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Commitc36fcc0

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Fix iosys errors for unspecified # of inputs/outputs (#355)
1 parent72262c6 commitc36fcc0

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2 files changed

+34
-12
lines changed

2 files changed

+34
-12
lines changed

‎control/iosys.py

Lines changed: 7 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -212,12 +212,12 @@ def __repr__(self):
212212

213213
def__str__(self):
214214
"""String representation of an input/output system"""
215-
str="System: "+ (self.nameifself.nameelse"(none)")+"\n"
216-
str+="Inputs (%d): "%self.ninputs
215+
str="System: "+ (self.nameifself.nameelse"(None)")+"\n"
216+
str+="Inputs (%s): "%self.ninputs
217217
forkeyinself.input_index:str+=key+", "
218-
str+="\nOutputs (%d): "%self.noutputs
218+
str+="\nOutputs (%s): "%self.noutputs
219219
forkeyinself.output_index:str+=key+", "
220-
str+="\nStates (%d): "%self.nstates
220+
str+="\nStates (%s): "%self.nstates
221221
forkeyinself.state_index:str+=key+", "
222222
returnstr
223223

@@ -317,13 +317,8 @@ def __add__(sys1, sys2):
317317
ninputs=sys1.ninputs
318318
noutputs=sys1.noutputs
319319

320-
# Make sure timebase are compatible
321-
dt=_find_timebase(sys1,sys2)
322-
ifdtisFalse:
323-
raiseValueError("System timebases are not compabile")
324-
325320
# Create a new system to handle the composition
326-
newsys=InterconnectedSystem((sys1,sys2),dt=dt)
321+
newsys=InterconnectedSystem((sys1,sys2))
327322

328323
# Set up the input map
329324
newsys.set_input_map(np.concatenate(
@@ -937,6 +932,7 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
937932
system_count=0
938933
forsysinsyslist:
939934
# Make sure time bases are consistent
935+
# TODO: Use lti._find_timebase() instead?
940936
ifdtisNoneandsys.dtisnotNone:
941937
# Timebase was not specified; set to match this system
942938
dt=sys.dt
@@ -948,7 +944,7 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
948944
sys.nstatesisNone:
949945
raiseTypeError("System '%s' must define number of inputs, "
950946
"outputs, states in order to be connected"%
951-
sys)
947+
sys.name)
952948

953949
# Keep track of the offsets into the states, inputs, outputs
954950
self.input_offset.append(ninputs)

‎control/tests/iosys_test.py

Lines changed: 27 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8,6 +8,7 @@
88
# operations on input/output systems. Separate unit tests should be
99
# created for that purpose.
1010

11+
from __future__importprint_function
1112
importunittest
1213
importwarnings
1314
importnumpyasnp
@@ -100,6 +101,32 @@ def test_ss2io(self):
100101
np.testing.assert_array_equal(linsys.C,iosys_named.C)
101102
np.testing.assert_array_equal(linsys.D,iosys_named.D)
102103

104+
# Make sure unspecified inputs/outputs/states are handled properly
105+
deftest_iosys_unspecified(self):
106+
# System with unspecified inputs and outputs
107+
sys=ios.NonlinearIOSystem(secord_update,secord_output)
108+
np.testing.assert_raises(TypeError,sys.__mul__,sys)
109+
110+
# Make sure we can print various types of I/O systems
111+
deftest_iosys_print(self):
112+
# Send the output to /dev/null
113+
importos
114+
f=open(os.devnull,"w")
115+
116+
# Simple I/O system
117+
iosys=ct.ss2io(self.siso_linsys)
118+
print(iosys,file=f)
119+
120+
# I/O system without ninputs, noutputs
121+
ios_unspecified=ios.NonlinearIOSystem(secord_update,secord_output)
122+
print(ios_unspecified,file=f)
123+
124+
# I/O system with derived inputs and outputs
125+
ios_linearized=ios.linearize(ios_unspecified, [0,0], [0])
126+
print(ios_linearized,file=f)
127+
128+
f.close()
129+
103130
@unittest.skipIf(StrictVersion(sp.__version__)<"1.0",
104131
"requires SciPy 1.0 or greater")
105132
deftest_nonlinear_iosys(self):
@@ -832,7 +859,6 @@ def test_lineariosys_statespace(self):
832859
np.testing.assert_array_equal(io_feedback.C,ss_feedback.C)
833860
np.testing.assert_array_equal(io_feedback.D,ss_feedback.D)
834861

835-
836862
deftest_duplicates(self):
837863
nlios=ios.NonlinearIOSystem(None, \
838864
lambdat,x,u,params:u*u,inputs=1,outputs=1)

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