def test1():
from ctrl import Controller
controller = Controller()
Ts = 0.01
clock = Clock(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(f, x0 = x0, t0 = t0, pars = (a,b))
controller.add_signals('input','output')
controller.add_filter('condition',
Condition(lambda x: x < 1),
['clock'], ['is_running'])
controller.add_filter('ode',TimeVarying(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()
log = controller.read_sink('logger')
t0 = log[0,0]
tk = log[-1,0]
yk = log[-1,1]
yyk = uk * (1 - math.exp(a*(tk-t0))) + x0 * math.exp(a*(tk-t0))
#print(t0, tk, yk, yyk)
#print(log)
assert np.abs(yk - np.array([yyk])) < 1e-2
uk = 0
x0 = sys.state
controller.set_source('clock', reset = True)
controller.set_sink('logger', reset = True)
controller.set_signal('input',uk)
controller.run()
log = controller.read_sink('logger')
t0 = log[0,0]
tk = log[-1,0]
yk = log[-1,1]
yyk = uk * (1 - math.exp(a*(tk-t0))) + x0 * math.exp(a*(tk-t0))
#print(t0, tk, yk, yyk)
#print(log)
assert np.abs(yk - np.array([yyk])) < 1e-2
uk = -1
x0 = sys.state
controller.set_source('clock', reset = True)
controller.set_sink('logger', reset = True)
controller.set_signal('input',uk)
controller.run()
log = controller.read_sink('logger')
t0 = log[0,0]
tk = log[-1,0]
yk = log[-1,1]
yyk = uk * (1 - math.exp(a*(tk-t0))) + x0 * math.exp(a*(tk-t0))
#print(t0, tk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
clock.set_enabled(False)
