def test_ctor_api(self):
"""Tests construction of systems for systems whose executions semantics
are not tested above.
"""
ConstantValueSource(AbstractValue.Make("Hello world"))
ConstantVectorSource(source_value=[1., 2.])
ZeroOrderHold(period_sec=0.1, vector_size=2)
ZeroOrderHold(period_sec=0.1,
abstract_model_value=AbstractValue.Make("Hello world"))
def test_ctor_api(self):
"""Tests construction of systems for systems whose executions semantics
are not tested above.
"""
ConstantValueSource(AbstractValue.Make("Hello world"))
DiscreteTimeDelay(update_sec=0.1, delay_timesteps=5, vector_size=2)
DiscreteTimeDelay(
update_sec=0.1,
delay_timesteps=5,
abstract_model_value=AbstractValue.Make("Hello world"))
ZeroOrderHold(period_sec=0.1, vector_size=2)
ZeroOrderHold(period_sec=0.1,
abstract_model_value=AbstractValue.Make("Hello world"))
def test_context_fix_input_port(self):
# WARNING: This is not the recommend workflow; instead, use
# `InputPort.FixValue` instead. This is here just for testing /
# coverage purposes.
dt = 0.1 # Arbitrary.
system_vec = ZeroOrderHold(period_sec=dt, vector_size=1)
context_vec = system_vec.CreateDefaultContext()
context_vec.FixInputPort(index=0, data=[0.])
context_vec.FixInputPort(index=0, vec=BasicVector([0.]))
# Test abstract.
model_value = AbstractValue.Make("Hello")
system_abstract = ZeroOrderHold(
period_sec=dt, abstract_model_value=model_value.Clone())
context_abstract = system_abstract.CreateDefaultContext()
context_abstract.FixInputPort(index=0, value=model_value.Clone())
def test_event_status(self):
system = ZeroOrderHold(period_sec=0.1, vector_size=1)
# Existence check.
EventStatus.Severity.kDidNothing
EventStatus.Severity.kSucceeded
EventStatus.Severity.kReachedTermination
EventStatus.Severity.kFailed
self.assertIsInstance(EventStatus.DidNothing(), EventStatus)
self.assertIsInstance(EventStatus.Succeeded(), EventStatus)
status = EventStatus.ReachedTermination(system=system, message="done")
# Check API.
self.assertIsInstance(status, EventStatus)
self.assertEqual(
status.severity(), EventStatus.Severity.kReachedTermination)
self.assertIs(status.system(), system)
self.assertEqual(status.message(), "done")
self.assertIsInstance(
status.KeepMoreSevere(candidate=status), EventStatus)
status = EventStatus.Failed(system=system, message="failed")
self.assertIsInstance(status, EventStatus)
def test_adder_simulation(self):
builder = DiagramBuilder()
adder = builder.AddSystem(self._create_adder_system())
adder.set_name("custom_adder")
# Add ZOH so we can easily extract state.
zoh = builder.AddSystem(ZeroOrderHold(0.1, 3))
zoh.set_name("zoh")
builder.ExportInput(adder.get_input_port(0))
builder.ExportInput(adder.get_input_port(1))
builder.Connect(adder.get_output_port(0), zoh.get_input_port(0))
diagram = builder.Build()
context = diagram.CreateDefaultContext()
self._fix_adder_inputs(context)
simulator = Simulator(diagram, context)
simulator.Initialize()
simulator.AdvanceTo(1)
# Ensure that we have the outputs we want.
value = (diagram.GetMutableSubsystemContext(
zoh, context).get_discrete_state_vector().get_value())
self.assertTrue(np.allclose([5, 7, 9], value))
def test_generate_html(self):
system = ZeroOrderHold(period_sec=0.1, vector_size=1)
system.set_name("zoh")
html = GenerateHtml(system, initial_depth=2)
self.assertRegex(html, r'key: "zoh"')
