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#!/usr/bin/env python
#
# config_test.py - test config module
# RMM, 25 may 2019
#
# This test suite checks the functionality of the config module
import unittest
import numpy as np
import control as ct
import matplotlib.pyplot as plt
from math import pi, log10
class TestConfig(unittest.TestCase):
def setUp(self):
# Create a simple second order system to use for testing
self.sys = ct.tf([10], [1, 2, 1])
def test_set_defaults(self):
ct.config.set_defaults('config', test1=1, test2=2, test3=None)
self.assertEqual(ct.config.defaults['config.test1'], 1)
self.assertEqual(ct.config.defaults['config.test2'], 2)
self.assertEqual(ct.config.defaults['config.test3'], None)
def test_get_param(self):
self.assertEqual(
ct.config._get_param('bode', 'dB'),
ct.config.defaults['bode.dB'])
self.assertEqual(ct.config._get_param('bode', 'dB', 1), 1)
ct.config.defaults['config.test1'] = 1
self.assertEqual(ct.config._get_param('config', 'test1', None), 1)
self.assertEqual(ct.config._get_param('config', 'test1', None, 1), 1)
ct.config.defaults['config.test3'] = None
self.assertEqual(ct.config._get_param('config', 'test3'), None)
self.assertEqual(ct.config._get_param('config', 'test3', 1), 1)
self.assertEqual(
ct.config._get_param('config', 'test3', None, 1), None)
self.assertEqual(ct.config._get_param('config', 'test4'), None)
self.assertEqual(ct.config._get_param('config', 'test4', 1), 1)
self.assertEqual(ct.config._get_param('config', 'test4', 2, 1), 2)
self.assertEqual(ct.config._get_param('config', 'test4', None, 3), 3)
self.assertEqual(
ct.config._get_param('config', 'test4', {'test4':1}, None), 1)
def test_fbs_bode(self):
ct.use_fbs_defaults();
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega)
# Get the magnitude line
mag_axis = plt.gcf().axes[0]
mag_line = mag_axis.get_lines()
mag_data = mag_line[0].get_data()
mag_x, mag_y = mag_data
# Make sure the x-axis is in rad/sec and y-axis is in natural units
np.testing.assert_almost_equal(mag_x[0], 0.001, decimal=6)
np.testing.assert_almost_equal(mag_y[0], 10, decimal=3)
# Get the phase line
phase_axis = plt.gcf().axes[1]
phase_line = phase_axis.get_lines()
phase_data = phase_line[0].get_data()
phase_x, phase_y = phase_data
# Make sure the x-axis is in rad/sec and y-axis is in degrees
np.testing.assert_almost_equal(phase_x[-1], 1000, decimal=0)
np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
# Override the defaults and make sure that works as well
plt.figure()
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
plt.figure()
ct.bode_plot(self.sys, omega, deg=False)
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_matlab_bode(self):
ct.use_matlab_defaults();
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega)
# Get the magnitude line
mag_axis = plt.gcf().axes[0]
mag_line = mag_axis.get_lines()
mag_data = mag_line[0].get_data()
mag_x, mag_y = mag_data
# Make sure the x-axis is in Hertz and y-axis is in dB
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
# Get the phase line
phase_axis = plt.gcf().axes[1]
phase_line = phase_axis.get_lines()
phase_data = phase_line[0].get_data()
phase_x, phase_y = phase_data
# Make sure the x-axis is in Hertz and y-axis is in degrees
np.testing.assert_almost_equal(phase_x[-1], 1000 / (2*pi), decimal=1)
np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
# Override the defaults and make sure that works as well
plt.figure()
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
plt.figure()
ct.bode_plot(self.sys, omega, deg=False)
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_custom_bode_default(self):
ct.config.defaults['bode.dB'] = True
ct.config.defaults['bode.deg'] = True
ct.config.defaults['bode.Hz'] = True
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
# Override defaults
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True, deg=False, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_bode_number_of_samples(self):
# Set the number of samples (default is 50, from np.logspace)
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
self.assertEqual(len(mag_ret), 87)
# Change the default number of samples
ct.config.defaults['freqplot.number_of_samples'] = 76
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys)
self.assertEqual(len(mag_ret), 76)
# Override the default number of samples
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
self.assertEqual(len(mag_ret), 87)
ct.reset_defaults()
def test_bode_feature_periphery_decade(self):
# Generate a sample Bode plot to figure out the range it uses
ct.reset_defaults() # Make sure starting state is correct
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
omega_min, omega_max = omega_ret[[0, -1]]
# Reset the periphery decade value (should add one decade on each end)
ct.config.defaults['freqplot.feature_periphery_decades'] = 2
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
np.testing.assert_almost_equal(omega_ret[0], omega_min/10)
np.testing.assert_almost_equal(omega_ret[-1], omega_max * 10)
# Make sure it also works in rad/sec, in opposite direction
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
omega_min, omega_max = omega_ret[[0, -1]]
ct.config.defaults['freqplot.feature_periphery_decades'] = 1
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
np.testing.assert_almost_equal(omega_ret[0], omega_min*10)
np.testing.assert_almost_equal(omega_ret[-1], omega_max/10)
ct.reset_defaults()
def test_reset_defaults(self):
ct.use_matlab_defaults()
ct.reset_defaults()
self.assertEqual(ct.config.defaults['bode.dB'], False)
self.assertEqual(ct.config.defaults['bode.deg'], True)
self.assertEqual(ct.config.defaults['bode.Hz'], False)
self.assertEqual(
ct.config.defaults['freqplot.number_of_samples'], None)
self.assertEqual(
ct.config.defaults['freqplot.feature_periphery_decades'], 1.0)
def tearDown(self):
# Get rid of any figures that we created
plt.close('all')
# Reset the configuration defaults
ct.config.reset_defaults()
def suite():
return unittest.TestLoader().loadTestsFromTestCase(TestTimeresp)
if __name__ == '__main__':
unittest.main()