Movatterモバイル変換

[0]ホーム
URL:

Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly

 Sign up
Appearance settings

Commit2a799e9

Browse files
authored
Merge pull request#794 from murrayrm/mutable_default_args-13Nov2022
check for and fix mutable keyword defaults
2 parents2dc409b +4968cb3 commit2a799e9

File tree

4 files changed

+78
-14
lines changed

4 files changed

+78
-14
lines changed

‎control/flatsys/flatsys.py

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -142,7 +142,7 @@ def __init__(self,
142142
forward,reverse,# flat system
143143
updfcn=None,outfcn=None,# I/O system
144144
inputs=None,outputs=None,
145-
states=None,params={},dt=None,name=None):
145+
states=None,params=None,dt=None,name=None):
146146
"""Create a differentially flat I/O system.
147147
148148
The FlatIOSystem constructor is used to create an input/output system
@@ -171,7 +171,7 @@ def __str__(self):
171171
+f"Forward:{self.forward}\n" \
172172
+f"Reverse:{self.reverse}"
173173

174-
defforward(self,x,u,params={}):
174+
defforward(self,x,u,params=None):
175175

176176
"""Compute the flat flag given the states and input.
177177
@@ -200,7 +200,7 @@ def forward(self, x, u, params={}):
200200
"""
201201
raiseNotImplementedError("internal error; forward method not defined")
202202

203-
defreverse(self,zflag,params={}):
203+
defreverse(self,zflag,params=None):
204204
"""Compute the states and input given the flat flag.
205205
206206
Parameters
@@ -224,18 +224,18 @@ def reverse(self, zflag, params={}):
224224
"""
225225
raiseNotImplementedError("internal error; reverse method not defined")
226226

227-
def_flat_updfcn(self,t,x,u,params={}):
227+
def_flat_updfcn(self,t,x,u,params=None):
228228
# TODO: implement state space update using flat coordinates
229229
raiseNotImplementedError("update function for flat system not given")
230230

231-
def_flat_outfcn(self,t,x,u,params={}):
231+
def_flat_outfcn(self,t,x,u,params=None):
232232
# Return the flat output
233233
zflag=self.forward(x,u,params)
234234
returnnp.array([zflag[i][0]foriinrange(len(zflag))])
235235

236236

237237
# Utility function to compute flag matrix given a basis
238-
def_basis_flag_matrix(sys,basis,flag,t,params={}):
238+
def_basis_flag_matrix(sys,basis,flag,t):
239239
"""Compute the matrix of basis functions and their derivatives
240240
241241
This function computes the matrix ``M`` that is used to solve for the

‎control/flatsys/linflat.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -142,11 +142,11 @@ def reverse(self, zflag, params):
142142
returnnp.reshape(x,self.nstates),np.reshape(u,self.ninputs)
143143

144144
# Update function
145-
def_rhs(self,t,x,u,params={}):
145+
def_rhs(self,t,x,u):
146146
# Use LinearIOSystem._rhs instead of default (MRO) NonlinearIOSystem
147147
returnLinearIOSystem._rhs(self,t,x,u)
148148

149149
# output function
150-
def_out(self,t,x,u,params={}):
150+
def_out(self,t,x,u):
151151
# Use LinearIOSystem._out instead of default (MRO) NonlinearIOSystem
152152
returnLinearIOSystem._out(self,t,x,u)

‎control/iosys.py

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1584,7 +1584,7 @@ def __init__(self, io_sys, ss_sys=None):
15841584
definput_output_response(
15851585
sys,T,U=0.,X0=0,params=None,
15861586
transpose=False,return_x=False,squeeze=None,
1587-
solve_ivp_kwargs={},t_eval='T',**kwargs):
1587+
solve_ivp_kwargs=None,t_eval='T',**kwargs):
15881588
"""Compute the output response of a system to a given input.
15891589
15901590
Simulate a dynamical system with a given input and return its output
@@ -1650,7 +1650,7 @@ def input_output_response(
16501650
solve_ivp_method : str, optional
16511651
Set the method used by :func:`scipy.integrate.solve_ivp`. Defaults
16521652
to 'RK45'.
1653-
solve_ivp_kwargs :str, optional
1653+
solve_ivp_kwargs :dict, optional
16541654
Pass additional keywords to :func:`scipy.integrate.solve_ivp`.
16551655
16561656
Raises
@@ -1676,6 +1676,7 @@ def input_output_response(
16761676
#
16771677

16781678
# Figure out the method to be used
1679+
solve_ivp_kwargs=solve_ivp_kwargs.copy()ifsolve_ivp_kwargselse {}
16791680
ifkwargs.get('solve_ivp_method',None):
16801681
ifkwargs.get('method',None):
16811682
raiseValueError("ivp_method specified more than once")

‎control/tests/kwargs_test.py

Lines changed: 67 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -38,6 +38,10 @@ def test_kwarg_search(module, prefix):
3838
# Skip anything that isn't part of the control package
3939
continue
4040

41+
# Look for classes and then check member functions
42+
ifinspect.isclass(obj):
43+
test_kwarg_search(obj,prefix+obj.__name__+'.')
44+
4145
# Only look for functions with keyword arguments
4246
ifnotinspect.isfunction(obj):
4347
continue
@@ -70,10 +74,6 @@ def test_kwarg_search(module, prefix):
7074
f"'unrecognized keyword' not found in unit test "
7175
f"for{name}")
7276

73-
# Look for classes and then check member functions
74-
ifinspect.isclass(obj):
75-
test_kwarg_search(obj,prefix+obj.__name__+'.')
76-
7777

7878
@pytest.mark.parametrize(
7979
"function, nsssys, ntfsys, moreargs, kwargs",
@@ -201,3 +201,66 @@ def test_matplotlib_kwargs(function, nsysargs, moreargs, kwargs, mplcleanup):
201201
'TimeResponseData.__call__':trdata_test.test_response_copy,
202202
'TransferFunction.__init__':test_unrecognized_kwargs,
203203
}
204+
205+
#
206+
# Look for keywords with mutable defaults
207+
#
208+
# This test goes through every function and looks for signatures that have a
209+
# default value for a keyword that is mutable. An error is generated unless
210+
# the function is listed in the `mutable_ok` set (which should only be used
211+
# for cases were the code has been explicitly checked to make sure that the
212+
# value of the mutable is not modified in the code).
213+
#
214+
mutable_ok= {# initial and date
215+
control.flatsys.SystemTrajectory.__init__,# RMM, 18 Nov 2022
216+
control.freqplot._add_arrows_to_line2D,# RMM, 18 Nov 2022
217+
control.namedio._process_dt_keyword,# RMM, 13 Nov 2022
218+
control.namedio._process_namedio_keywords,# RMM, 18 Nov 2022
219+
control.optimal.OptimalControlProblem.__init__,# RMM, 18 Nov 2022
220+
control.optimal.solve_ocp,# RMM, 18 Nov 2022
221+
control.optimal.create_mpc_iosystem,# RMM, 18 Nov 2022
222+
}
223+
224+
@pytest.mark.parametrize("module", [control,control.flatsys])
225+
deftest_mutable_defaults(module,recurse=True):
226+
# Look through every object in the package
227+
forname,objininspect.getmembers(module):
228+
# Skip anything that is outside of this module
229+
ifinspect.getmodule(obj)isnotNoneand \
230+
notinspect.getmodule(obj).__name__.startswith('control'):
231+
# Skip anything that isn't part of the control package
232+
continue
233+
234+
# Look for classes and then check member functions
235+
ifinspect.isclass(obj):
236+
test_mutable_defaults(obj,True)
237+
238+
# Look for modules and check for internal functions (w/ no recursion)
239+
ifinspect.ismodule(obj)andrecurse:
240+
test_mutable_defaults(obj,False)
241+
242+
# Only look at functions and skip any that are marked as OK
243+
ifnotinspect.isfunction(obj)orobjinmutable_ok:
244+
continue
245+
246+
# Get the signature for the function
247+
sig=inspect.signature(obj)
248+
249+
# Skip anything that is inherited
250+
ifinspect.isclass(module)andobj.__name__notinmodule.__dict__:
251+
continue
252+
253+
# See if there is a variable keyword argument
254+
forargname,parinsig.parameters.items():
255+
ifpar.defaultisinspect._emptyor \
256+
notpar.kind==inspect.Parameter.KEYWORD_ONLYand \
257+
notpar.kind==inspect.Parameter.POSITIONAL_OR_KEYWORD:
258+
continue
259+
260+
# Check to see if the default value is mutable
261+
ifpar.defaultisnotNoneandnot \
262+
isinstance(par.default, (bool,int,float,tuple,str)):
263+
pytest.fail(
264+
f"function '{obj.__name__}' in module '{module.__name__}'"
265+
f" has mutable default for keyword '{par.name}'")
266+

0 commit comments

Comments
 (0)
[8]ページ先頭
©2009-2025 Movatter.jp