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Added a basic creatable loop object with PID control (#1141)

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
Steve Karg
2025-11-13 16:11:19 -06:00
committed by GitHub
parent 86e4405c71
commit 74972bd025
25 changed files with 3070 additions and 7 deletions
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test/bacnet/basic/object/loop/src/main.c
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/**
* @file
* @brief Unit test for Loop object
* @author Steve Karg <skarg@users.sourceforge.net>
* @date October 2025
* @copyright SPDX-License-Identifier: MIT
*/
#include <zephyr/ztest.h>
#include <bacnet/basic/object/loop.h>
#include <bacnet/bactext.h>
#include <bacnet/list_element.h>
#include <property_test.h>
/**
* @addtogroup bacnet_tests
* @{
*/
static BACNET_WRITE_PROPERTY_DATA Write_Property_Internal_Data;
static bool Write_Property_Internal(BACNET_WRITE_PROPERTY_DATA *data)
{
memcpy(
&Write_Property_Internal_Data, data,
sizeof(BACNET_WRITE_PROPERTY_DATA));
return true;
}
static BACNET_READ_PROPERTY_DATA Read_Property_Internal_Data;
static int Read_Property_Internal_Length;
static int Read_Property_Internal(BACNET_READ_PROPERTY_DATA *data)
{
memcpy(
&Read_Property_Internal_Data, data, sizeof(BACNET_READ_PROPERTY_DATA));
return Read_Property_Internal_Length;
}
static int Proprietary_Properties[] = { 512, 513, -1 };
static uint8_t Proprietary_Serial_Number[16];
/**
* @brief WriteProperty handler for this objects proprietary properties.
* For the given WriteProperty data, the application_data is loaded
* or the error code and class are set and the return value is false.
* @param data - BACNET_WRITE_PROPERTY_DATA data, including
* requested data and space for the reply, or error response.
* @return false if an error is loaded, true if no errors
*/
static bool Write_Property_Proprietary(BACNET_WRITE_PROPERTY_DATA *data)
{
bool status = false;
int apdu_len = 0;
uint8_t *apdu = NULL;
size_t apdu_size = 0;
BACNET_OCTET_STRING octet_value = { 0 };
switch ((int)data->object_property) {
case 512:
apdu_len = bacnet_octet_string_application_decode(
apdu, apdu_size, &octet_value);
if (apdu_len > 0) {
octetstring_copy_value(
Proprietary_Serial_Number,
sizeof(Proprietary_Serial_Number), &octet_value);
status = true;
} else if (apdu_len == 0) {
status = false;
data->error_class = ERROR_CLASS_PROPERTY;
data->error_code = ERROR_CODE_INVALID_DATA_TYPE;
} else {
status = false;
data->error_class = ERROR_CLASS_PROPERTY;
data->error_code = ERROR_CODE_INVALID_DATA_ENCODING;
}
break;
case 513:
default:
status = false;
data->error_class = ERROR_CLASS_PROPERTY;
data->error_code = ERROR_CODE_WRITE_ACCESS_DENIED;
break;
}
return false;
}
/**
* @brief ReadProperty handler for this objects proprietary properties.
* For the given ReadProperty data, the application_data is loaded
* or the error code and class are set and the return value is
* BACNET_STATUS_ERROR.
* @param data - BACNET_READ_PROPERTY_DATA data, including
* requested data and space for the reply, or error response.
* @return false if an error is loaded, true if no errors
*/
static int Read_Property_Proprietary(BACNET_READ_PROPERTY_DATA *data)
{
int apdu_len = 0;
uint8_t *apdu = NULL;
size_t apdu_size = 0;
BACNET_OCTET_STRING octet_value = { 0 };
BACNET_UNSIGNED_INTEGER unsigned_value = 0;
if ((data == NULL) || (data->application_data == NULL) ||
(data->application_data_len == 0)) {
return 0;
}
/* none of our proprietary properties are arrays */
if (data->array_index != BACNET_ARRAY_ALL) {
data->error_class = ERROR_CLASS_PROPERTY;
data->error_code = ERROR_CODE_PROPERTY_IS_NOT_AN_ARRAY;
return BACNET_STATUS_ERROR;
}
apdu = data->application_data;
apdu_size = data->application_data_len;
switch ((int)data->object_property) {
case 512:
octetstring_init(
&octet_value, Proprietary_Serial_Number,
sizeof(Proprietary_Serial_Number));
apdu_len = bacnet_octet_string_application_encode(
apdu, apdu_size, &octet_value);
break;
case 513:
unsigned_value = Loop_Size();
apdu_len = bacnet_unsigned_application_encode(
apdu, apdu_size, unsigned_value);
break;
default:
data->error_class = ERROR_CLASS_PROPERTY;
data->error_code = ERROR_CODE_UNKNOWN_PROPERTY;
apdu_len = BACNET_STATUS_ERROR;
break;
}
return apdu_len;
}
/**
* @brief Test
*/
static void test_Loop_Read_Write(void)
{
const uint32_t instance = 123;
unsigned count = 0;
unsigned index = 0;
const char *sample_name = "Loop:0";
char *sample_context = "context";
const char *sample_description = "Loop Description";
const char *test_name = NULL;
uint32_t test_instance = 0;
bool status = false;
const int skip_fail_property_list[] = { -1 };
BACNET_WRITE_PROPERTY_DATA wp_data = { 0 };
BACNET_APPLICATION_DATA_VALUE value = { 0 };
BACNET_CHARACTER_STRING cstring = { 0 };
int32_t i = 0,
units_properties[] = { PROP_OUTPUT_UNITS,
PROP_CONTROLLED_VARIABLE_UNITS,
PROP_PROPORTIONAL_CONSTANT_UNITS,
PROP_INTEGRAL_CONSTANT_UNITS,
PROP_DERIVATIVE_CONSTANT_UNITS,
-1 },
real_properties[] = { PROP_PRESENT_VALUE,
PROP_CONTROLLED_VARIABLE_VALUE,
PROP_SETPOINT,
PROP_PROPORTIONAL_CONSTANT,
PROP_INTEGRAL_CONSTANT,
PROP_DERIVATIVE_CONSTANT,
PROP_BIAS,
PROP_MAXIMUM_OUTPUT,
PROP_MINIMUM_OUTPUT,
PROP_COV_INCREMENT,
-1 };
Loop_Init();
Loop_Create(instance);
status = Loop_Valid_Instance(instance);
zassert_true(status, NULL);
status = Loop_Valid_Instance(instance - 1);
zassert_false(status, NULL);
index = Loop_Instance_To_Index(instance);
zassert_equal(index, 0, NULL);
test_instance = Loop_Index_To_Instance(index);
zassert_equal(instance, test_instance, NULL);
count = Loop_Count();
zassert_true(count > 0, NULL);
/* reliability and status flags */
status = Loop_Reliability_Set(instance, RELIABILITY_PROCESS_ERROR);
zassert_true(status, NULL);
/* add some proprietary properties */
Loop_Proprietary_Property_List_Set(Proprietary_Properties);
Loop_Read_Property_Proprietary_Callback_Set(Read_Property_Proprietary);
Loop_Write_Property_Proprietary_Callback_Set(Write_Property_Proprietary);
/* perform a general test for RP/WP */
bacnet_object_properties_read_write_test(
OBJECT_LOOP, instance, Loop_Property_Lists, Loop_Read_Property,
Loop_Write_Property, skip_fail_property_list);
/* test the ASCII name get/set */
status = Loop_Name_Set(instance, sample_name);
zassert_true(status, NULL);
test_name = Loop_Name_ASCII(instance);
zassert_equal(test_name, sample_name, NULL);
status = Loop_Object_Name(instance, &cstring);
zassert_true(status, NULL);
status = characterstring_ansi_same(&cstring, sample_name);
zassert_true(status, NULL);
status = Loop_Name_Set(instance, NULL);
zassert_true(status, NULL);
test_name = Loop_Name_ASCII(instance);
zassert_equal(test_name, NULL, NULL);
/* test specific WriteProperty values - common configuration */
wp_data.object_type = OBJECT_LOOP;
wp_data.object_instance = instance;
wp_data.array_index = BACNET_ARRAY_ALL;
wp_data.priority = BACNET_MAX_PRIORITY;
zassert_true(status, NULL);
/* out-of-service */
wp_data.object_property = PROP_OUT_OF_SERVICE;
value.tag = BACNET_APPLICATION_TAG_BOOLEAN;
value.type.Boolean = true;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_true(status, NULL);
value.type.Boolean = false;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_true(status, NULL);
value.tag = BACNET_APPLICATION_TAG_UNSIGNED_INT;
value.type.Unsigned_Int = 123;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_false(status, NULL);
/* write present-value */
wp_data.object_property = PROP_PRESENT_VALUE;
value.tag = BACNET_APPLICATION_TAG_REAL;
value.type.Real = 1.0f;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_true(status, NULL);
/* write minimum-output and maximum-output */
wp_data.object_property = PROP_MINIMUM_OUTPUT;
value.tag = BACNET_APPLICATION_TAG_REAL;
value.type.Real = 1.0f;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_true(status, NULL);
wp_data.object_property = PROP_MAXIMUM_OUTPUT;
value.tag = BACNET_APPLICATION_TAG_REAL;
value.type.Real = 100.0f;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_true(status, NULL);
/* action - out of range error */
wp_data.object_property = PROP_ACTION;
value.tag = BACNET_APPLICATION_TAG_ENUMERATED;
value.type.Enumerated = BACNET_ACTION_MAX;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_false(status, NULL);
zassert_equal(wp_data.error_class, ERROR_CLASS_PROPERTY, NULL);
zassert_equal(wp_data.error_code, ERROR_CODE_VALUE_OUT_OF_RANGE, NULL);
/* units - out of range error */
i = 0;
while (units_properties[i] != -1) {
wp_data.object_property = units_properties[i];
value.tag = BACNET_APPLICATION_TAG_ENUMERATED;
value.type.Enumerated = UINT16_MAX + 1UL;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_false(status, NULL);
zassert_equal(wp_data.error_class, ERROR_CLASS_PROPERTY, NULL);
zassert_equal(wp_data.error_code, ERROR_CODE_VALUE_OUT_OF_RANGE, NULL);
i++;
}
/* REAL - out of range error */
i = 0;
while (real_properties[i] != -1) {
wp_data.object_property = real_properties[i];
value.tag = BACNET_APPLICATION_TAG_REAL;
value.type.Real = NAN;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_false(status, NULL);
zassert_equal(wp_data.error_class, ERROR_CLASS_PROPERTY, NULL);
zassert_equal(wp_data.error_code, ERROR_CODE_VALUE_OUT_OF_RANGE, NULL);
i++;
}
/* priority-for-writing - out of range error */
wp_data.object_property = PROP_PRIORITY_FOR_WRITING;
value.tag = BACNET_APPLICATION_TAG_UNSIGNED_INT;
value.type.Unsigned_Int = BACNET_MIN_PRIORITY;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_true(status, NULL);
value.type.Unsigned_Int = BACNET_MAX_PRIORITY + 1ULL;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_false(status, NULL);
zassert_equal(wp_data.error_class, ERROR_CLASS_PROPERTY, NULL);
zassert_equal(wp_data.error_code, ERROR_CODE_VALUE_OUT_OF_RANGE, NULL);
value.type.Unsigned_Int = UINT8_MAX + 1ULL;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_false(status, NULL);
zassert_equal(wp_data.error_class, ERROR_CLASS_PROPERTY, NULL);
zassert_equal(wp_data.error_code, ERROR_CODE_VALUE_OUT_OF_RANGE, NULL);
/* read-only property */
wp_data.object_property = PROP_OBJECT_TYPE;
value.tag = BACNET_APPLICATION_TAG_ENUMERATED;
value.type.Enumerated = OBJECT_ANALOG_INPUT;
wp_data.array_index = BACNET_ARRAY_ALL;
wp_data.priority = BACNET_MAX_PRIORITY;
wp_data.application_data_len =
bacapp_encode_application_data(wp_data.application_data, &value);
status = Loop_Write_Property(&wp_data);
zassert_equal(wp_data.error_class, ERROR_CLASS_PROPERTY, NULL);
zassert_equal(wp_data.error_code, ERROR_CODE_WRITE_ACCESS_DENIED, NULL);
zassert_false(status, NULL);
/* == API testing where not already tested by read or write property == */
/* reliability and status flags API */
status = Loop_Reliability_Set(instance, RELIABILITY_PROCESS_ERROR);
zassert_true(status, NULL);
/* context API */
Loop_Context_Set(instance, sample_context);
zassert_true(sample_context == Loop_Context_Get(instance), NULL);
zassert_true(NULL == Loop_Context_Get(instance + 1), NULL);
/* description API */
status = Loop_Description_Set(instance, sample_description);
zassert_true(status, NULL);
zassert_equal(sample_description, Loop_Description_ANSI(instance), NULL);
status = Loop_Description(instance, &cstring);
zassert_true(status, NULL);
status = characterstring_ansi_same(&cstring, sample_description);
zassert_true(status, NULL);
status = Loop_Description_Set(instance, NULL);
zassert_true(status, NULL);
status = characterstring_init_ansi(&cstring, "");
zassert_true(status, NULL);
status =
characterstring_ansi_same(&cstring, Loop_Description_ANSI(instance));
zassert_true(status, NULL);
/* cleanup */
status = Loop_Delete(instance);
zassert_true(status, NULL);
Loop_Cleanup();
}
/**
* @brief Test
*/
static void test_Loop_Operation(void)
{
const uint32_t instance = 123;
uint32_t test_instance = 0;
bool status = false;
uint32_t elapsed_time = 0;
BACNET_OBJECT_PROPERTY_REFERENCE reference = { 0 };
/* init */
Loop_Init();
Loop_Create(instance);
status = Loop_Valid_Instance(instance);
zassert_true(status, NULL);
/* set Kp, Ki, Kd, setpoint, etc */
/* connect the read and write property callbacks */
Loop_Write_Property_Internal_Callback_Set(Write_Property_Internal);
Loop_Read_Property_Internal_Callback_Set(Read_Property_Internal);
/* run the PID loop */
Loop_Timer(instance, elapsed_time);
elapsed_time += 1000;
Loop_Timer(instance, elapsed_time);
Loop_Update_Interval_Set(instance, 100);
elapsed_time += 100;
Loop_Timer(instance, elapsed_time);
elapsed_time += 100;
Loop_Timer(instance, elapsed_time);
elapsed_time += 100;
Loop_Timer(instance, elapsed_time);
/* references - test by referencing self */
reference.object_identifier.instance = instance;
reference.object_identifier.type = OBJECT_LOOP;
reference.property_array_index = BACNET_ARRAY_ALL;
reference.property_identifier = PROP_CONTROLLED_VARIABLE_VALUE;
Loop_Controlled_Variable_Reference_Set(instance, &reference);
reference.property_identifier = PROP_SETPOINT;
Loop_Setpoint_Reference_Set(instance, &reference);
reference.property_identifier = PROP_PRESENT_VALUE;
Loop_Manipulated_Variable_Reference_Set(instance, &reference);
elapsed_time += 100;
Loop_Timer(instance, elapsed_time);
/* cleanup instance */
status = Loop_Delete(instance);
zassert_true(status, NULL);
/* test create of next instance */
test_instance = Loop_Create(BACNET_MAX_INSTANCE);
zassert_not_equal(test_instance, BACNET_MAX_INSTANCE, NULL);
test_instance = Loop_Create(test_instance);
zassert_not_equal(test_instance, BACNET_MAX_INSTANCE, NULL);
test_instance = Loop_Create(BACNET_MAX_INSTANCE + 1);
zassert_equal(test_instance, BACNET_MAX_INSTANCE, NULL);
/* cleanup all */
Loop_Cleanup();
}
/**
* @}
*/
void test_main(void)
{
ztest_test_suite(
loop_tests, ztest_unit_test(test_Loop_Read_Write),
ztest_unit_test(test_Loop_Operation));
ztest_run_test_suite(loop_tests);
}