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Commitcb6d9d7

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Merge pull request#713 from murrayrm/kwargs_20Mar2022
Keyword argument checking
2 parentscfe21de +87cb31a commitcb6d9d7

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17 files changed

+302
-76
lines changed

17 files changed

+302
-76
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/frdata.py‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -150,7 +150,11 @@ def __init__(self, *args, **kwargs):
150150
151151
"""
152152
# TODO: discrete-time FRD systems?
153-
smooth=kwargs.get('smooth',False)
153+
smooth=kwargs.pop('smooth',False)
154+
155+
# Make sure there were no extraneous keywords
156+
ifkwargs:
157+
raiseTypeError("unrecognized keywords: ",str(kwargs))
154158

155159
iflen(args)==2:
156160
ifnotisinstance(args[0],FRD)andisinstance(args[0],LTI):

‎control/freqplot.py‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -221,12 +221,10 @@ def bode_plot(syslist, omega=None,
221221
# Get the current figure
222222

223223
if'sisotool'inkwargs:
224-
fig=kwargs['fig']
224+
fig=kwargs.pop('fig')
225225
ax_mag=fig.axes[0]
226226
ax_phase=fig.axes[2]
227-
sisotool=kwargs['sisotool']
228-
delkwargs['fig']
229-
delkwargs['sisotool']
227+
sisotool=kwargs.pop('sisotool')
230228
else:
231229
fig=plt.gcf()
232230
ax_mag=None

‎control/iosys.py‎

Lines changed: 25 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -148,7 +148,7 @@ def __init__(self, inputs=None, outputs=None, states=None, params={},
148148
# timebase
149149
self.dt=kwargs.pop('dt',config.defaults['control.default_dt'])
150150

151-
# Make sure there were no extraneouskeyworks
151+
# Make sure there were no extraneouskeywords
152152
ifkwargs:
153153
raiseTypeError("unrecognized keywords: ",str(kwargs))
154154

@@ -560,7 +560,7 @@ def linearize(self, x0, u0, t=0, params={}, eps=1e-6,
560560

561561
# Create the state space system
562562
linsys=LinearIOSystem(
563-
StateSpace(A,B,C,D,self.dt,remove_useless=False),
563+
StateSpace(A,B,C,D,self.dt,remove_useless_states=False),
564564
name=name,**kwargs)
565565

566566
# Set the names the system, inputs, outputs, and states
@@ -660,7 +660,7 @@ def __init__(self, linsys, inputs=None, outputs=None, states=None,
660660
states=linsys.nstates,params={},dt=linsys.dt,name=name)
661661

662662
# Initalize additional state space variables
663-
StateSpace.__init__(self,linsys,remove_useless=False)
663+
StateSpace.__init__(self,linsys,remove_useless_states=False)
664664

665665
# Process input, output, state lists, if given
666666
# Make sure they match the size of the linear system
@@ -790,9 +790,9 @@ def __init__(self, updfcn, outfcn=None, inputs=None, outputs=None,
790790
params=params,dt=dt,name=name
791791
)
792792

793-
# Make sureall input arguments got parsed
793+
# Make surethere were no extraneous keywords
794794
ifkwargs:
795-
raiseTypeError("unknown parameters %s"%kwargs)
795+
raiseTypeError("unrecognized keywords: ",str(kwargs))
796796

797797
# Check to make sure arguments are consistent
798798
ifupdfcnisNone:
@@ -1551,7 +1551,7 @@ def __init__(self, io_sys, ss_sys=None):
15511551
io_sys.nstates!=ss_sys.nstates:
15521552
raiseValueError("System dimensions for first and second "
15531553
"arguments must match.")
1554-
StateSpace.__init__(self,ss_sys,remove_useless=False)
1554+
StateSpace.__init__(self,ss_sys,remove_useless_states=False)
15551555

15561556
else:
15571557
raiseTypeError("Second argument must be a state space system.")
@@ -1656,14 +1656,14 @@ def input_output_response(
16561656
raiseValueError("ivp_method specified more than once")
16571657
solve_ivp_kwargs['method']=kwargs.pop('solve_ivp_method')
16581658

1659+
# Make sure there were no extraneous keywords
1660+
ifkwargs:
1661+
raiseTypeError("unrecognized keywords: ",str(kwargs))
1662+
16591663
# Set the default method to 'RK45'
16601664
ifsolve_ivp_kwargs.get('method',None)isNone:
16611665
solve_ivp_kwargs['method']='RK45'
16621666

1663-
# Make sure all input arguments got parsed
1664-
ifkwargs:
1665-
raiseTypeError("unknown parameters %s"%kwargs)
1666-
16671667
# Sanity checking on the input
16681668
ifnotisinstance(sys,InputOutputSystem):
16691669
raiseTypeError("System of type ",type(sys)," not valid")
@@ -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]
@@ -2134,7 +2134,8 @@ def _parse_signal_parameter(value, name, kwargs, end=False):
21342134
value=kwargs.pop(name)
21352135

21362136
ifendandkwargs:
2137-
raiseTypeError("unknown parameters %s"%kwargs)
2137+
raiseTypeError("unrecognized keywords: ",str(kwargs))
2138+
21382139
returnvalue
21392140

21402141

@@ -2237,7 +2238,15 @@ def ss(*args, **kwargs):
22372238
>>> sys2 = ss(sys_tf)
22382239
22392240
"""
2240-
sys=_ss(*args,keywords=kwargs)
2241+
# Extract the keyword arguments needed for StateSpace (via _ss)
2242+
ss_kwlist= ('dt','remove_useless_states')
2243+
ss_kwargs= {}
2244+
forkwinss_kwlist:
2245+
ifkwinkwargs:
2246+
ss_kwargs[kw]=kwargs.pop(kw)
2247+
2248+
# Create the statespace system and then convert to I/O system
2249+
sys=_ss(*args,keywords=ss_kwargs)
22412250
returnLinearIOSystem(sys,**kwargs)
22422251

22432252

‎control/optimal.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -154,7 +154,7 @@ def __init__(
154154
self.minimize_kwargs.update(kwargs.pop(
155155
'minimize_kwargs',config.defaults['optimal.minimize_kwargs']))
156156

157-
# Make sureall input arguments got parsed
157+
# Make surethere were no extraneous keywords
158158
ifkwargs:
159159
raiseTypeError("unrecognized keyword(s): ",str(kwargs))
160160

‎control/pzmap.py‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -91,7 +91,11 @@ def pzmap(sys, plot=None, grid=None, title='Pole Zero Map', **kwargs):
9191
importwarnings
9292
warnings.warn("'Plot' keyword is deprecated in pzmap; use 'plot'",
9393
FutureWarning)
94-
plot=kwargs['Plot']
94+
plot=kwargs.pop('Plot')
95+
96+
# Make sure there were no extraneous keywords
97+
ifkwargs:
98+
raiseTypeError("unrecognized keywords: ",str(kwargs))
9599

96100
# Get parameter values
97101
plot=config._get_param('pzmap','plot',plot,True)

‎control/rlocus.py‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -168,6 +168,10 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
168168
# Check for sisotool mode
169169
sisotool=Falseif'sisotool'notinkwargselseTrue
170170

171+
# Make sure there were no extraneous keywords
172+
ifnotsisotoolandkwargs:
173+
raiseTypeError("unrecognized keywords: ",str(kwargs))
174+
171175
# Create the Plot
172176
ifplot:
173177
ifsisotool:

‎control/statefbk.py‎

Lines changed: 6 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -261,7 +261,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
261261

262262

263263
# contributed by Sawyer B. Fuller <minster@uw.edu>
264-
deflqe(*args,**keywords):
264+
deflqe(*args,method=None):
265265
"""lqe(A, G, C, QN, RN, [, NN])
266266
267267
Linear quadratic estimator design (Kalman filter) for continuous-time
@@ -356,18 +356,15 @@ def lqe(*args, **keywords):
356356
# Process the arguments and figure out what inputs we received
357357
#
358358

359-
# Get the method to use (if specified as a keyword)
360-
method=keywords.get('method',None)
359+
# If we were passed a discrete time system as the first arg, use dlqe()
360+
ifisinstance(args[0],LTI)andisdtime(args[0],strict=True):
361+
# Call dlqe
362+
returndlqe(*args,method=method)
361363

362364
# Get the system description
363365
if (len(args)<3):
364366
raiseControlArgument("not enough input arguments")
365367

366-
# If we were passed a discrete time system as the first arg, use dlqe()
367-
ifisinstance(args[0],LTI)andisdtime(args[0],strict=True):
368-
# Call dlqe
369-
returndlqe(*args,**keywords)
370-
371368
# If we were passed a state space system, use that to get system matrices
372369
ifisinstance(args[0],StateSpace):
373370
A=np.array(args[0].A,ndmin=2,dtype=float)
@@ -409,7 +406,7 @@ def lqe(*args, **keywords):
409406

410407

411408
# contributed by Sawyer B. Fuller <minster@uw.edu>
412-
defdlqe(*args,**keywords):
409+
defdlqe(*args,method=None):
413410
"""dlqe(A, G, C, QN, RN, [, N])
414411
415412
Linear quadratic estimator design (Kalman filter) for discrete-time
@@ -480,9 +477,6 @@ def dlqe(*args, **keywords):
480477
# Process the arguments and figure out what inputs we received
481478
#
482479

483-
# Get the method to use (if specified as a keyword)
484-
method=keywords.get('method',None)
485-
486480
# Get the system description
487481
if (len(args)<3):
488482
raiseControlArgument("not enough input arguments")

‎control/statesp.py‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -340,6 +340,10 @@ def __init__(self, *args, keywords=None, **kwargs):
340340
self.dt=dt
341341
self.nstates=A.shape[1]
342342

343+
# Make sure there were no extraneous keywords
344+
ifkeywords:
345+
raiseTypeError("unrecognized keywords: ",str(keywords))
346+
343347
if0==self.nstates:
344348
# static gain
345349
# matrix's default "empty" shape is 1x0
@@ -1776,7 +1780,12 @@ def _ss(*args, keywords=None, **kwargs):
17761780
"""Internal function to create StateSpace system"""
17771781
iflen(args)==4orlen(args)==5:
17781782
returnStateSpace(*args,keywords=keywords,**kwargs)
1783+
17791784
eliflen(args)==1:
1785+
# Make sure there were no extraneous keywords
1786+
ifkwargs:
1787+
raiseTypeError("unrecognized keywords: ",str(kwargs))
1788+
17801789
from .xferfcnimportTransferFunction
17811790
sys=args[0]
17821791
ifisinstance(sys,StateSpace):

‎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):

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