Skip to content

Fix iosys errors for unspecified # of inputs/outputs #355

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Dec 31, 2019
Merged

Fix iosys errors for unspecified # of inputs/outputs #355

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8e8bf08
fix printing for systems w/ unspecified inputs, outputs, states
murrayrm Dec 30, 2019
47112b4
fix print test for python2.7
murrayrm Dec 30, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 7 additions & 11 deletions control/iosys.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -212,12 +212,12 @@ def __repr__(self):

def __str__(self):
"""String representation of an input/output system"""
str = "System: " + (self.name if self.name else "(none)") + "\n"
str += "Inputs (%d): " % self.ninputs
str = "System: " + (self.name if self.name else "(None)") + "\n"
str += "Inputs (%s): " % self.ninputs
for key in self.input_index: str += key + ", "
str += "\nOutputs (%d): " % self.noutputs
str += "\nOutputs (%s): " % self.noutputs
for key in self.output_index: str += key + ", "
str += "\nStates (%d): " % self.nstates
str += "\nStates (%s): " % self.nstates
for key in self.state_index: str += key + ", "
return str

Expand Down Expand Up @@ -317,13 +317,8 @@ def __add__(sys1, sys2):
ninputs = sys1.ninputs
noutputs = sys1.noutputs

# Make sure timebase are compatible
dt = _find_timebase(sys1, sys2)
if dt is False:
raise ValueError("System timebases are not compabile")

# Create a new system to handle the composition
newsys = InterconnectedSystem((sys1, sys2), dt=dt)
newsys = InterconnectedSystem((sys1, sys2))

# Set up the input map
newsys.set_input_map(np.concatenate(
Expand Down Expand Up @@ -937,6 +932,7 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
system_count = 0
for sys in syslist:
# Make sure time bases are consistent
# TODO: Use lti._find_timebase() instead?
if dt is None and sys.dt is not None:
# Timebase was not specified; set to match this system
dt = sys.dt
Expand All @@ -948,7 +944,7 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
sys.nstates is None:
raise TypeError("System '%s' must define number of inputs, "
"outputs, states in order to be connected" %
sys)
sys.name)

# Keep track of the offsets into the states, inputs, outputs
self.input_offset.append(ninputs)
Expand Down
28 changes: 27 additions & 1 deletion control/tests/iosys_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
# operations on input/output systems. Separate unit tests should be
# created for that purpose.

from __future__ import print_function
import unittest
import warnings
import numpy as np
Expand Down Expand Up @@ -100,6 +101,32 @@ def test_ss2io(self):
np.testing.assert_array_equal(linsys.C, iosys_named.C)
np.testing.assert_array_equal(linsys.D, iosys_named.D)

# Make sure unspecified inputs/outputs/states are handled properly
def test_iosys_unspecified(self):
# System with unspecified inputs and outputs
sys = ios.NonlinearIOSystem(secord_update, secord_output)
np.testing.assert_raises(TypeError, sys.__mul__, sys)

# Make sure we can print various types of I/O systems
def test_iosys_print(self):
# Send the output to /dev/null
import os
f = open(os.devnull,"w")

# Simple I/O system
iosys = ct.ss2io(self.siso_linsys)
print(iosys, file=f)

# I/O system without ninputs, noutputs
ios_unspecified = ios.NonlinearIOSystem(secord_update, secord_output)
print(ios_unspecified, file=f)

# I/O system with derived inputs and outputs
ios_linearized = ios.linearize(ios_unspecified, [0, 0], [0])
print(ios_linearized, file=f)

f.close()

@unittest.skipIf(StrictVersion(sp.__version__) < "1.0",
"requires SciPy 1.0 or greater")
def test_nonlinear_iosys(self):
Expand Down Expand Up @@ -832,7 +859,6 @@ def test_lineariosys_statespace(self):
np.testing.assert_array_equal(io_feedback.C, ss_feedback.C)
np.testing.assert_array_equal(io_feedback.D, ss_feedback.D)


def test_duplicates(self):
nlios = ios.NonlinearIOSystem(None, \
lambda t, x, u, params: u*u, inputs=1, outputs=1)
Expand Down