddt.in-vel,ddt.out-accel,ddt.out-vel
+
+
+loadrt sampler depth=2000 cfg=ffffff
+
+
+# We use the cosine signal as the input so that the velocity and
+# acceleration start out at 0, and we offset it by the negative of the
+# amplitude so that position start out at 0 too.
+net input <= siggen.0.cosine
+net input => limit3.0.in
+net input => ddt.in-vel.in
+net input => sampler.0.pin.0
+
+net in-vel <= ddt.in-vel.out
+net in-vel => ddt.in-accel.in
+net in-vel => sampler.0.pin.1
+
+net in-accel <= ddt.in-accel.out
+net in-accel => sampler.0.pin.2
+
+net output <= limit3.0.out
+net output => ddt.out-vel.in
+net output => sampler.0.pin.3
+
+net out-vel <= ddt.out-vel.out
+net out-vel => ddt.out-accel.in
+net out-vel => sampler.0.pin.4
+
+net out-accel <= ddt.out-accel.out
+net out-accel => sampler.0.pin.5
+
+
+loadrt threads name1=t period1=1000000
+
+addf siggen.0.update t
+addf limit3.0        t
+addf ddt.in-vel      t
+addf ddt.in-accel    t
+addf ddt.out-vel     t
+addf ddt.out-accel   t
+addf sampler.0       t
+
+start
+
+loadusr -w halsampler -t -n 4000