def test_deprecated_leaf_system_port_declarations(self):
"""Checks that the bindings without a name= argument still work."""
dut = LeafSystem()
# Input port.
with catch_drake_warnings(expected_count=1):
input_port = dut.DeclareInputPort(type=PortDataType.kVectorValued,
size=1)
# Vector output port.
def _vector_calc(context, output):
output.get_mutable_value()[:] = context.get_time()
with catch_drake_warnings(expected_count=1):
vector_output_port = dut.DeclareVectorOutputPort(
BasicVector(1), _vector_calc)
# Abstract output port.
def _tuple_calc(context, output):
output.set_value(("time", context.get_time()))
with catch_drake_warnings(expected_count=1):
abstract_output_port = dut.DeclareAbstractOutputPort(
lambda: AbstractValue.Make(("string", 0.0)), _tuple_calc)
# Check that the return values were sane.
context = dut.CreateDefaultContext()
input_port.get_index()
vector_output_port.Eval(context)
abstract_output_port.Eval(context)
def test_cache_entry(self):
"""Checks the existence of CacheEntry-related bindings."""
# Cover DeclareCacheEntry.
dummy = LeafSystem()
allocate_abstract_int = AbstractValue.Make(0).Clone
cache_entry = dummy.DeclareCacheEntry(
description="scratch",
value_producer=ValueProducer(allocate=allocate_abstract_int,
calc=ValueProducer.NoopCalc),
prerequisites_of_calc={dummy.nothing_ticket()})
self.assertIsInstance(cache_entry, CacheEntry)
# Cover CacheEntry and get_cache_entry.
self.assertIsInstance(cache_entry.prerequisites(), set)
cache_index = cache_entry.cache_index()
self.assertIsInstance(cache_index, CacheIndex)
self.assertIsInstance(cache_entry.ticket(), DependencyTicket)
self.assertIs(dummy.get_cache_entry(cache_index), cache_entry)
# Cover CacheEntryValue.
context = dummy.CreateDefaultContext()
cache_entry_value = cache_entry.get_mutable_cache_entry_value(context)
self.assertIsInstance(cache_entry_value, CacheEntryValue)
data = cache_entry_value.GetMutableValueOrThrow()
self.assertIsInstance(data, int)
def test_state_output_port_declarations(self):
"""Checks that DeclareStateOutputPort is bound."""
dut = LeafSystem()
xc_index = dut.DeclareContinuousState(2)
xc_port = dut.DeclareStateOutputPort(name="xc", state_index=xc_index)
self.assertEqual(xc_port.size(), 2)
xd_index = dut.DeclareDiscreteState(3)
xd_port = dut.DeclareStateOutputPort(name="xd", state_index=xd_index)
self.assertEqual(xd_port.size(), 3)
xa_index = dut.DeclareAbstractState(AbstractValue.Make(1))
xa_port = dut.DeclareStateOutputPort(name="xa", state_index=xa_index)
self.assertEqual(xa_port.get_name(), "xa")
def test_leaf_system_per_item_tickets(self):
dut = LeafSystem()
dut.DeclareAbstractParameter(AbstractValue.Make(1))
dut.DeclareAbstractState(AbstractValue.Make(1))
dut.DeclareDiscreteState(1)
dut.DeclareVectorInputPort("u0", BasicVector(1))
dut.DeclareNumericParameter(BasicVector(1))
for func, arg in [
(dut.abstract_parameter_ticket, AbstractParameterIndex(0)),
(dut.abstract_state_ticket, AbstractStateIndex(0)),
(dut.cache_entry_ticket, CacheIndex(0)),
(dut.discrete_state_ticket, DiscreteStateIndex(0)),
(dut.input_port_ticket, InputPortIndex(0)),
(dut.numeric_parameter_ticket, NumericParameterIndex(0)),
]:
self.assertIsInstance(func(arg), DependencyTicket, func)
