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Commit87cb31a

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add missing kwarg tests + small bug fixes
1 parent26303ff commit87cb31a

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4 files changed

+68
-43
lines changed

4 files changed

+68
-43
lines changed

‎control/config.py‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -73,6 +73,9 @@ def set_defaults(module, **keywords):
7373
ifnotisinstance(module,str):
7474
raiseValueError("module must be a string")
7575
forkey,valinkeywords.items():
76+
keyname=module+'.'+key
77+
ifkeynamenotindefaultsandf"deprecated.{keyname}"notindefaults:
78+
raiseTypeError(f"unrecognized keyword:{key}")
7679
defaults[module+'.'+key]=val
7780

7881

@@ -289,6 +292,6 @@ def use_legacy_defaults(version):
289292
set_defaults('control',squeeze_time_response=True)
290293

291294
# switched mirror_style of nyquist from '-' to '--'
292-
set_defaults('nyqist',mirror_style='-')
295+
set_defaults('nyquist',mirror_style='-')
293296

294297
return (major,minor,patch)

‎control/iosys.py‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1829,7 +1829,7 @@ def ivp_rhs(t, x):
18291829

18301830
deffind_eqpt(sys,x0,u0=[],y0=None,t=0,params={},
18311831
iu=None,iy=None,ix=None,idx=None,dx0=None,
1832-
return_y=False,return_result=False,**kw):
1832+
return_y=False,return_result=False):
18331833
"""Find the equilibrium point for an input/output system.
18341834
18351835
Returns the value of an equilibrium point given the initial state and
@@ -1933,7 +1933,7 @@ def find_eqpt(sys, x0, u0=[], y0=None, t=0, params={},
19331933
# Take u0 as fixed and minimize over x
19341934
# TODO: update to allow discrete time systems
19351935
defode_rhs(z):returnsys._rhs(t,z,u0)
1936-
result=root(ode_rhs,x0,**kw)
1936+
result=root(ode_rhs,x0)
19371937
z= (result.x,u0,sys._out(t,result.x,u0))
19381938
else:
19391939
# Take y0 as fixed and minimize over x and u
@@ -1944,7 +1944,7 @@ def rootfun(z):
19441944
returnnp.concatenate(
19451945
(sys._rhs(t,x,u),sys._out(t,x,u)-y0),axis=0)
19461946
z0=np.concatenate((x0,u0),axis=0)# Put variables together
1947-
result=root(rootfun,z0,**kw)# Find the eq point
1947+
result=root(rootfun,z0)# Find the eq point
19481948
x,u=np.split(result.x, [nstates])# Split result back in two
19491949
z= (x,u,sys._out(t,x,u))
19501950

@@ -2056,7 +2056,7 @@ def rootfun(z):
20562056
z0=np.concatenate((x[state_vars],u[input_vars]),axis=0)
20572057

20582058
# Finally, call the root finding function
2059-
result=root(rootfun,z0,**kw)
2059+
result=root(rootfun,z0)
20602060

20612061
# Extract out the results and insert into x and u
20622062
x[state_vars]=result.x[:nstate_vars]
@@ -2135,7 +2135,7 @@ def _parse_signal_parameter(value, name, kwargs, end=False):
21352135

21362136
ifendandkwargs:
21372137
raiseTypeError("unrecognized keywords: ",str(kwargs))
2138-
2138+
21392139
returnvalue
21402140

21412141

‎control/tests/config_test.py‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -23,10 +23,10 @@ class TestConfig:
2323
sys=ct.tf([10], [1,2,1])
2424

2525
deftest_set_defaults(self):
26-
ct.config.set_defaults('config',test1=1,test2=2,test3=None)
27-
assertct.config.defaults['config.test1']==1
28-
assertct.config.defaults['config.test2']==2
29-
assertct.config.defaults['config.test3']isNone
26+
ct.config.set_defaults('freqplot',dB=1,deg=2,Hz=None)
27+
assertct.config.defaults['freqplot.dB']==1
28+
assertct.config.defaults['freqplot.deg']==2
29+
assertct.config.defaults['freqplot.Hz']isNone
3030

3131
@mplcleanup
3232
deftest_get_param(self):

‎control/tests/kwargs_test.py‎

Lines changed: 55 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -13,6 +13,7 @@
1313
importinspect
1414
importpytest
1515
importwarnings
16+
importmatplotlib.pyplotasplt
1617

1718
importcontrol
1819
importcontrol.flatsys
@@ -36,28 +37,45 @@ def test_kwarg_search(module, prefix):
3637
notinspect.getmodule(obj).__name__.startswith('control'):
3738
# Skip anything that isn't part of the control package
3839
continue
39-
40-
# Look for functions with keyword arguments
41-
ifinspect.isfunction(obj):
42-
# Get the signature for the function
43-
sig=inspect.signature(obj)
44-
45-
# See if there is a variable keyword argument
46-
forargname,parinsig.parameters.items():
47-
ifpar.kind==inspect.Parameter.VAR_KEYWORD:
48-
# Make sure there is a unit test defined
49-
assertprefix+nameinkwarg_unittest
50-
51-
# Make sure there is a unit test
52-
ifnothasattr(kwarg_unittest[prefix+name],'__call__'):
53-
warnings.warn("No unit test defined for '%s'"
54-
%prefix+name)
40+
41+
# Only look for functions with keyword arguments
42+
ifnotinspect.isfunction(obj):
43+
continue
44+
45+
# Get the signature for the function
46+
sig=inspect.signature(obj)
47+
48+
# Skip anything that is inherited
49+
ifinspect.isclass(module)andobj.__name__notinmodule.__dict__:
50+
continue
51+
52+
# See if there is a variable keyword argument
53+
forargname,parinsig.parameters.items():
54+
ifnotpar.kind==inspect.Parameter.VAR_KEYWORD:
55+
continue
56+
57+
# Make sure there is a unit test defined
58+
assertprefix+nameinkwarg_unittest
59+
60+
# Make sure there is a unit test
61+
ifnothasattr(kwarg_unittest[prefix+name],'__call__'):
62+
warnings.warn("No unit test defined for '%s'"%prefix+name)
63+
source=None
64+
else:
65+
source=inspect.getsource(kwarg_unittest[prefix+name])
66+
67+
# Make sure the unit test looks for unrecognized keyword
68+
ifsourceandsource.find('unrecognized keyword')<0:
69+
warnings.warn(
70+
f"'unrecognized keyword' not found in unit test "
71+
f"for{name}")
5572

5673
# Look for classes and then check member functions
5774
ifinspect.isclass(obj):
5875
test_kwarg_search(obj,prefix+obj.__name__+'.')
5976

6077

78+
@pytest.mark.usefixtures('editsdefaults')
6179
deftest_unrecognized_kwargs():
6280
# Create a SISO system for use in parameterized tests
6381
sys=control.ss([[-1,1], [0,-1]], [[0], [1]], [[1,0]],0,dt=None)
@@ -67,16 +85,20 @@ def test_unrecognized_kwargs():
6785
[control.drss, (2,1,1), {}],
6886
[control.input_output_response, (sys, [0,1,2], [1,1,1]), {}],
6987
[control.lqr, (sys, [[1,0], [0,1]], [[1]]), {}],
88+
[control.linearize, (sys,0,0), {}],
7089
[control.pzmap, (sys,), {}],
7190
[control.rlocus, (control.tf([1], [1,1]), ), {}],
7291
[control.root_locus, (control.tf([1], [1,1]), ), {}],
7392
[control.rss, (2,1,1), {}],
93+
[control.set_defaults, ('control',), {'default_dt':True}],
7494
[control.ss, (0,0,0,0), {'dt':1}],
7595
[control.ss2io, (sys,), {}],
96+
[control.ss2tf, (sys,), {}],
7697
[control.summing_junction, (2,), {}],
7798
[control.tf, ([1], [1,1]), {}],
7899
[control.tf2io, (control.tf([1], [1,1]),), {}],
79100
[control.InputOutputSystem, (1,1,1), {}],
101+
[control.InputOutputSystem.linearize, (sys,0,0), {}],
80102
[control.StateSpace, ([[-1,0], [0,-1]], [[1], [1]], [[1,1]],0), {}],
81103
[control.TransferFunction, ([1], [1,1]), {}],
82104
]
@@ -97,10 +119,13 @@ def test_matplotlib_kwargs():
97119
table= [
98120
[control.bode, (sys, ), {}],
99121
[control.bode_plot, (sys, ), {}],
122+
[control.describing_function_plot,
123+
(sys,control.descfcn.saturation_nonlinearity(1), [1,2,3,4]), {}],
100124
[control.gangof4, (sys,sys), {}],
101125
[control.gangof4_plot, (sys,sys), {}],
102126
[control.nyquist, (sys, ), {}],
103127
[control.nyquist_plot, (sys, ), {}],
128+
[control.singular_values_plot, (sys, ), {}],
104129
]
105130

106131
forfunction,args,kwargsintable:
@@ -110,7 +135,11 @@ def test_matplotlib_kwargs():
110135
# Now add an unrecognized keyword and make sure there is an error
111136
withpytest.raises(AttributeError,match="has no property"):
112137
function(*args,**kwargs,unknown=None)
113-
138+
139+
# If we opened any figures, close them
140+
ifplt.gca():
141+
plt.close('all')
142+
114143

115144
#
116145
# List of all unit tests that check for unrecognized keywords
@@ -124,24 +153,23 @@ def test_matplotlib_kwargs():
124153
kwarg_unittest= {
125154
'bode':test_matplotlib_kwargs,
126155
'bode_plot':test_matplotlib_kwargs,
127-
'describing_function_plot':None,
156+
'describing_function_plot':test_matplotlib_kwargs,
128157
'dlqr':statefbk_test.TestStatefbk.test_lqr_errors,
129158
'drss':test_unrecognized_kwargs,
130-
'find_eqpt':None,
131159
'gangof4':test_matplotlib_kwargs,
132160
'gangof4_plot':test_matplotlib_kwargs,
133161
'input_output_response':test_unrecognized_kwargs,
134162
'interconnect':interconnect_test.test_interconnect_exceptions,
135-
'linearize':None,
163+
'linearize':test_unrecognized_kwargs,
136164
'lqr':statefbk_test.TestStatefbk.test_lqr_errors,
137165
'nyquist':test_matplotlib_kwargs,
138166
'nyquist_plot':test_matplotlib_kwargs,
139-
'pzmap':None,
167+
'pzmap':test_matplotlib_kwargs,
140168
'rlocus':test_unrecognized_kwargs,
141169
'root_locus':test_unrecognized_kwargs,
142170
'rss':test_unrecognized_kwargs,
143-
'set_defaults':None,
144-
'singular_values_plot':None,
171+
'set_defaults':test_unrecognized_kwargs,
172+
'singular_values_plot':test_matplotlib_kwargs,
145173
'ss':test_unrecognized_kwargs,
146174
'ss2io':test_unrecognized_kwargs,
147175
'ss2tf':test_unrecognized_kwargs,
@@ -152,21 +180,15 @@ def test_matplotlib_kwargs():
152180
flatsys_test.TestFlatSys.test_point_to_point_errors,
153181
'FrequencyResponseData.__init__':
154182
frd_test.TestFRD.test_unrecognized_keyword,
155-
'InputOutputSystem.__init__':None,
156-
'InputOutputSystem.linearize':None,
183+
'InputOutputSystem.__init__':test_unrecognized_kwargs,
184+
'InputOutputSystem.linearize':test_unrecognized_kwargs,
157185
'InterconnectedSystem.__init__':
158186
interconnect_test.test_interconnect_exceptions,
159-
'InterconnectedSystem.linearize':None,
160-
'LinearICSystem.linearize':None,
161187
'LinearIOSystem.__init__':
162188
interconnect_test.test_interconnect_exceptions,
163-
'LinearIOSystem.linearize':None,
164189
'NonlinearIOSystem.__init__':
165190
interconnect_test.test_interconnect_exceptions,
166-
'NonlinearIOSystem.linearize':None,
167-
'StateSpace.__init__':None,
191+
'StateSpace.__init__':test_unrecognized_kwargs,
168192
'TimeResponseData.__call__':trdata_test.test_response_copy,
169-
'TransferFunction.__init__':None,
170-
'flatsys.FlatSystem.linearize':None,
171-
'flatsys.LinearFlatSystem.linearize':None,
193+
'TransferFunction.__init__':test_unrecognized_kwargs,
172194
}

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