def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_discrete = False
# Ensure we have desired overloads.
self._DeclarePeriodicPublish(0.1)
self._DeclarePeriodicPublish(0.1, 0)
self._DeclarePeriodicPublish(period_sec=0.1, offset_sec=0.)
self._DeclarePeriodicDiscreteUpdate(
period_sec=0.1, offset_sec=0.)
self._DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self._DeclareInputPort(PortDataType.kVectorValued, 1)
self._DeclareVectorOutputPort(BasicVector(1), noop)
def _DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem._DoPublish(self, context, events)
self.called_publish = True
def _DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertEquals(input_port, 0)
test.assertEquals(output_port, 0)
# Call base method to ensure we do not get recursion.
base_return = LeafSystem._DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def _DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem._DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_discrete)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_discrete)
self.assertEquals(results["discrete_next_t"], 0.1)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_discrete = False
# Ensure we have desired overloads.
self._DeclarePeriodicPublish(0.1)
self._DeclarePeriodicPublish(0.1, 0)
self._DeclarePeriodicPublish(period_sec=0.1, offset_sec=0.)
self._DeclarePeriodicDiscreteUpdate(
period_sec=0.1, offset_sec=0.)
self._DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self._DeclareInputPort(PortDataType.kVectorValued, 1)
self._DeclareVectorOutputPort(BasicVector(1), noop)
def _DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem._DoPublish(self, context, events)
self.called_publish = True
def _DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertEquals(input_port, 0)
test.assertEquals(output_port, 0)
# Call base method to ensure we do not get recursion.
base_return = LeafSystem._DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def _DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem._DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_discrete)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_discrete)
self.assertEquals(results["discrete_next_t"], 0.1)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
def test_all_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
self.called_initialize = False
self.called_per_step = False
self.called_periodic = False
self.called_getwitness = False
self.called_witness = False
self.called_guard = False
self.called_reset = False
# Ensure we have desired overloads.
self.DeclarePeriodicPublish(1.0)
self.DeclarePeriodicPublish(1.0, 0)
self.DeclarePeriodicPublish(period_sec=1.0, offset_sec=0.)
self.DeclarePeriodicDiscreteUpdate(period_sec=1.0,
offset_sec=0.)
self.DeclareInitializationEvent(event=PublishEvent(
trigger_type=TriggerType.kInitialization,
callback=self._on_initialize))
self.DeclarePerStepEvent(
event=PublishEvent(trigger_type=TriggerType.kPerStep,
callback=self._on_per_step))
self.DeclarePeriodicEvent(
period_sec=1.0,
offset_sec=0.0,
event=PublishEvent(trigger_type=TriggerType.kPeriodic,
callback=self._on_periodic))
self.DeclareContinuousState(2)
self.DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self.DeclareInputPort(PortDataType.kVectorValued, 1)
self.DeclareVectorInputPort(name="test_input",
model_vector=BasicVector(1),
random_type=None)
self.DeclareVectorOutputPort("noop",
BasicVector(1),
noop,
prerequisites_of_calc=set(
[self.nothing_ticket()]))
self.witness = self.MakeWitnessFunction(
"witness", WitnessFunctionDirection.kCrossesZero,
self._witness)
self.reset_witness = self.MakeWitnessFunction(
"reset", WitnessFunctionDirection.kCrossesZero,
self._guard, UnrestrictedUpdateEvent(self._reset))
def DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem.DoPublish(self, context, events)
# N.B. We do not test for a singular call to `DoPublish`
# (checking `assertFalse(self.called_publish)` first) because
# the above `_DeclareInitializationEvent` will call both its
# callback and this event when invoked via
# `Simulator::Initialize` from `call_leaf_system_overrides`,
# even when we explicitly say not to publish at initialize.
self.called_publish = True
def DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertIn(input_port, [0, 1])
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
with catch_drake_warnings(expected_count=1):
base_return = LeafSystem.DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def DoCalcDiscreteVariableUpdates(self, context, events,
discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem.DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
def DoGetWitnessFunctions(self, context):
self.called_getwitness = True
return [self.witness, self.reset_witness]
def _on_initialize(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_initialize)
self.called_initialize = True
def _on_per_step(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
self.called_per_step = True
def _on_periodic(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_periodic)
self.called_periodic = True
def _witness(self, context):
test.assertIsInstance(context, Context)
self.called_witness = True
return 1.0
def _guard(self, context):
test.assertIsInstance(context, Context)
self.called_guard = True
return context.get_time() - 0.5
def _reset(self, context, event, state):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, UnrestrictedUpdateEvent)
test.assertIsInstance(state, State)
self.called_reset = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
self.assertFalse(system.called_initialize)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertTrue(system.called_initialize)
self.assertEqual(results["discrete_next_t"], 1.0)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context=context,
derivatives=context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
witnesses = system.GetWitnessFunctions(context)
self.assertEqual(len(witnesses), 2)
system.CalcDiscreteVariableUpdates(
context=context,
discrete_state=context_update.get_mutable_discrete_state())
self.assertTrue(system.called_discrete)
# Test per-step, periodic, and witness call backs
system = TrivialSystem()
simulator = Simulator(system)
simulator.get_mutable_context().SetAccuracy(0.1)
# Stepping to 0.99 so that we get exactly one periodic event.
simulator.AdvanceTo(0.99)
self.assertTrue(system.called_per_step)
self.assertTrue(system.called_periodic)
self.assertTrue(system.called_getwitness)
self.assertTrue(system.called_witness)
self.assertTrue(system.called_guard)
self.assertTrue(system.called_reset)
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
self.called_initialize = False
self.called_per_step = False
self.called_periodic = False
# Ensure we have desired overloads.
self._DeclarePeriodicPublish(0.1)
self._DeclarePeriodicPublish(0.1, 0)
self._DeclarePeriodicPublish(period_sec=0.1, offset_sec=0.)
self._DeclarePeriodicDiscreteUpdate(period_sec=0.1,
offset_sec=0.)
self._DeclareInitializationEvent(event=PublishEvent(
trigger_type=TriggerType.kInitialization,
callback=self._on_initialize))
self._DeclarePerStepEvent(
event=PublishEvent(trigger_type=TriggerType.kPerStep,
callback=self._on_per_step))
self._DeclarePeriodicEvent(
period_sec=0.1,
offset_sec=0.0,
event=PublishEvent(trigger_type=TriggerType.kPeriodic,
callback=self._on_periodic))
self._DeclareContinuousState(2)
self._DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self._DeclareInputPort(PortDataType.kVectorValued, 1)
self._DeclareVectorInputPort(name="test_input",
model_vector=BasicVector(1),
random_type=None)
self._DeclareVectorOutputPort(BasicVector(1), noop)
def _DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem._DoPublish(self, context, events)
# N.B. We do not test for a singular call to `DoPublish`
# (checking `assertFalse(self.called_publish)` first) because
# the above `_DeclareInitializationEvent` will call both its
# callback and this event when invoked via
# `Simulator::Initialize` from `call_leaf_system_overrides`,
# even when we explicitly say not to publish at initialize.
self.called_publish = True
def _DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertIn(input_port, [0, 1])
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
base_return = LeafSystem._DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def _DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def _DoCalcDiscreteVariableUpdates(self, context, events,
discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem._DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
def _on_initialize(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_initialize)
self.called_initialize = True
def _on_per_step(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
self.called_per_step = True
def _on_periodic(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_periodic)
self.called_periodic = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
self.assertFalse(system.called_initialize)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertTrue(system.called_initialize)
self.assertEqual(results["discrete_next_t"], 0.1)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context, context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
# Test per-step and periodic call backs
system = TrivialSystem()
simulator = Simulator(system)
simulator.StepTo(0.1)
self.assertTrue(system.called_per_step)
self.assertTrue(system.called_periodic)
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
self.called_initialize = False
self.called_per_step = False
self.called_periodic = False
self.called_getwitness = False
self.called_witness = False
self.called_guard = False
self.called_reset = False
# Ensure we have desired overloads.
self.DeclarePeriodicPublish(1.0)
self.DeclarePeriodicPublish(1.0, 0)
self.DeclarePeriodicPublish(period_sec=1.0, offset_sec=0.)
self.DeclarePeriodicDiscreteUpdate(
period_sec=1.0, offset_sec=0.)
self.DeclareInitializationEvent(
event=PublishEvent(
trigger_type=TriggerType.kInitialization,
callback=self._on_initialize))
self.DeclarePerStepEvent(
event=PublishEvent(
trigger_type=TriggerType.kPerStep,
callback=self._on_per_step))
self.DeclarePeriodicEvent(
period_sec=1.0,
offset_sec=0.0,
event=PublishEvent(
trigger_type=TriggerType.kPeriodic,
callback=self._on_periodic))
self.DeclareContinuousState(2)
self.DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self.DeclareInputPort(PortDataType.kVectorValued, 1)
self.DeclareVectorInputPort(
name="test_input", model_vector=BasicVector(1),
random_type=None)
self.DeclareVectorOutputPort(
"noop", BasicVector(1), noop,
prerequisites_of_calc=set([self.nothing_ticket()]))
self.witness = self.MakeWitnessFunction(
"witness", WitnessFunctionDirection.kCrossesZero,
self._witness)
self.reset_witness = self.MakeWitnessFunction(
"reset", WitnessFunctionDirection.kCrossesZero,
self._guard, UnrestrictedUpdateEvent(self._reset))
def DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem.DoPublish(self, context, events)
# N.B. We do not test for a singular call to `DoPublish`
# (checking `assertFalse(self.called_publish)` first) because
# the above `_DeclareInitializationEvent` will call both its
# callback and this event when invoked via
# `Simulator::Initialize` from `call_leaf_system_overrides`,
# even when we explicitly say not to publish at initialize.
self.called_publish = True
def DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertIn(input_port, [0, 1])
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
with catch_drake_warnings(expected_count=1):
base_return = LeafSystem.DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem.DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
def DoGetWitnessFunctions(self, context):
self.called_getwitness = True
return [self.witness, self.reset_witness]
def _on_initialize(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_initialize)
self.called_initialize = True
def _on_per_step(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
self.called_per_step = True
def _on_periodic(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_periodic)
self.called_periodic = True
def _witness(self, context):
test.assertIsInstance(context, Context)
self.called_witness = True
return 1.0
def _guard(self, context):
test.assertIsInstance(context, Context)
self.called_guard = True
return context.get_time() - 0.5
def _reset(self, context, event, state):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, UnrestrictedUpdateEvent)
test.assertIsInstance(state, State)
self.called_reset = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
self.assertFalse(system.called_initialize)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertTrue(system.called_initialize)
self.assertEqual(results["discrete_next_t"], 1.0)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context=context,
derivatives=context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
witnesses = system.GetWitnessFunctions(context)
self.assertEqual(len(witnesses), 2)
system.CalcDiscreteVariableUpdates(
context=context,
discrete_state=context_update.get_mutable_discrete_state())
self.assertTrue(system.called_discrete)
# Test per-step, periodic, and witness call backs
system = TrivialSystem()
simulator = Simulator(system)
simulator.get_mutable_context().SetAccuracy(0.1)
# Stepping to 0.99 so that we get exactly one periodic event.
simulator.AdvanceTo(0.99)
self.assertTrue(system.called_per_step)
self.assertTrue(system.called_periodic)
self.assertTrue(system.called_getwitness)
self.assertTrue(system.called_witness)
self.assertTrue(system.called_guard)
self.assertTrue(system.called_reset)
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
# Ensure we have desired overloads.
self._DeclarePeriodicPublish(0.1)
self._DeclarePeriodicPublish(0.1, 0)
self._DeclarePeriodicPublish(period_sec=0.1, offset_sec=0.)
self._DeclarePeriodicDiscreteUpdate(
period_sec=0.1, offset_sec=0.)
self._DeclareContinuousState(2)
self._DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self._DeclareInputPort(PortDataType.kVectorValued, 1)
self._DeclareVectorOutputPort(BasicVector(1), noop)
def _DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem._DoPublish(self, context, events)
self.called_publish = True
def _DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertEqual(input_port, 0)
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
base_return = LeafSystem._DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def _DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def _DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem._DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertEqual(results["discrete_next_t"], 0.1)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context, context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
self.called_initialize = False
self.called_per_step = False
self.called_periodic = False
# Ensure we have desired overloads.
self._DeclarePeriodicPublish(1.0)
self._DeclarePeriodicPublish(1.0, 0)
self._DeclarePeriodicPublish(period_sec=1.0, offset_sec=0.)
self._DeclarePeriodicDiscreteUpdate(
period_sec=1.0, offset_sec=0.)
self._DeclareInitializationEvent(
event=PublishEvent(
trigger_type=TriggerType.kInitialization,
callback=self._on_initialize))
self._DeclarePerStepEvent(
event=PublishEvent(
trigger_type=TriggerType.kPerStep,
callback=self._on_per_step))
self._DeclarePeriodicEvent(
period_sec=1.0,
offset_sec=0.0,
event=PublishEvent(
trigger_type=TriggerType.kPeriodic,
callback=self._on_periodic))
self._DeclareContinuousState(2)
self._DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self._DeclareInputPort(PortDataType.kVectorValued, 1)
self._DeclareVectorInputPort(
name="test_input", model_vector=BasicVector(1),
random_type=None)
self._DeclareVectorOutputPort(BasicVector(1), noop)
def _DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem._DoPublish(self, context, events)
# N.B. We do not test for a singular call to `DoPublish`
# (checking `assertFalse(self.called_publish)` first) because
# the above `_DeclareInitializationEvent` will call both its
# callback and this event when invoked via
# `Simulator::Initialize` from `call_leaf_system_overrides`,
# even when we explicitly say not to publish at initialize.
self.called_publish = True
def _DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertIn(input_port, [0, 1])
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
base_return = LeafSystem._DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def _DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def _DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem._DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
def _on_initialize(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_initialize)
self.called_initialize = True
def _on_per_step(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
self.called_per_step = True
def _on_periodic(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_periodic)
self.called_periodic = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
self.assertFalse(system.called_initialize)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertTrue(system.called_initialize)
self.assertEqual(results["discrete_next_t"], 1.0)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context, context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
# Test per-step and periodic call backs
system = TrivialSystem()
simulator = Simulator(system)
# Stepping to 0.99 so that we get exactly one periodic event.
simulator.StepTo(0.99)
self.assertTrue(system.called_per_step)
self.assertTrue(system.called_periodic)
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
# Ensure we have desired overloads.
self._DeclarePeriodicPublish(0.1)
self._DeclarePeriodicPublish(0.1, 0)
self._DeclarePeriodicPublish(period_sec=0.1, offset_sec=0.)
self._DeclarePeriodicDiscreteUpdate(period_sec=0.1,
offset_sec=0.)
self._DeclareContinuousState(2)
self._DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self._DeclareInputPort(PortDataType.kVectorValued, 1)
self._DeclareVectorOutputPort(BasicVector(1), noop)
def _DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem._DoPublish(self, context, events)
self.called_publish = True
def _DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertEqual(input_port, 0)
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
base_return = LeafSystem._DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def _DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def _DoCalcDiscreteVariableUpdates(self, context, events,
discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem._DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertEqual(results["discrete_next_t"], 0.1)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context, context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
