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Fix interconnect type conversion bug for StateSpace systems #788

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Merged
sawyerbfuller merged 5 commits into from
Nov 16, 2022
Merged

Fix interconnect type conversion bug for StateSpace systems #788

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45c3abd
add conversions for LTI systems in interconnect()
murrayrm Nov 12, 2022
43ce56b
fix params processing in I/O system + unit tests
murrayrm Nov 13, 2022
1a78cb8
update params docstrings in iosys
murrayrm Nov 13, 2022
878cf98
replace mutables as arguments with None, per @roryyorke suggestion
murrayrm Nov 13, 2022
a9a6226
update params docstrings + warnings per @sawyerbfuller suggestion
murrayrm Nov 13, 2022
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add conversions for LTI systems in interconnect()
  • Loading branch information
@murrayrm
murrayrm committed Nov 12, 2022
commit 45c3abdb534e8421c2582a7a1da8ecd6f10e1cbd
8 changes: 7 additions & 1 deletion control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -894,6 +894,12 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],

# Go through the system list and keep track of counts, offsets
for sysidx, sys in enumerate(syslist):
# If we were passed a SS or TF system, convert to LinearIOSystem
if isinstance(sys, (StateSpace, TransferFunction)) and \
not isinstance(sys, LinearIOSystem):
sys = LinearIOSystem(sys)
syslist[sysidx] = sys

# Make sure time bases are consistent
dt = common_timebase(dt, sys.dt)

Expand Down Expand Up @@ -1781,7 +1787,7 @@ def input_output_response(

# Update the parameter values
sys._update_params(params)

#
# Define a function to evaluate the input at an arbitrary time
#
Expand Down
42 changes: 39 additions & 3 deletions control/tests/type_conversion_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ def sys_dict():
rtype_list = ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']
conversion_table = [
# op left ss tf frd lio ios arr flt
('add', 'ss', ['ss', 'ss', 'frd', 'ss', 'ios', 'ss', 'ss' ]),
('add', 'ss', ['ss', 'ss', 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('add', 'tf', ['tf', 'tf', 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('add', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('add', 'lio', ['lio', 'lio', 'xrd', 'lio', 'ios', 'lio', 'lio']),
Expand All @@ -68,7 +68,7 @@ def sys_dict():
('add', 'flt', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']),

# op left ss tf frd lio ios arr flt
('sub', 'ss', ['ss', 'ss', 'frd', 'ss', 'ios', 'ss', 'ss' ]),
('sub', 'ss', ['ss', 'ss', 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('sub', 'tf', ['tf', 'tf', 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('sub', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('sub', 'lio', ['lio', 'lio', 'xrd', 'lio', 'ios', 'lio', 'lio']),
Expand All @@ -77,7 +77,7 @@ def sys_dict():
('sub', 'flt', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']),

# op left ss tf frd lio ios arr flt
('mul', 'ss', ['ss', 'ss', 'frd', 'ss', 'ios', 'ss', 'ss' ]),
('mul', 'ss', ['ss', 'ss', 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('mul', 'tf', ['tf', 'tf', 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('mul', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('mul', 'lio', ['lio', 'lio', 'xrd', 'lio', 'ios', 'lio', 'lio']),
Expand Down Expand Up @@ -191,3 +191,39 @@ def test_binary_op_type_conversions(opname, ltype, rtype, sys_dict):
assert len(result.output_labels) == result.noutputs
if result.nstates is not None:
assert len(result.state_labels) == result.nstates

@pytest.mark.parametrize(
"typelist, connections, inplist, outlist, expected", [
(['lio', 'lio'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['lio', 'ss'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['ss', 'lio'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['ss', 'ss'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['lio', 'tf'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['lio', 'frd'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'E'),
(['ios', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['lio', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['ss', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['tf', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['lio', 'ss', 'tf'],
[[(1, 0), (0, 0)], [(2, 0), (1, 0)]], [[(0, 0)]], [[(2, 0)]], 'lio'),
(['ios', 'ss', 'tf'],
[[(1, 0), (0, 0)], [(2, 0), (1, 0)]], [[(0, 0)]], [[(2, 0)]], 'ios'),
])
def test_interconnect(
typelist, connections, inplist, outlist, expected, sys_dict):
# Create the system list
syslist = [sys_dict[_type] for _type in typelist]

# Make copies of any duplicates
for sysidx, sys in enumerate(syslist):
if sys == syslist[0]:
syslist[sysidx] = sys.copy()

# Make sure we get the right result
if expected == 'E' or expected[0] == 'x':
# Exception expected
with pytest.raises(TypeError):
result = ct.interconnect(syslist, connections, inplist, outlist)
else:
result = ct.interconnect(syslist, connections, inplist, outlist)
assert isinstance(result, type_dict[expected])