grpc 1.7.3 → 1.8.0

data/src/core/lib/transport/pid_controller.c

@@ -1,63 +0,0 @@
-/*
- *
- * Copyright 2016 gRPC authors.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "src/core/lib/transport/pid_controller.h"
-#include <grpc/support/useful.h>
-
-void grpc_pid_controller_init(grpc_pid_controller *pid_controller,
-                              grpc_pid_controller_args args) {
-  pid_controller->args = args;
-  pid_controller->last_control_value = args.initial_control_value;
-  grpc_pid_controller_reset(pid_controller);
-}
-
-void grpc_pid_controller_reset(grpc_pid_controller *pid_controller) {
-  pid_controller->last_error = 0.0;
-  pid_controller->last_dc_dt = 0.0;
-  pid_controller->error_integral = 0.0;
-}
-
-double grpc_pid_controller_update(grpc_pid_controller *pid_controller,
-                                  double error, double dt) {
-  if (dt == 0) return pid_controller->last_control_value;
-  /* integrate error using the trapezoid rule */
-  pid_controller->error_integral +=
-      dt * (pid_controller->last_error + error) * 0.5;
-  pid_controller->error_integral = GPR_CLAMP(
-      pid_controller->error_integral, -pid_controller->args.integral_range,
-      pid_controller->args.integral_range);
-  double diff_error = (error - pid_controller->last_error) / dt;
-  /* calculate derivative of control value vs time */
-  double dc_dt = pid_controller->args.gain_p * error +
-                 pid_controller->args.gain_i * pid_controller->error_integral +
-                 pid_controller->args.gain_d * diff_error;
-  /* and perform trapezoidal integration */
-  double new_control_value = pid_controller->last_control_value +
-                             dt * (pid_controller->last_dc_dt + dc_dt) * 0.5;
-  new_control_value =
-      GPR_CLAMP(new_control_value, pid_controller->args.min_control_value,
-                pid_controller->args.max_control_value);
-  pid_controller->last_error = error;
-  pid_controller->last_dc_dt = dc_dt;
-  pid_controller->last_control_value = new_control_value;
-  return new_control_value;
-}
-
-double grpc_pid_controller_last(grpc_pid_controller *pid_controller) {
-  return pid_controller->last_control_value;
-}