def test_run():
from pyctrl import Controller
from pyctrl.block.clock import Clock, TimerClock
from pyctrl.block import Map
controller = Controller()
clock = Clock()
controller.add_source('clock', clock, ['clock'])
# start/stop with condition
controller.add_filter('condition', Map(function=lambda x: x < 1),
['clock'], ['is_running'])
controller.set_source('clock', reset=True)
controller.start()
is_running = controller.get_signal('is_running')
while is_running:
is_running = controller.get_signal('is_running')
controller.stop()
tk = controller.get_signal('clock')
assert tk > 1 and tk < 1.01
# run with condition
controller.set_source('clock', reset=True)
controller.run()
controller.stop()
tk = controller.get_signal('clock')
assert tk > 1 and tk < 1.01
controller.remove_source('clock')
def test1():
if not test_ode:
return
from pyctrl import Controller
controller = Controller()
Ts = 0.01
clock = TimerClock(period=Ts)
controller.add_source('clock', clock, ['clock'])
a = -1
b = 1
def f(t, x, u, a, b):
return a * x + b * u
t0 = 0
uk = 1
x0 = np.array([0])
sys = ODE((1, 1, 1), f, x0=x0, t0=t0, pars=(a, b))
controller.add_signals('input', 'output')
controller.add_filter('condition', Map(function=lambda x: x < 1),
['clock'], ['is_running'])
controller.add_filter('ode', TimeVaryingSystem(model=sys),
['clock', 'input'], ['output'])
controller.add_sink('logger', Logger(), ['clock', 'output'])
print(controller.info('all'))
controller.set_filter('ode', reset=True)
controller.set_source('clock', reset=True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
print('t0 = {}'.format(t0))
print('tk = {}'.format(tk))
print('yk = {}'.format(yk))
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0[0] * math.exp(a * (tk - t0))
print(log)
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - yyk) < 1e-2
uk = 0
x0 = sys.state
controller.add_filter('condition', Map(function=lambda x: x < 2),
['clock'], ['is_running'])
print(controller.info('all'))
print('clock = {}'.format(controller.get_signal('clock')))
#controller.set_source('clock', reset = True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
print('clock = {}'.format(controller.get_signal('clock')))
log = controller.get_sink('logger', 'log')
print('log = {}'.format(log))
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
print('t0 = {}, x0 = {}, tk = {}, xk = {}, yk = {}'.format(
t0, x0, tk, xk, yk))
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0 * math.exp(a * (tk - t0))
print(log)
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
uk = -1
x0 = sys.state
controller.add_filter('condition', Map(function=lambda x: x < 3),
['clock'], ['is_running'])
#controller.set_source('clock', reset = True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0 * math.exp(a * (tk - t0))
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
clock.set_enabled(False)