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Commitec7dc8a

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authored
Merge pull request#1091 from murrayrm/iosys_repr-07Dec2024
Update I/O system repr() and str()
2 parentsa1791c9 +0f0fad0 commitec7dc8a

20 files changed

+2468
-388
lines changed

‎control/bdalg.py

Lines changed: 68 additions & 35 deletions
Original file line numberDiff line numberDiff line change
@@ -164,7 +164,7 @@ def parallel(sys1, *sysn, **kwargs):
164164
or `y`). See :class:`InputOutputSystem` for more information.
165165
states : str, or list of str, optional
166166
List of names for system states. If not given, state names will be
167-
ofofthe form `x[i]` for interconnections of linear systems or
167+
of the form `x[i]` for interconnections of linear systems or
168168
'<subsys_name>.<state_name>' for interconnected nonlinear systems.
169169
name : string, optional
170170
System name (used for specifying signals). If unspecified, a generic
@@ -511,7 +511,7 @@ def connect(sys, Q, inputv, outputv):
511511

512512
returnYtrim*sys*Utrim
513513

514-
defcombine_tf(tf_array):
514+
defcombine_tf(tf_array,**kwargs):
515515
"""Combine array-like of transfer functions into MIMO transfer function.
516516
517517
Parameters
@@ -527,6 +527,16 @@ def combine_tf(tf_array):
527527
TransferFunction
528528
Transfer matrix represented as a single MIMO TransferFunction object.
529529
530+
Other Parameters
531+
----------------
532+
inputs, outputs : str, or list of str, optional
533+
List of strings that name the individual signals. If not given,
534+
signal names will be of the form `s[i]` (where `s` is one of `u`,
535+
or `y`). See :class:`InputOutputSystem` for more information.
536+
name : string, optional
537+
System name (used for specifying signals). If unspecified, a generic
538+
name <sys[id]> is generated with a unique integer id.
539+
530540
Raises
531541
------
532542
ValueError
@@ -541,26 +551,34 @@ def combine_tf(tf_array):
541551
--------
542552
Combine two transfer functions
543553
544-
>>> s = control.TransferFunction.s
545-
>>> control.combine_tf([
546-
... [1 / (s + 1)],
547-
... [s / (s + 2)],
548-
... ])
549-
TransferFunction([[array([1])], [array([1, 0])]],
550-
[[array([1, 1])], [array([1, 2])]])
554+
>>> s = ct.tf('s')
555+
>>> ct.combine_tf(
556+
... [[1 / (s + 1)],
557+
... [s / (s + 2)]],
558+
... name='G'
559+
... )
560+
TransferFunction(
561+
[[array([1])],
562+
[array([1, 0])]],
563+
[[array([1, 1])],
564+
[array([1, 2])]],
565+
name='G', outputs=2, inputs=1)
551566
552567
Combine NumPy arrays with transfer functions
553568
554-
>>> control.combine_tf([
555-
... [np.eye(2), np.zeros((2, 1))],
556-
... [np.zeros((1, 2)), control.TransferFunction([1], [1, 0])],
557-
... ])
558-
TransferFunction([[array([1.]), array([0.]), array([0.])],
559-
[array([0.]), array([1.]), array([0.])],
560-
[array([0.]), array([0.]), array([1])]],
561-
[[array([1.]), array([1.]), array([1.])],
562-
[array([1.]), array([1.]), array([1.])],
563-
[array([1.]), array([1.]), array([1, 0])]])
569+
>>> ct.combine_tf(
570+
... [[np.eye(2), np.zeros((2, 1))],
571+
... [np.zeros((1, 2)), ct.tf([1], [1, 0])]],
572+
... name='G'
573+
... )
574+
TransferFunction(
575+
[[array([1.]), array([0.]), array([0.])],
576+
[array([0.]), array([1.]), array([0.])],
577+
[array([0.]), array([0.]), array([1])]],
578+
[[array([1.]), array([1.]), array([1.])],
579+
[array([1.]), array([1.]), array([1.])],
580+
[array([1.]), array([1.]), array([1, 0])]],
581+
name='G', outputs=3, inputs=3)
564582
"""
565583
# Find common timebase or raise error
566584
dt_list= []
@@ -616,10 +634,14 @@ def combine_tf(tf_array):
616634
"Mismatched number transfer function inputs in row "
617635
f"{row_index} of denominator."
618636
)
619-
returntf.TransferFunction(num,den,dt=dt)
637+
returntf.TransferFunction(num,den,dt=dt,**kwargs)
638+
620639

621640
defsplit_tf(transfer_function):
622-
"""Split MIMO transfer function into NumPy array of SISO tranfer functions.
641+
"""Split MIMO transfer function into NumPy array of SISO transfer functions.
642+
643+
System and signal names for the array of SISO transfer functions are
644+
copied from the MIMO system.
623645
624646
Parameters
625647
----------
@@ -635,21 +657,29 @@ def split_tf(transfer_function):
635657
--------
636658
Split a MIMO transfer function
637659
638-
>>> G = control.TransferFunction(
639-
... [
640-
... [[87.8], [-86.4]],
641-
... [[108.2], [-109.6]],
642-
... ],
643-
... [
644-
... [[1, 1], [1, 1]],
645-
... [[1, 1], [1, 1]],
646-
... ],
660+
>>> G = ct.tf(
661+
... [ [[87.8], [-86.4]],
662+
... [[108.2], [-109.6]] ],
663+
... [ [[1, 1], [1, 1]],
664+
... [[1, 1], [1, 1]], ],
665+
... name='G'
647666
... )
648-
>>> control.split_tf(G)
649-
array([[TransferFunction(array([87.8]), array([1, 1])),
650-
TransferFunction(array([-86.4]), array([1, 1]))],
651-
[TransferFunction(array([108.2]), array([1, 1])),
652-
TransferFunction(array([-109.6]), array([1, 1]))]], dtype=object)
667+
>>> ct.split_tf(G)
668+
array([[TransferFunction(
669+
array([87.8]),
670+
array([1, 1]),
671+
name='G', outputs=1, inputs=1), TransferFunction(
672+
array([-86.4]),
673+
array([1, 1]),
674+
name='G', outputs=1, inputs=1)],
675+
[TransferFunction(
676+
array([108.2]),
677+
array([1, 1]),
678+
name='G', outputs=1, inputs=1), TransferFunction(
679+
array([-109.6]),
680+
array([1, 1]),
681+
name='G', outputs=1, inputs=1)]],
682+
dtype=object)
653683
"""
654684
tf_split_lst= []
655685
fori_outinrange(transfer_function.noutputs):
@@ -660,6 +690,9 @@ def split_tf(transfer_function):
660690
transfer_function.num_array[i_out,i_in],
661691
transfer_function.den_array[i_out,i_in],
662692
dt=transfer_function.dt,
693+
inputs=transfer_function.input_labels[i_in],
694+
outputs=transfer_function.output_labels[i_out],
695+
name=transfer_function.name
663696
)
664697
)
665698
tf_split_lst.append(row)

‎control/config.py

Lines changed: 28 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -73,6 +73,28 @@ def _check_deprecation(self, key):
7373
else:
7474
returnkey
7575

76+
#
77+
# Context manager functionality
78+
#
79+
80+
def__call__(self,mapping):
81+
self.saved_mapping=dict()
82+
self.temp_mapping=mapping.copy()
83+
returnself
84+
85+
def__enter__(self):
86+
forkey,valinself.temp_mapping.items():
87+
ifnotkeyinself:
88+
raiseValueError(f"unknown parameter '{key}'")
89+
self.saved_mapping[key]=self[key]
90+
self[key]=val
91+
returnself
92+
93+
def__exit__(self,exc_type,exc_val,exc_tb):
94+
forkey,valinself.saved_mapping.items():
95+
self[key]=val
96+
delself.saved_mapping,self.temp_mapping
97+
returnNone
7698

7799
defaults=DefaultDict(_control_defaults)
78100

@@ -266,7 +288,7 @@ def use_legacy_defaults(version):
266288
Parameters
267289
----------
268290
version : string
269-
Version number of the defaults desired. Ranges from '0.1' to '0.8.4'.
291+
Version number of the defaults desired. Ranges from '0.1' to '0.10.1'.
270292
271293
Examples
272294
--------
@@ -279,26 +301,26 @@ def use_legacy_defaults(version):
279301
(major,minor,patch)= (None,None,None)# default values
280302

281303
# Early release tag format: REL-0.N
282-
match=re.match("REL-0.([12])",version)
304+
match=re.match(r"^REL-0.([12])$",version)
283305
ifmatch: (major,minor,patch)= (0,int(match.group(1)),0)
284306

285307
# Early release tag format: control-0.Np
286-
match=re.match("control-0.([3-6])([a-d])",version)
308+
match=re.match(r"^control-0.([3-6])([a-d])$",version)
287309
ifmatch: (major,minor,patch)= \
288310
(0,int(match.group(1)),ord(match.group(2))-ord('a')+1)
289311

290312
# Early release tag format: v0.Np
291-
match=re.match("[vV]?0.([3-6])([a-d])",version)
313+
match=re.match(r"^[vV]?0\.([3-6])([a-d])$",version)
292314
ifmatch: (major,minor,patch)= \
293315
(0,int(match.group(1)),ord(match.group(2))-ord('a')+1)
294316

295317
# Abbreviated version format: vM.N or M.N
296-
match=re.match("([vV]?[0-9]).([0-9])",version)
318+
match=re.match(r"^[vV]?([0-9]*)\.([0-9]*)$",version)
297319
ifmatch: (major,minor,patch)= \
298320
(int(match.group(1)),int(match.group(2)),0)
299321

300322
# Standard version format: vM.N.P or M.N.P
301-
match=re.match("[vV]?([0-9]).([0-9]).([0-9])",version)
323+
match=re.match(r"^[vV]?([0-9]*)\.([0-9]*)\.([0-9]*)$",version)
302324
ifmatch: (major,minor,patch)= \
303325
(int(match.group(1)),int(match.group(2)),int(match.group(3)))
304326

‎control/frdata.py

Lines changed: 17 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -285,7 +285,6 @@ def __init__(self, *args, **kwargs):
285285
ifself.squeezenotin (None,True,False):
286286
raiseValueError("unknown squeeze value")
287287

288-
# Process iosys keywords
289288
defaults= {
290289
'inputs':self.fresp.shape[1]ifnotgetattr(
291290
self,'input_index',None)elseself.input_labels,
@@ -401,30 +400,37 @@ def __str__(self):
401400

402401
mimo=self.ninputs>1orself.noutputs>1
403402
outstr= [f"{InputOutputSystem.__str__(self)}"]
403+
nl="\n "ifmimoelse"\n"
404+
sp=" "ifmimoelse""
404405

405406
foriinrange(self.ninputs):
406407
forjinrange(self.noutputs):
407408
ifmimo:
408-
outstr.append("Input %i to output %i:"% (i+1,j+1))
409-
outstr.append('Freq [rad/s] Response')
410-
outstr.append('------------ ---------------------')
409+
outstr.append(
410+
"\nInput %i to output %i:"% (i+1,j+1))
411+
outstr.append(nl+'Freq [rad/s] Response')
412+
outstr.append(sp+'------------ ---------------------')
411413
outstr.extend(
412-
['%12.3f %10.4g%+10.4gj'% (w,re,im)
414+
[sp+'%12.3f %10.4g%+10.4gj'% (w,re,im)
413415
forw,re,iminzip(self.omega,
414416
real(self.fresp[j,i, :]),
415417
imag(self.fresp[j,i, :]))])
416418

417419
return'\n'.join(outstr)
418420

419-
def__repr__(self):
420-
"""Loadable string representation,
421-
422-
limited for number of data points.
423-
"""
424-
return"FrequencyResponseData({d}, {w}{smooth})".format(
421+
def_repr_eval_(self):
422+
# Loadable format
423+
out="FrequencyResponseData(\n{d},\n{w}{smooth}".format(
425424
d=repr(self.fresp),w=repr(self.omega),
426425
smooth=(self._ifuncand", smooth=True")or"")
427426

427+
out+=self._dt_repr()
428+
iflen(labels:=self._label_repr())>0:
429+
out+=",\n"+labels
430+
431+
out+=")"
432+
returnout
433+
428434
def__neg__(self):
429435
"""Negate a transfer function."""
430436

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