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TST: add unit tests for timebase conversions #221

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merged 1 commit into from
Jul 7, 2018
Merged

TST: add unit tests for timebase conversions #221

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64 changes: 64 additions & 0 deletions control/tests/discrete_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,70 @@ def test_timebase(self):
self.assertEqual(timebase(self.siso_tf3d), True);
self.assertEqual(timebase(self.siso_tf3d, strict=False), 1);

def test_timebase_conversions(self):
'''Check to make sure timebases transfer properly'''
tf1 = TransferFunction([1,1],[1,2,3]) # unspecified
tf2 = TransferFunction([1,1],[1,2,3], 0) # cont time
tf3 = TransferFunction([1,1],[1,2,3], True) # dtime, unspec
tf4 = TransferFunction([1,1],[1,2,3], 1) # dtime, dt=1

# Make sure unspecified timebase is converted correctly
self.assertEqual(timebase(tf1*tf1), timebase(tf1))
self.assertEqual(timebase(tf1*tf2), timebase(tf2))
self.assertEqual(timebase(tf1*tf3), timebase(tf3))
self.assertEqual(timebase(tf1*tf4), timebase(tf4))
self.assertEqual(timebase(tf2*tf1), timebase(tf2))
self.assertEqual(timebase(tf3*tf1), timebase(tf3))
self.assertEqual(timebase(tf4*tf1), timebase(tf4))
self.assertEqual(timebase(tf1+tf1), timebase(tf1))
self.assertEqual(timebase(tf1+tf2), timebase(tf2))
self.assertEqual(timebase(tf1+tf3), timebase(tf3))
self.assertEqual(timebase(tf1+tf4), timebase(tf4))
self.assertEqual(timebase(feedback(tf1, tf1)), timebase(tf1))
self.assertEqual(timebase(feedback(tf1, tf2)), timebase(tf2))
self.assertEqual(timebase(feedback(tf1, tf3)), timebase(tf3))
self.assertEqual(timebase(feedback(tf1, tf4)), timebase(tf4))

# Make sure discrete time without sampling is converted correctly
self.assertEqual(timebase(tf3*tf3), timebase(tf3))
self.assertEqual(timebase(tf3*tf4), timebase(tf4))
self.assertEqual(timebase(tf3+tf3), timebase(tf3))
self.assertEqual(timebase(tf3+tf3), timebase(tf4))
self.assertEqual(timebase(feedback(tf3, tf3)), timebase(tf3))
self.assertEqual(timebase(feedback(tf3, tf4)), timebase(tf4))

# Make sure all other combinations are errors
try:
tf2*tf3 # Error; incompatible timebases
raise ValueError("incompatible operation allowed")
except ValueError:
pass
try:
tf2*tf4 # Error; incompatible timebases
raise ValueError("incompatible operation allowed")
except ValueError:
pass
try:
tf2+tf3 # Error; incompatible timebases
raise ValueError("incompatible operation allowed")
except ValueError:
pass
try:
tf2+tf4 # Error; incompatible timebases
raise ValueError("incompatible operation allowed")
except ValueError:
pass
try:
feedback(tf2, tf3) # Error; incompatible timebases
raise ValueError("incompatible operation allowed")
except ValueError:
pass
try:
feedback(tf2, tf4) # Error; incompatible timebases
raise ValueError("incompatible operation allowed")
except ValueError:
pass

def testisdtime(self):
# Constant
self.assertEqual(isdtime(1), True);
Expand Down