def test_Gain():
# Gain
blk = system.Gain()
assert blk.gain == 1
blk = system.Gain(gain=-1)
assert blk.gain == -1
blk = system.Gain(gain=3)
assert blk.gain == 3
blk = system.Gain(gain=-1.2)
assert blk.gain == -1.2
with pytest.raises(block.BlockException):
blk = system.Gain(gain='asd')
blk = system.Gain(gain=-5.2)
blk.write(np.array([2]))
(yk, ) = blk.read()
assert yk == -10.4
blk = system.Gain(gain=3)
blk.write(2, 4)
yk = blk.read()
assert yk == (6, 12)
blk.write(np.array([2, 4]))
(yk, ) = blk.read()
assert np.all(yk == [6, 12])
blk.write(2, np.array([4, 2]))
yk = blk.read()
assert yk[0] == 6 and np.all(yk[1] == np.array([12, 6]))
blk.set(gain=8)
assert blk.gain == 8
blk = system.Gain(gain=(-1, 2), demux=True)
blk.write(1)
yk = blk.read()
assert yk == (-1, 2)
blk = system.Gain(gain=np.array([-1, 2]), demux=True)
blk.write(1)
yk = blk.read()
assert yk == (-1, 2)
with pytest.raises(block.BlockException):
blk = system.Gain(gain=np.array([[-1, 2], [3, 1]]),
mux=True,
demux=True)
def _test_timer_sub_container(controller):
import pyctrl
import numpy
import pyctrl.block as block
import pyctrl.block.system as system
import pyctrl.block.random as blkrnd
import pyctrl.block.container as container
print('> * * * TEST TIMER SUB CONTAINER {} * * *'.format(
controller.__class__))
controller.reset()
controller.add_signals('s1', 's2', 's3')
# add subcontainer
controller.add_timer('container1',
container.Container(), ['s1'], ['s2', 's3'],
period=1,
repeat=False)
controller.add_signals('timer/container1/s1', 'timer/container1/s2',
'timer/container1/s3')
controller.add_source('timer/container1/input1', container.Input(), ['s1'])
controller.add_filter('timer/container1/gain1', system.Gain(gain=3),
['s1'], ['s2'])
controller.add_filter('timer/container1/gain2', system.Gain(gain=5),
['s1'], ['s3'])
controller.add_sink('timer/container1/output1', container.Output(), ['s2'])
controller.add_sink('timer/container1/output2', container.Output(), ['s3'])
assert controller.get_signal('s2') == 0
assert controller.get_signal('s3') == 0
with controller:
controller.set_signal('s1', 1)
time.sleep(.1)
assert controller.get_signal('s2') == 0
assert controller.get_signal('s3') == 0
with controller:
controller.set_signal('s1', 1)
time.sleep(1.5)
assert controller.get_signal('s2') == 3
assert controller.get_signal('s3') == 5
def test_Gain(self):
# Gain
blk = system.Gain()
self.assertEqual(blk.gain, 1)
blk = system.Gain(gain=-1)
self.assertEqual(blk.gain, -1)
blk = system.Gain(gain=3)
self.assertEqual(blk.gain, 3)
blk = system.Gain(gain=-1.2)
self.assertEqual(blk.gain, -1.2)
with self.assertRaises(block.BlockException):
blk = system.Gain(gain='asd')
blk = system.Gain(gain=-5.2)
blk.write(np.array([2]))
(yk, ) = blk.read()
self.assertEqual(yk[0], -10.4)
blk = system.Gain(gain=3)
blk.write(2, 4)
yk = blk.read()
self.assertEqual(yk, (6, 12))
blk.write(np.array([2, 4]))
(yk, ) = blk.read()
assert np.all(yk == np.array([6, 12]))
blk.write(2, np.array([4, 2]))
yk = blk.read()
assert yk[0] == 6 and np.all(yk[1] == np.array([12, 6]))
blk.set(gain=8)
self.assertEqual(blk.gain, 8)
blk = system.Gain(gain=(-1, 2), demux=True)
blk.write(1)
yk = blk.read()
self.assertEqual(yk, (-1, 2))
blk = system.Gain(gain=np.array([-1, 2]), demux=True)
blk.write(1)
yk = blk.read()
self.assertEqual(yk, (-1, 2))
with self.assertRaises(block.BlockException):
blk = system.Gain(gain=np.array([[-1, 2], [3, 1]]),
mux=True,
demux=True)
def run_test_sub_container_timer(self, controller):
import pyctrl.block as block
import pyctrl.block.system as system
import pyctrl.block.container as container
print('> * * * TEST SUB CONTAINER TIMER {} * * *'.format(
controller.__class__))
controller.reset()
controller.add_signals('s1', 's2', 's3')
# add subcontainer
controller.add_filter('container1', container.Container(), ['s1'],
['s2', 's3'])
controller.add_signals('container1/s1', 'container1/s2',
'container1/s3')
controller.add_source('container1/input1', container.Input(), ['s1'])
controller.add_filter('container1/gain1', system.Gain(gain=3), ['s1'],
['s2'])
controller.add_timer('container1/constant1',
block.Constant(value=5),
None, ['s3'],
period=1,
repeat=False)
controller.add_sink('container1/output1', container.Output(), ['s2'])
controller.add_sink('container1/output2', container.Output(), ['s3'])
with controller:
controller.set_signal('s1', 1)
time.sleep(.1)
self.assertTrue(controller.get_signal('s2') == 3)
self.assertTrue(controller.get_signal('s3') == 0)
with controller:
controller.set_signal('s1', 1)
time.sleep(1.5)
self.assertTrue(controller.get_signal('s2') == 3)
self.assertTrue(controller.get_signal('s3') == 5)
def test_container(self):
import pyctrl
import numpy
import pyctrl.block as block
import pyctrl.block.system as system
import pyctrl.block.logic as logic
# import pyctrl.block.random as blkrnd
from pyctrl import BlockType
from pyctrl.block.container import Container
container = Container()
# initial signals
_signals = container.list_signals()
_sinks = container.list_sinks()
_sources = container.list_sources()
_filters = container.list_filters()
self.assertTrue(not container.is_enabled())
container.add_signal('_test_')
self.assertTrue('_test_' in container.list_signals())
#with self.assertRaises(block.container.ContainerWarning):
container.add_signal('_test_')
self.assertEqual(container.get_signal('_test_'), 0)
container.set_signal('_test_', 1.2)
self.assertEqual(container.get_signal('_test_'), 1.2)
container.remove_signal('_test_')
self.assertTrue('_test_' not in container.list_signals())
with self.assertRaises(pyctrl.block.container.ContainerException):
container.set_signal('_test_', 1.2)
container.add_signals('_test1_', '_test2_')
self.assertTrue('_test1_' in container.list_signals())
self.assertTrue('_test2_' in container.list_signals())
container.remove_signal('_test1_')
container.remove_signal('_test2_')
self.assertTrue('_test1_' not in container.list_signals())
self.assertTrue('_test2_' not in container.list_signals())
# test info
print(container.info())
self.assertTrue(isinstance(container.info(), str))
self.assertTrue(isinstance(container.info('summary'), str))
self.assertTrue(isinstance(container.info('sources', 'sinks'), str))
# test sink
container.add_signal('clock')
container.add_sink('_logger_', block.Logger(), ['_test_'])
self.assertTrue('_logger_' in container.list_sinks())
self.assertTrue('_test_' in container.list_signals())
self.assertEqual(
container.get_sink('_logger_'), {
'current': 0,
'auto_reset': False,
'page': 0,
'enabled': True,
'labels': ['_test_'],
'index': None
})
self.assertEqual(
container.get_sink('_logger_', 'current', 'auto_reset'), {
'current': 0,
'auto_reset': False
})
self.assertEqual(container.get_sink('_logger_', 'current'), 0)
container.set_sink('_logger_', current=1)
self.assertEqual(container.get_sink('_logger_', 'current'), 1)
# try to remove signal _test_
container.remove_signal('_test_')
self.assertTrue('_test_' in container.list_signals())
container.add_sink('_logger_', block.Logger(), ['clock'])
self.assertTrue('_logger_' in container.list_sinks())
# TODO: test for changed signals
container.set_sink('_logger_', reset=True)
log = container.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertShape(log['clock'].shape, (0, 1))
with self.assertRaises(block.BlockException):
container.set_sink('_logger_', _reset=True)
container.set_enabled(True)
container.run()
container.run()
container.set_enabled(False)
log = container.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertShape(log['clock'].shape, (2, 1))
container.set_sink('_logger_', reset=True)
log = container.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertShape(log['clock'].shape, (0, 1))
container.remove_sink('_logger_')
self.assertTrue('_logger_' not in container.list_sinks())
container.add_signal('_test_')
container.add_sink('_logger_', block.Logger(), ['clock', '_test_'])
self.assertTrue('_logger_' in container.list_sinks())
container.set_enabled(True)
container.run()
container.run()
container.set_enabled(False)
log = container.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertTrue(isinstance(log['_test_'], numpy.ndarray))
self.assertShape(log['clock'].shape, (2, 1))
self.assertShape(log['_test_'].shape, (2, 1))
container.set_sink('_logger_', reset=True)
log = container.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertTrue(isinstance(log['_test_'], numpy.ndarray))
self.assertShape(log['clock'].shape, (0, 1))
self.assertShape(log['_test_'].shape, (0, 1))
container.remove_sink('_logger_')
self.assertTrue('_logger_' not in container.list_sinks())
# test source
#container.add_source('_rand_', blkrnd.Uniform(), ['clock'])
container.add_source('_rand_', block.Constant(), ['clock'])
self.assertTrue('_rand_' in container.list_sources())
#container.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
container.add_source('_rand_', block.Constant(value=2), ['_test_'])
self.assertTrue('_rand_' in container.list_sources())
#self.assertTrue( container.get_source('_rand_') == {'demux': False, 'mux': False, 'low': 0, 'high': 1, 'enabled': True, 'seed': None, 'm': 1} )
self.assertTrue(
container.get_source('_rand_') == {
'demux': False,
'mux': False,
'value': 2,
'enabled': True
})
self.assertTrue(
container.get_source('_rand_', 'value', 'demux') == {
'value': 2,
'demux': False
})
self.assertTrue(container.get_source('_rand_', 'value') == 2)
container.set_source('_rand_', value=1)
self.assertTrue(container.get_source('_rand_', 'value') == 1)
# TODO: test for changed signals
container.set_source('_rand_', reset=True)
a = container.read_source('_rand_')
self.assertTrue(isinstance(a, tuple))
self.assertTrue(0 <= a[0] <= 1)
with self.assertRaises(block.BlockException):
container.set_source('_rand_', _reset=True)
container.remove_source('_rand_')
self.assertTrue('_rand_' not in container.list_sources())
# test filter
container.add_signal('_output_')
#container.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
container.add_source('_rand_', block.Constant(), ['_test_'])
self.assertTrue('_rand_' in container.list_sources())
container.add_filter('_gain_', block.ShortCircuit(), ['_test_'],
['_output_'])
self.assertTrue('_gain_' in container.list_filters())
# TODO: test for changed block
container.add_filter('_gain_', system.Gain(gain=2), ['_test_'],
['_output_'])
self.assertTrue('_gain_' in container.list_filters())
self.assertTrue(
container.get_filter('_gain_') == {
'demux': False,
'enabled': True,
'gain': 2,
'mux': False
})
self.assertTrue(
container.get_filter('_gain_', 'demux', 'gain') == {
'demux': False,
'gain': 2
})
self.assertTrue(container.get_filter('_gain_', 'gain') == 2)
container.add_sink('_logger_', block.Logger(), ['_test_', '_output_'])
self.assertTrue('_logger_' in container.list_sinks())
container.set_enabled(True)
container.run()
container.run()
container.set_enabled(False)
log = container.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['_test_'], numpy.ndarray))
self.assertTrue(isinstance(log['_output_'], numpy.ndarray))
self.assertShape(log['_test_'].shape, (2, 1))
self.assertShape(log['_output_'].shape, (2, 1))
self.assertTrue(numpy.array_equal(log['_output_'], log['_test_'] * 2))
# test reset
signals = container.list_signals()
sinks = container.list_sinks()
sources = container.list_sources()
filters = container.list_filters()
print(signals, sources, filters, sinks)
print(container.info('all'))
container.reset()
container = Container()
signals = container.list_signals()
sinks = container.list_sinks()
sources = container.list_sources()
filters = container.list_filters()
print(signals, sources, filters, sinks)
self.assertTrue(signals == _signals)
self.assertTrue(sources == _sources)
self.assertTrue(filters == _filters)
self.assertTrue(sinks == _sinks)
print(container.info('all'))
container.add_signal('timer')
container.add_timer('timer', block.Constant(value=1), None, ['timer'],
1, False)
print(container.info('all'))
self.assertTrue(container.get_signal('timer') == 0)
self.assertTrue(
container.get_timer('timer') == {
'enabled': True,
'demux': False,
'mux': False,
'value': 1
})
self.assertTrue(
container.get_timer('timer', 'enabled', 'demux') == {
'enabled': True,
'demux': False
})
self.assertTrue(container.get_timer('timer', 'enabled') == True)
container.set_enabled(True)
container.run()
time.sleep(2)
container.run()
container.set_enabled(False)
self.assertTrue(container.get_signal('timer') == 1)
container.set_signal('timer', 0)
self.assertTrue(container.get_signal('timer') == 0)
container.set_enabled(True)
container.run()
time.sleep(.5)
container.run()
container.set_enabled(False)
self.assertTrue(container.get_signal('timer') == 0)
container.set_signal('timer', 0)
self.assertTrue(container.get_signal('timer') == 0)
container.add_timer('stop', block.Constant(value=0), None,
['is_running'], 2, False)
#print('##########')
container.set_enabled(True)
container.run()
#print('##########')
time.sleep(3)
container.run()
container.set_enabled(False)
self.assertTrue(container.get_signal('timer') == 1)
# test set
container = Container()
container.add_signals('s1', 's2')
container.add_source('const', block.Constant(value=1), ['s1'])
container.add_sink(
'set1',
logic.SetSource(label='const',
on_rise={'value': 0.6},
on_fall={'value': 0.4}), ['s2'])
container.set_enabled(True)
container.run()
container.set_enabled(False)
self.assertTrue(container.get_signal('s2') == 0)
self.assertTrue(container.get_source('const', 'value') == 1)
container.set_enabled(True)
container.run()
container.set_signal('s2', 1)
container.run()
container.set_enabled(False)
self.assertTrue(container.get_signal('s2') == 1)
self.assertTrue(container.get_source('const', 'value') == 0.6)
container.set_enabled(True)
container.run()
container.set_signal('s2', 0)
container.run()
container.set_enabled(False)
self.assertTrue(container.get_signal('s2') == 0)
self.assertTrue(container.get_source('const', 'value') == 0.4)
def test_container():
import pyctrl
import numpy
import pyctrl.block as block
import pyctrl.block.system as system
import pyctrl.block.logic as logic
import pyctrl.block.random as blkrnd
from pyctrl import BlockType
from pyctrl.block.container import Container
container = Container()
# initial signals
_signals = container.list_signals()
_sinks = container.list_sinks()
_sources = container.list_sources()
_filters = container.list_filters()
assert not container.is_enabled()
container.add_signal('_test_')
assert '_test_' in container.list_signals()
#with pytest.raises(pyctrl.block.container.ContainerException):
container.add_signal('_test_')
assert container.get_signal('_test_') == 0
container.set_signal('_test_', 1.2)
assert container.get_signal('_test_') == 1.2
container.remove_signal('_test_')
assert '_test_' not in container.list_signals()
with pytest.raises(pyctrl.block.container.ContainerException):
container.set_signal('_test_', 1.2)
container.add_signals('_test1_', '_test2_')
assert '_test1_' in container.list_signals()
assert '_test2_' in container.list_signals()
container.remove_signal('_test1_')
container.remove_signal('_test2_')
assert '_test1_' not in container.list_signals()
assert '_test2_' not in container.list_signals()
# test info
assert isinstance(container.info(), str)
assert isinstance(container.info('summary'), str)
assert isinstance(container.info('source', 'sink'), str)
# test sink
container.add_signal('clock')
container.add_sink('_logger_', block.Logger(), ['_test_'])
assert '_logger_' in container.list_sinks()
assert '_test_' in container.list_signals()
assert container.get_sink('_logger_') == {
'current': 0,
'auto_reset': False,
'page': 0,
'enabled': True,
'labels': ['_test_'],
'index': None
}
assert container.get_sink('_logger_', 'current', 'auto_reset') == {
'current': 0,
'auto_reset': False
}
assert container.get_sink('_logger_', 'current') == 0
container.set_sink('_logger_', current=1)
assert container.get_sink('_logger_', 'current') == 1
# try to remove signal _test_
container.remove_signal('_test_')
assert '_test_' in container.list_signals()
container.add_sink('_logger_', block.Logger(), ['clock'])
assert '_logger_' in container.list_sinks()
# TODO: test for changed signals
container.set_sink('_logger_', reset=True)
log = container.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert log['clock'].shape == (0, 1)
with pytest.raises(block.BlockException):
container.set_sink('_logger_', _reset=True)
container.set_enabled(True)
container.run()
container.run()
container.set_enabled(False)
log = container.get_sink('_logger_', 'log')
#print(log)
assert isinstance(log['clock'], numpy.ndarray)
assert log['clock'].shape == (2, 1)
container.set_sink('_logger_', reset=True)
log = container.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert log['clock'].shape == (0, 1)
container.remove_sink('_logger_')
assert '_logger_' not in container.list_sinks()
container.add_signal('_test_')
container.add_sink('_logger_', block.Logger(), ['clock', '_test_'])
assert '_logger_' in container.list_sinks()
container.set_enabled(True)
container.run()
container.run()
container.set_enabled(False)
log = container.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert isinstance(log['_test_'], numpy.ndarray)
assert log['clock'].shape == (2, 1)
assert log['_test_'].shape == (2, 1)
container.set_sink('_logger_', reset=True)
log = container.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert isinstance(log['_test_'], numpy.ndarray)
assert log['clock'].shape == (0, 1)
assert log['_test_'].shape == (0, 1)
container.remove_sink('_logger_')
assert '_logger_' not in container.list_sinks()
# test source
container.add_source('_rand_', blkrnd.Uniform(), ['clock'])
assert '_rand_' in container.list_sources()
container.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
assert '_rand_' in container.list_sources()
assert container.get_source('_rand_') == {
'demux': False,
'mux': False,
'low': 0,
'high': 1,
'enabled': True,
'seed': None,
'm': 1
}
assert container.get_source('_rand_', 'low', 'high') == {
'low': 0,
'high': 1
}
assert container.get_source('_rand_', 'low') == 0
container.set_source('_rand_', low=1)
assert container.get_source('_rand_', 'low') == 1
# TODO: test for changed signals
container.set_source('_rand_', reset=True)
a = container.read_source('_rand_')
assert isinstance(a[0], float)
assert 0 <= a[0] <= 1
with pytest.raises(block.BlockException):
container.set_source('_rand_', _reset=True)
container.remove_source('_rand_')
assert '_rand_' not in container.list_sources()
# test filter
container.add_signal('_output_')
container.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
assert '_rand_' in container.list_sources()
container.add_filter('_gain_', block.ShortCircuit(), ['_test_'],
['_output_'])
assert '_gain_' in container.list_filters()
# TODO: test for changed block
container.add_filter('_gain_', system.Gain(gain=2), ['_test_'],
['_output_'])
assert '_gain_' in container.list_filters()
assert container.get_filter('_gain_') == {
'demux': False,
'enabled': True,
'gain': 2,
'mux': False
}
assert container.get_filter('_gain_', 'demux', 'gain') == {
'demux': False,
'gain': 2
}
assert container.get_filter('_gain_', 'gain') == 2
container.add_sink('_logger_', block.Logger(), ['_test_', '_output_'])
assert '_logger_' in container.list_sinks()
container.set_enabled(True)
container.run()
container.run()
container.set_enabled(False)
log = container.get_sink('_logger_', 'log')
assert isinstance(log['_test_'], numpy.ndarray)
assert isinstance(log['_output_'], numpy.ndarray)
assert log['_test_'].shape == (2, 1)
assert log['_output_'].shape == (2, 1)
assert numpy.all(numpy.fabs(log['_output_'] - 2 * log['_test_']) < 1e-6)
# test reset
signals = container.list_signals()
sinks = container.list_sinks()
sources = container.list_sources()
filters = container.list_filters()
print(signals, sources, filters, sinks)
print(container.info('all'))
container.reset()
container = Container()
signals = container.list_signals()
sinks = container.list_sinks()
sources = container.list_sources()
filters = container.list_filters()
print(signals, sources, filters, sinks)
assert signals == _signals
assert sources == _sources
assert filters == _filters
assert sinks == _sinks
print(container.info('all'))
container.add_signal('timer')
container.add_timer('timer', block.Constant(value=1), None, ['timer'], 1,
False)
print(container.info('all'))
assert container.get_signal('timer') == 0
assert container.get_timer('timer') == {
'enabled': True,
'demux': False,
'mux': False,
'value': 1
}
assert container.get_timer('timer', 'enabled', 'demux') == {
'enabled': True,
'demux': False
}
assert container.get_timer('timer', 'enabled') == True
container.set_enabled(True)
container.run()
time.sleep(2)
container.run()
container.set_enabled(False)
assert container.get_signal('timer') == 1
container.set_signal('timer', 0)
assert container.get_signal('timer') == 0
container.set_enabled(True)
container.run()
time.sleep(.5)
container.run()
container.set_enabled(False)
assert container.get_signal('timer') == 0
container.set_signal('timer', 0)
assert container.get_signal('timer') == 0
container.add_timer('stop', block.Constant(value=0), None, ['is_running'],
2, False)
#print('##########')
container.set_enabled(True)
container.run()
#print('##########')
time.sleep(3)
container.run()
container.set_enabled(False)
assert container.get_signal('timer') == 1
# test set
container = Container()
print('* * * TEST SET * * *')
print(container.info('all'))
container.add_signals('s1', 's2')
container.add_source('const', block.Constant(value=1), ['s1'])
container.add_sink(
'set1',
logic.SetSource(label='const',
on_rise={'value': 0.6},
on_fall={'value': 0.4}), ['s2'])
container.set_enabled(True)
container.run()
container.set_enabled(False)
print(container.get_source('const'))
assert container.get_signal('s2') == 0
assert container.get_source('const', 'value') == 1
container.set_enabled(True)
container.run()
container.set_signal('s2', 1)
container.run()
container.set_enabled(False)
assert container.get_signal('s2') == 1
assert container.get_source('const', 'value') == 0.6
container.set_enabled(True)
container.run()
container.set_signal('s2', 0)
container.run()
container.set_enabled(False)
assert container.get_signal('s2') == 0
assert container.get_source('const', 'value') == 0.4
def test_Feedback(self):
# Feedback
blk1 = system.Gain(gain=2)
blk = system.Feedback(block=blk1)
assert blk.block is blk1
assert blk.gamma == 1.0
blk = system.Feedback(block=blk1)
assert blk.block is blk1
assert blk.gamma == 1.0
blk = system.Feedback(block=blk1, gamma=4)
assert blk.block is blk1
assert blk.gamma == 4
blk.write(2, 3)
(yk, ) = blk.read()
self.assertEqual(yk, 2 * (3 * 4 - 2))
gn = system.Gain(gain=150)
blk.set(block=gn)
self.assertTrue(blk.block is gn)
blk.set(gamma=10)
self.assertEqual(blk.gamma, 10)
# Feedback with transfer-function
#
# G(z) = -.5/(z - .5)
# TODO: CHECK DIFFERENT SIZES NUM/DEN
blk1 = system.System(model=tf.zDTTF([-.5, 0], [-.5, 1]))
blktf = system.Feedback(block=blk1)
self.assertTrue(blktf.block is blk1)
# A = .5, B = 1, C = -.5, D = 0
#
# u = C x + D (- y + r)
# x = A x + B (- y + r)
A = np.array([[.5]])
B = np.array([[-1, 1]])
C = np.array([[-.5]])
D = np.array([[0, 0]])
blkss = system.System(model=ss.DTSS(A, B, C, D))
blktf.write(1, 3)
yk1 = list(blktf.read())
blkss.write([1, 3])
yk2, = blkss.read()
self.assertTrue(np.all(np.array(yk1) == yk2))
blktf.write(-1, 3)
yk1 = list(blktf.read())
blkss.write([-1, 3])
yk2, = blkss.read()
self.assertTrue(np.all(np.array(yk1) == yk2))
blktf.write(-1, 3)
yk1 = list(blktf.read())
blkss.write([-1, 3])
yk2, = blkss.read()
self.assertTrue(np.all(np.array(yk1) == yk2))
# Reset feedback
self.assertTrue(
np.array_equal(blktf.block.model.state, np.array((6.5, ))))
blktf.reset()
self.assertTrue(
np.array_equal(blktf.block.model.state, np.array((0, ))))
def _test_sub_container(controller):
import pyctrl
import numpy
import pyctrl.block as block
import pyctrl.block.system as system
import pyctrl.block.random as blkrnd
import pyctrl.block.container as container
print('> * * * TEST SUB CONTAINER {} * * *'.format(controller.__class__))
controller.reset()
# add subcontainer
controller.add_signals('s1', 's2', 's3')
controller.add_filter('container1', container.Container(), ['s1'],
['s2', 's3'])
controller.add_signals('container1/s1', 'container1/s2', 'container1/s3')
controller.add_source('container1/input1', container.Input(), ['s1'])
controller.add_filter('container1/gain1', system.Gain(gain=3), ['s1'],
['s2'])
controller.add_sink('container1/output1', container.Output(), ['s2'])
controller.set_signal('s2', 0)
with controller:
controller.set_signal('s1', 1)
time.sleep(.2)
assert controller.get_signal('s2') == 3
# add subsubcontainer
controller.add_filter('container1/container2', container.Container(),
['s1'], ['s3'])
controller.add_signals('container1/container2/s1',
'container1/container2/s2')
controller.add_sink('container1/output2', container.Output(), ['s3'])
controller.add_source('container1/container2/input1', container.Input(),
['s1'])
controller.add_filter('container1/container2/gain1', system.Gain(gain=5),
['s1'], ['s2'])
controller.add_sink('container1/container2/output1', container.Output(),
['s2'])
controller.set_signal('s2', 0)
controller.set_signal('s3', 0)
with controller:
controller.set_signal('s1', 1)
time.sleep(.2)
assert controller.get_signal('s2') == 3
assert controller.get_signal('s3') == 5
def _test_basic(controller):
import pyctrl
import numpy
import pyctrl.block as block
import pyctrl.block.system as system
import pyctrl.block.random as blkrnd
print('\n> * * * TEST BASIC {} * * *'.format(controller.__class__))
# reset controller
controller.reset()
# initial signals
_signals = controller.list_signals()
_sinks = controller.list_sinks()
_sources = controller.list_sources()
_filters = controller.list_filters()
# period
#assert controller.get_period() == 0.01 # default
#controller.set_period(0.1)
#assert controller.get_period() == 0.1
# test signals
#assert 'clock' in controller.list_signals() # clock is default
controller.add_signal('_test_')
assert '_test_' in controller.list_signals()
#with pytest.raises(pyctrl.ControllerException):
controller.add_signal('_test_')
assert controller.get_signal('_test_') == 0
controller.set_signal('_test_', 1.2)
assert controller.get_signal('_test_') == 1.2
controller.remove_signal('_test_')
assert '_test_' not in controller.list_signals()
with pytest.raises(Exception):
controller.set_signal('_test_', 1.2)
controller.add_signals('_test1_', '_test2_')
assert '_test1_' in controller.list_signals()
assert '_test2_' in controller.list_signals()
controller.remove_signal('_test1_')
controller.remove_signal('_test2_')
assert '_test1_' not in controller.list_signals()
assert '_test2_' not in controller.list_signals()
# test info
assert isinstance(controller.info(), str)
assert isinstance(controller.info('summary'), str)
assert isinstance(controller.info('sources', 'sinks'), str)
# test sink
controller.add_signal('clock')
logger = block.Logger()
controller.add_sink('_logger_', logger, ['_test_'])
assert '_logger_' in controller.list_sinks()
assert '_test_' in controller.list_signals()
assert controller.get_sink('_logger_') == {
'current': 0,
'auto_reset': False,
'page': 0,
'enabled': True,
'labels': ['_test_'],
'index': None
}
assert controller.get_sink('_logger_', 'current', 'auto_reset') == {
'current': 0,
'auto_reset': False
}
assert controller.get_sink('_logger_', 'current') == 0
controller.set_sink('_logger_', current=1)
assert controller.get_sink('_logger_', 'current') == 1
# try to remove signal _test_
controller.remove_signal('_test_')
assert '_test_' in controller.list_signals()
controller.add_sink('_logger_', block.Logger(), ['clock'])
assert '_logger_' in controller.list_sinks()
# TODO: test for changed signals
controller.set_sink('_logger_', reset=True)
log = controller.get_sink('_logger_', 'log')
assert not hasattr(logger, 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert log['clock'].shape == (0, 1)
with pytest.raises(block.BlockException):
controller.set_sink('_logger_', _reset=True)
with controller:
time.sleep(.2)
log = controller.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert log['clock'].shape[1] == 1
assert log['clock'].shape[0] > 1
controller.set_sink('_logger_', reset=True)
log = controller.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert log['clock'].shape == (0, 1)
controller.remove_sink('_logger_')
assert '_logger_' not in controller.list_sinks()
controller.add_signal('_test_')
controller.add_sink('_logger_', block.Logger(), ['clock', '_test_'])
assert '_logger_' in controller.list_sinks()
with controller:
time.sleep(.2)
log = controller.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert isinstance(log['_test_'], numpy.ndarray)
assert log['clock'].shape[1] == 1
assert log['clock'].shape[0] > 1
assert log['_test_'].shape[1] == 1
assert log['_test_'].shape[0] > 1
controller.set_sink('_logger_', reset=True)
log = controller.get_sink('_logger_', 'log')
assert isinstance(log['clock'], numpy.ndarray)
assert isinstance(log['_test_'], numpy.ndarray)
assert log['clock'].shape == (0, 1)
assert log['_test_'].shape == (0, 1)
controller.remove_sink('_logger_')
assert '_logger_' not in controller.list_sinks()
# test source
controller.add_source('_rand_', blkrnd.Uniform(), ['clock'])
assert '_rand_' in controller.list_sources()
controller.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
assert '_rand_' in controller.list_sources()
assert controller.get_source('_rand_') == {
'demux': False,
'mux': False,
'low': 0,
'high': 1,
'enabled': True,
'seed': None,
'm': 1
}
assert controller.get_source('_rand_', 'low', 'high') == {
'low': 0,
'high': 1
}
assert controller.get_source('_rand_', 'low') == 0
controller.set_source('_rand_', low=1)
assert controller.get_source('_rand_', 'low') == 1
# TODO: test for changed signals
controller.set_source('_rand_', reset=True)
a = controller.read_source('_rand_')
assert isinstance(a[0], float)
assert 0 <= a[0] <= 1
with pytest.raises(block.BlockException):
controller.set_source('_rand_', _reset=True)
controller.remove_source('_rand_')
assert '_rand_' not in controller.list_sources()
# test filter
controller.add_signal('_output_')
controller.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
assert '_rand_' in controller.list_sources()
controller.add_filter('_gain_', block.ShortCircuit(), ['_test_'],
['_output_'])
assert '_gain_' in controller.list_filters()
# TODO: test for changed block
controller.add_filter('_gain_', system.Gain(gain=2), ['_test_'],
['_output_'])
assert '_gain_' in controller.list_filters()
assert controller.get_filter('_gain_') == {
'demux': False,
'enabled': True,
'gain': 2,
'mux': False
}
assert controller.get_filter('_gain_', 'demux', 'gain') == {
'demux': False,
'gain': 2
}
assert controller.get_filter('_gain_', 'gain') == 2
with controller:
time.sleep(.2)
controller.add_sink('_logger_', block.Logger(), ['_test_', '_output_'])
assert '_logger_' in controller.list_sinks()
with controller:
time.sleep(.2)
log = controller.get_sink('_logger_', 'log')
assert isinstance(log['_test_'], numpy.ndarray)
assert isinstance(log['_output_'], numpy.ndarray)
assert log['_test_'].shape[1] == 1
assert log['_test_'].shape[0] > 1
assert log['_test_'].shape[1] == 1
assert log['_test_'].shape[0] > 1
assert numpy.all(numpy.fabs(log['_output_'] - 2 * log['_test_']) < 1e-6)
# test reset
signals = controller.list_signals()
sinks = controller.list_sinks()
sources = controller.list_sources()
filters = controller.list_filters()
controller.reset()
signals = controller.list_signals()
sinks = controller.list_sinks()
sources = controller.list_sources()
filters = controller.list_filters()
assert signals == _signals
assert sources == _sources
assert filters == _filters
assert sinks == _sinks
# test is_running
assert controller.get_signal('is_running') == False
controller.start()
assert controller.get_signal('is_running') == True
controller.stop()
assert controller.get_signal('is_running') == False
def run_test_basic(self, controller):
import numpy
import pyctrl.block as block
import pyctrl.block.system as system
print('\n> * * * TEST BASIC {} * * *'.format(controller.__class__))
# reset controller
controller.reset()
# initial signals
_signals = controller.list_signals()
_sinks = controller.list_sinks()
_sources = controller.list_sources()
_filters = controller.list_filters()
# period
# self.assertTrue( controller.get_period() == 0.01 # default
# controller.set_period(0.1)
# self.assertTrue( controller.get_period() == 0.1
# test signals
# self.assertTrue( 'clock' in controller.list_signals() # clock is default
controller.add_signal('_test_')
self.assertTrue('_test_' in controller.list_signals())
# with self.assertRaises(pyctrl.ControllerException):
controller.add_signal('_test_')
self.assertTrue(controller.get_signal('_test_') == 0)
controller.set_signal('_test_', 1.2)
self.assertTrue(controller.get_signal('_test_') == 1.2)
controller.remove_signal('_test_')
self.assertTrue('_test_' not in controller.list_signals())
with self.assertRaises(Exception):
controller.set_signal('_test_', 1.2)
controller.add_signals('_test1_', '_test2_')
self.assertTrue('_test1_' in controller.list_signals())
self.assertTrue('_test2_' in controller.list_signals())
controller.remove_signal('_test1_')
controller.remove_signal('_test2_')
self.assertTrue('_test1_' not in controller.list_signals())
self.assertTrue('_test2_' not in controller.list_signals())
# test info
self.assertTrue(isinstance(controller.info(), str))
self.assertTrue(isinstance(controller.info('summary'), str))
self.assertTrue(isinstance(controller.info('sources', 'sinks'), str))
# test sink
controller.add_signal('clock')
logger = block.Logger()
controller.add_sink('_logger_', logger, ['_test_'])
self.assertTrue('_logger_' in controller.list_sinks())
self.assertTrue('_test_' in controller.list_signals())
self.assertTrue(
controller.get_sink('_logger_') == {
'current': 0,
'auto_reset': False,
'page': 0,
'enabled': True,
'labels': ['_test_'],
'index': None
})
self.assertTrue(
controller.get_sink('_logger_', 'current', 'auto_reset') == {
'current': 0,
'auto_reset': False
})
self.assertTrue(controller.get_sink('_logger_', 'current') == 0)
controller.set_sink('_logger_', current=1)
self.assertTrue(controller.get_sink('_logger_', 'current') == 1)
# try to remove signal _test_
controller.remove_signal('_test_')
self.assertTrue('_test_' in controller.list_signals())
controller.add_sink('_logger_', block.Logger(), ['clock'])
self.assertTrue('_logger_' in controller.list_sinks())
# TODO: test for changed signals
controller.set_sink('_logger_', reset=True)
log = controller.get_sink('_logger_', 'log')
self.assertTrue(not hasattr(logger, 'log'))
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertShape(log['clock'].shape, (0, 1))
with self.assertRaises(block.BlockException):
controller.set_sink('_logger_', _reset=True)
with controller:
time.sleep(.2)
log = controller.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertShape(log['clock'].shape, 1, 1)
self.assertShapeGreater(log['clock'].shape, 1, 0)
controller.set_sink('_logger_', reset=True)
log = controller.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertShape(log['clock'].shape, (0, 1))
controller.remove_sink('_logger_')
self.assertTrue('_logger_' not in controller.list_sinks())
controller.add_signal('_test_')
controller.add_sink('_logger_', block.Logger(), ['clock', '_test_'])
self.assertTrue('_logger_' in controller.list_sinks())
with controller:
time.sleep(.2)
log = controller.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertTrue(isinstance(log['_test_'], numpy.ndarray))
self.assertShape(log['clock'].shape, 1, 1)
self.assertShapeGreater(log['clock'].shape, 1, 0)
self.assertShape(log['_test_'].shape, 1, 1)
self.assertShapeGreater(log['_test_'].shape, 1, 0)
controller.set_sink('_logger_', reset=True)
log = controller.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['clock'], numpy.ndarray))
self.assertTrue(isinstance(log['_test_'], numpy.ndarray))
self.assertShape(log['clock'].shape, (0, 1))
self.assertShape(log['_test_'].shape, (0, 1))
controller.remove_sink('_logger_')
self.assertTrue('_logger_' not in controller.list_sinks())
# test source
# controller.add_source('_rand_', blkrnd.Uniform(), ['clock'])
controller.add_source('_rand_', block.Constant(), ['clock'])
self.assertTrue('_rand_' in controller.list_sources())
# controller.add_source('_rand_', blkrnd.Uniform(), ['_test_'])
controller.add_source('_rand_', block.Constant(value=2), ['_test_'])
self.assertTrue('_rand_' in controller.list_sources())
self.assertTrue(
controller.get_source('_rand_') == {
'demux': False,
'mux': False,
'value': 2,
'enabled': True
})
self.assertTrue(
controller.get_source('_rand_', 'value', 'demux') == {
'value': 2,
'demux': False
})
self.assertTrue(controller.get_source('_rand_', 'value') == 2)
controller.set_source('_rand_', value=1)
self.assertTrue(controller.get_source('_rand_', 'value') == 1)
# TODO: test for changed signals
controller.set_source('_rand_', reset=True)
a, = controller.read_source('_rand_')
self.assertTrue(a == 1)
with self.assertRaises(block.BlockException):
controller.set_source('_rand_', _reset=True)
controller.remove_source('_rand_')
self.assertTrue('_rand_' not in controller.list_sources())
# test filter
controller.add_signal('_output_')
controller.add_source('_rand_', block.Constant(), ['_test_'])
self.assertTrue('_rand_' in controller.list_sources())
controller.add_filter('_gain_', block.ShortCircuit(), ['_test_'],
['_output_'])
self.assertTrue('_gain_' in controller.list_filters())
# TODO: test for changed block
controller.add_filter('_gain_', system.Gain(gain=2), ['_test_'],
['_output_'])
self.assertTrue('_gain_' in controller.list_filters())
self.assertTrue(
controller.get_filter('_gain_') == {
'demux': False,
'enabled': True,
'gain': 2,
'mux': False
})
self.assertTrue(
controller.get_filter('_gain_', 'demux', 'gain') == {
'demux': False,
'gain': 2
})
self.assertTrue(controller.get_filter('_gain_', 'gain') == 2)
with controller:
time.sleep(.2)
controller.add_sink('_printer_', block.Printer(),
['_test_', '_output_'])
self.assertTrue('_printer_' in controller.list_sinks())
controller.add_sink('_logger_', block.Logger(), ['_test_', '_output_'])
self.assertTrue('_logger_' in controller.list_sinks())
with controller:
time.sleep(.2)
log = controller.get_sink('_logger_', 'log')
self.assertTrue(isinstance(log['_test_'], numpy.ndarray))
self.assertTrue(isinstance(log['_output_'], numpy.ndarray))
self.assertShape(log['_test_'].shape, 1, 1)
self.assertShapeGreater(log['_test_'].shape, 1, 0)
self.assertShape(log['_test_'].shape, 1, 1)
self.assertShapeGreater(log['_test_'].shape, 1, 0)
self.assertTrue(numpy.array_equal(log['_output_'], log['_test_'] * 2))
# test reset
signals = controller.list_signals()
sinks = controller.list_sinks()
sources = controller.list_sources()
filters = controller.list_filters()
controller.reset()
signals = controller.list_signals()
sinks = controller.list_sinks()
sources = controller.list_sources()
filters = controller.list_filters()
self.assertTrue(signals == _signals)
self.assertTrue(sources == _sources)
self.assertTrue(filters == _filters)
self.assertTrue(sinks == _sinks)
# test is_running
self.assertTrue(controller.get_signal('is_running') == False)
controller.start()
time.sleep(1)
self.assertTrue(controller.get_signal('is_running') == True)
controller.stop()
time.sleep(1)
self.assertTrue(controller.get_signal('is_running') == False)
time.sleep(1)
controller.set_signal('motor1', 100)
time.sleep(1)
controller.set_signal('motor1', -100)
time.sleep(1)
controller.set_signal('motor1', 0)
time.sleep(1)
print('\n> CLOSED LOOP ON POSITION')
pmax = 2
Kp = 10 / k
controller.add_signal('reference1')
controller.add_filter('controller1',
system.Feedback(block=system.Gain(gain=Kp)),
['encoder1', 'reference1'], ['motor1'])
controller.set_sink('printer',
inputs=['clock', 'encoder1', 'reference1', 'motor1'])
print(controller.info('all'))
with controller:
time.sleep(1)
controller.set_signal('reference1', pmax)
print('\n> REFERENCE = {}'.format(pmax))
time.sleep(3)
controller.set_signal('reference1', pmax / 2)
print('\n> REFERENCE = {}'.format(pmax / 2))
time.sleep(3)
controller.set_signal('reference1', -pmax / 2)
print('\n> REFERENCE = {}'.format(-pmax / 2))
