83 lines
2.4 KiB
Python
83 lines
2.4 KiB
Python
import unittest
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from ctypes import *
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from ctypes import cdll
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import matplotlib.pyplot as plt
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import threading
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case_count = 0
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class LimitedArray:
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def __init__(self, capacity):
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self.capacity = capacity
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self.array = []
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def append(self, element):
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if len(self.array) >= self.capacity:
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self.array.pop(0)
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self.array.append(element)
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class TestPIDCases(unittest.TestCase):
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# 给定一个X轴和Y轴的参数列表，用作后面承载数据
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max_point = 50
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obsX = LimitedArray(max_point)
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obsY = LimitedArray(max_point)
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@classmethod
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def setUpClass(cls) -> None:
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cls.dll = cdll.LoadLibrary('./epm.dll')
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print('[TestPIDCases] PID模块开始测试...')
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print('----------------------------------------------------')
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pass
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@classmethod
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def tearDownClass(cls) -> None:
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print('[TestPIDCases] 结束测试,测试用例%d个' % case_count)
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print('----------------------------------------------------')
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pass
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def setUp(self) -> None:
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global case_count
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case_count += 1
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P= c_float(0.2)
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I= c_float(0.4)
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D= c_float(0.02)
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self.dll.pid_controller_init(P,I,D)
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pass
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def tearDown(self) -> None:
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# print("\r")
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pass
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# def testPID0(self):
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# print('PID 0')
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# dst = 500
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# src = 200
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# setpoint = c_float(dst)
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# process_variable = c_float(src)
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# self.dll.pid_position_control.restype = c_float
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# for i in range(100):
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# # 往列表插入展示的点的坐标
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# self.obsX.append(i)
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# process_variable = self.dll.pid_position_control(setpoint, process_variable)
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# print(process_variable)
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# if process_variable<0:
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# process_variable = 0
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# self.obsY.append(process_variable)
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# process_variable = c_float(process_variable)
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# plt.clf() # 清除之前画的图
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# plt.plot(self.obsX.array,self.obsY.array,c="blue",lw=4) # 画出当前 ax 列表和 ay 列表中的值的图形
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# plt.ylim(0, 1000) # 设置y轴的范围
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# plt.axhline(dst, 0, 100,c="r",ls='--',lw=1)#横线
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# plt.pause(1/1000)
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# plt.ion() # 开启一个画图的窗口
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# plt.pause(3)
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# pass
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if __name__ == '__main__':
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unittest.main()
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