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Add job for clang build #239

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merged 7 commits into from
Dec 7, 2024
Merged

Add job for clang build #239

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c5197c0
Add clang job
christophfroehlich Nov 25, 2024
7fec550
Fix implicit conversion
christophfroehlich Nov 26, 2024
439c27a
Fix Eigen::Index
christophfroehlich Nov 26, 2024
915c861
Fix dt
christophfroehlich Nov 26, 2024
814ade3
Update .github/workflows/build-binary.yml
christophfroehlich Nov 27, 2024
5f37cb2
Explicitely cast dt
christophfroehlich Dec 7, 2024
483a788
Merge branch 'ros2-master' into ci/clang
christophfroehlich Dec 7, 2024
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11 changes: 11 additions & 0 deletions .github/workflows/build-binary.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,3 +25,14 @@ jobs:
ros_repo: ${{ matrix.ROS_REPO }}
upstream_workspace: control_toolbox-not-released.${{ matrix.ROS_DISTRO }}.repos
ref_for_scheduled_build: ros2-master
binary_clang:
uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
with:
ros_distro: rolling
ros_repo: testing
upstream_workspace: control_toolbox-not-released.rolling.repos
ref_for_scheduled_build: ros2-master
additional_debs: clang
c_compiler: clang
cxx_compiler: clang++
not_test_build: true
2 changes: 1 addition & 1 deletion include/control_toolbox/low_pass_filter.hpp
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Expand Up @@ -147,7 +147,7 @@ bool LowPassFilter<T>::configure()
// Initialize storage Vectors
filtered_value = filtered_old_value = old_value = 0;
// TODO(destogl): make the size parameterizable and more intelligent is using complex types
for (size_t i = 0; i < 6; ++i)
for (Eigen::Index i = 0; i < 6; ++i)
{
msg_filtered[i] = msg_filtered_old[i] = msg_old[i] = 0;
}
Expand Down
4 changes: 2 additions & 2 deletions src/pid_ros.cpp
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Expand Up @@ -221,15 +221,15 @@ std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> PidROS::getPidSt

double PidROS::computeCommand(double error, rclcpp::Duration dt)
{
double cmd_ = pid_.computeCommand(error, dt.nanoseconds());
double cmd_ = pid_.computeCommand(error, static_cast<uint64_t>(dt.nanoseconds()));
publishPIDState(cmd_, error, dt);

return cmd_;
}

double PidROS::computeCommand(double error, double error_dot, rclcpp::Duration dt)
{
double cmd_ = pid_.computeCommand(error, error_dot, dt.nanoseconds());
double cmd_ = pid_.computeCommand(error, error_dot, static_cast<uint64_t>(dt.nanoseconds()));
publishPIDState(cmd_, error, dt);

return cmd_;
Expand Down
60 changes: 30 additions & 30 deletions test/pid_tests.cpp
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Expand Up @@ -80,11 +80,11 @@ TEST(ParameterTest, integrationClampTest)
double cmd = 0.0;

// Test lower limit
cmd = pid.computeCommand(-10.03, 1.0 * 1e9);
cmd = pid.computeCommand(-10.03, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-1.0, cmd);

// Test upper limit
cmd = pid.computeCommand(30.0, 1.0 * 1e9);
cmd = pid.computeCommand(30.0, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(1.0, cmd);
}

Expand All @@ -104,13 +104,13 @@ TEST(ParameterTest, integrationClampZeroGainTest)
double cmd = 0.0;
double pe, ie, de;

cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
pid.getCurrentPIDErrors(pe, ie, de);
EXPECT_LE(i_min, cmd);
EXPECT_LE(cmd, i_max);
EXPECT_EQ(0.0, cmd);

cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_LE(i_min, cmd);
EXPECT_LE(cmd, i_max);
EXPECT_EQ(0.0, cmd);
Expand All @@ -129,16 +129,16 @@ TEST(ParameterTest, integrationAntiwindupTest)

double cmd = 0.0;

cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-1.0, cmd);

cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-1.0, cmd);

cmd = pid.computeCommand(0.5, 1.0 * 1e9);
cmd = pid.computeCommand(0.5, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(0.0, cmd);

cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-1.0, cmd);
}

Expand All @@ -155,16 +155,16 @@ TEST(ParameterTest, negativeIntegrationAntiwindupTest)

double cmd = 0.0;

cmd = pid.computeCommand(0.1, 1.0 * 1e9);
cmd = pid.computeCommand(0.1, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-0.2, cmd);

cmd = pid.computeCommand(0.1, 1.0 * 1e9);
cmd = pid.computeCommand(0.1, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-0.2, cmd);

cmd = pid.computeCommand(-0.05, 1.0 * 1e9);
cmd = pid.computeCommand(-0.05, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-0.075, cmd);

cmd = pid.computeCommand(0.1, 1.0 * 1e9);
cmd = pid.computeCommand(0.1, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-0.2, cmd);
}

Expand Down Expand Up @@ -223,7 +223,7 @@ TEST(ParameterTest, gainSettingCopyPIDTest)

// Send update command to populate errors -------------------------------------------------
pid1.setCurrentCmd(10);
(void) pid1.computeCommand(20, 1.0 * 1e9);
(void) pid1.computeCommand(20, static_cast<uint64_t>(1.0 * 1e9));

// Test copy constructor -------------------------------------------------
Pid pid2(pid1);
Expand Down Expand Up @@ -291,22 +291,22 @@ TEST(CommandTest, proportionalOnlyTest)
double cmd = 0.0;

// If initial error = 0, p-gain = 1, dt = 1
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command = error
EXPECT_EQ(-0.5, cmd);

// If call again
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect the same as before
EXPECT_EQ(-0.5, cmd);

// If call again doubling the error
cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
// Then expect the command doubled
EXPECT_EQ(-1.0, cmd);

// If call with positive error
cmd = pid.computeCommand(0.5, 1.0 * 1e9);
cmd = pid.computeCommand(0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect always command = error
EXPECT_EQ(0.5, cmd);
}
Expand All @@ -323,26 +323,26 @@ TEST(CommandTest, integralOnlyTest)
double cmd = 0.0;

// If initial error = 0, i-gain = 1, dt = 1
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command = error
EXPECT_EQ(-0.5, cmd);

// If call again with same arguments
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect the integral part to double the command
EXPECT_EQ(-1.0, cmd);

// Call again with no error
cmd = pid.computeCommand(0.0, 1.0 * 1e9);
cmd = pid.computeCommand(0.0, static_cast<uint64_t>(1.0 * 1e9));
// Expect the integral part to keep the previous command because it ensures error = 0
EXPECT_EQ(-1.0, cmd);

// Double check that the integral contribution keep the previous command
cmd = pid.computeCommand(0.0, 1.0 * 1e9);
cmd = pid.computeCommand(0.0, static_cast<uint64_t>(1.0 * 1e9));
EXPECT_EQ(-1.0, cmd);

// Finally call again with positive error to see if the command changes in the opposite direction
cmd = pid.computeCommand(1.0, 1.0 * 1e9);
cmd = pid.computeCommand(1.0, static_cast<uint64_t>(1.0 * 1e9));
// Expect that the command is cleared since error = -1 * previous command, i-gain = 1, dt = 1
EXPECT_EQ(0.0, cmd);
}
Expand All @@ -359,27 +359,27 @@ TEST(CommandTest, derivativeOnlyTest)
double cmd = 0.0;

// If initial error = 0, d-gain = 1, dt = 1
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command = error
EXPECT_EQ(-0.5, cmd);

// If call again with same error
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command = 0 due to no variation on error
EXPECT_EQ(0.0, cmd);

// If call again with same error and smaller control period
cmd = pid.computeCommand(-0.5, 0.1 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(0.1 * 1e9));
// Then expect command = 0 again
EXPECT_EQ(0.0, cmd);

// If the error increases, with dt = 1
cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
// Then expect the command = change in dt
EXPECT_EQ(-0.5, cmd);

// If error decreases, with dt = 1
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect always the command = change in dt (note the sign flip)
EXPECT_EQ(0.5, cmd);
}
Expand All @@ -396,17 +396,17 @@ TEST(CommandTest, completePIDTest)

// All contributions are tested, here few tests check that they sum up correctly
// If initial error = 0, all gains = 1, dt = 1
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command = 3x error
EXPECT_EQ(-1.5, cmd);

// If call again with same arguments, no error change, but integration do its part
cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command = 3x error again
EXPECT_EQ(-1.5, cmd);

// If call again increasing the error
cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
// Then expect command equals to p = -1, i = -2.0 (i.e. - 0.5 - 0.5 - 1.0), d = -0.5
EXPECT_EQ(-3.5, cmd);
}
Expand Down
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