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# type_conversion_test.py - test type conversions
# RMM, 3 Jan 2021
#
# This set of tests looks at how various classes are converted when using
# algebraic operations. See GitHub issue #459 for some discussion on what the
# desired combinations should be.
import control as ct
import numpy as np
import operator
import pytest
@pytest.fixture()
def sys_dict():
sdict = {}
sdict['ss'] = ct.StateSpace([[-1]], [[1]], [[1]], [[0]])
sdict['tf'] = ct.TransferFunction([1],[0.5, 1])
sdict['tfx'] = ct.TransferFunction([1, 1], [1]) # non-proper TF
sdict['frd'] = ct.frd([10+0j, 9 + 1j, 8 + 2j, 7 + 3j], [1, 2, 3, 4])
sdict['lio'] = ct.LinearIOSystem(ct.ss([[-1]], [[5]], [[5]], [[0]]))
sdict['ios'] = ct.NonlinearIOSystem(
lambda t, x, u, params: sdict['lio']._rhs(t, x, u),
lambda t, x, u, params: sdict['lio']._out(t, x, u),
inputs=1, outputs=1, states=1)
sdict['arr'] = np.array([[2.0]])
sdict['flt'] = 3.
return sdict
type_dict = {
'ss': ct.StateSpace, 'tf': ct.TransferFunction,
'frd': ct.FrequencyResponseData, 'lio': ct.LinearICSystem,
'ios': ct.InterconnectedSystem, 'arr': np.ndarray, 'flt': float}
#
# Current table of expected conversions
#
# This table describes all of the conversions that are supposed to
# happen for various system combinations. This is written out this way
# to make it easy to read, but this is converted below into a list of
# specific tests that can be iterated over.
#
# Items marked as 'E' should generate an exception.
#
# Items starting with 'x' currently generate an expected exception but
# should eventually generate a useful result (when everything is
# implemented properly).
#
# Note 1: some of the entries below are currently converted to to lower level
# types than needed. In particular, LinearIOSystems should combine with
# StateSpace and TransferFunctions in a way that preserves I/O system
# structure when possible.
#
# Note 2: eventually the operator entry for this table can be pulled out and
# tested as a separate parameterized variable (since all operators should
# return consistent values).
#
# Note 3: this table documents the current state, but not actually the desired
# state. See bottom of the file for the (eventual) desired behavior.
#
rtype_list = ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']
conversion_table = [
# op left ss tf frd lio ios arr flt
('add', 'ss', ['ss', 'ss', 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('add', 'tf', ['tf', 'tf', 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('add', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('add', 'lio', ['lio', 'lio', 'xrd', 'lio', 'ios', 'lio', 'lio']),
('add', 'ios', ['ios', 'ios', 'E', 'ios', 'ios', 'ios', 'ios']),
('add', 'arr', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'arr']),
('add', 'flt', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']),
# op left ss tf frd lio ios arr flt
('sub', 'ss', ['ss', 'ss', 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('sub', 'tf', ['tf', 'tf', 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('sub', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('sub', 'lio', ['lio', 'lio', 'xrd', 'lio', 'ios', 'lio', 'lio']),
('sub', 'ios', ['ios', 'ios', 'E', 'ios', 'ios', 'ios', 'ios']),
('sub', 'arr', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'arr']),
('sub', 'flt', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']),
# op left ss tf frd lio ios arr flt
('mul', 'ss', ['ss', 'ss', 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('mul', 'tf', ['tf', 'tf', 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('mul', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('mul', 'lio', ['lio', 'lio', 'xrd', 'lio', 'ios', 'lio', 'lio']),
('mul', 'ios', ['ios', 'ios', 'E', 'ios', 'ios', 'ios', 'ios']),
('mul', 'arr', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'arr']),
('mul', 'flt', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']),
# op left ss tf frd lio ios arr flt
('truediv', 'ss', ['xs', 'tf', 'frd', 'xio', 'xos', 'ss', 'ss' ]),
('truediv', 'tf', ['tf', 'tf', 'xrd', 'tf', 'xos', 'tf', 'tf' ]),
('truediv', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
('truediv', 'lio', ['xio', 'tf', 'frd', 'xio', 'xio', 'lio', 'lio']),
('truediv', 'ios', ['xos', 'xos', 'E', 'xos', 'xos', 'ios', 'ios']),
('truediv', 'arr', ['xs', 'tf', 'frd', 'xio', 'xos', 'arr', 'arr']),
('truediv', 'flt', ['xs', 'tf', 'frd', 'xio', 'xos', 'arr', 'flt'])]
# Now create list of the tests we actually want to run
test_matrix = []
for i, (opname, ltype, expected_list) in enumerate(conversion_table):
for rtype, expected in zip(rtype_list, expected_list):
# Add this to the list of tests to run
test_matrix.append([opname, ltype, rtype, expected])
@pytest.mark.parametrize("opname, ltype, rtype, expected", test_matrix)
def test_operator_type_conversion(opname, ltype, rtype, expected, sys_dict):
op = getattr(operator, opname)
leftsys = sys_dict[ltype]
rightsys = sys_dict[rtype]
# Get rid of warnings for InputOutputSystem objects by making a copy
if isinstance(leftsys, ct.InputOutputSystem) and leftsys == rightsys:
rightsys = leftsys.copy()
# Make sure we get the right result
if expected == 'E' or expected[0] == 'x':
# Exception expected
with pytest.raises(TypeError):
op(leftsys, rightsys)
else:
# Operation should work and return the given type
result = op(leftsys, rightsys)
# Print out what we are testing in case something goes wrong
assert isinstance(result, type_dict[expected])
#
# Updated table that describes desired outputs for all operators
#
# General rules (subject to change)
#
# * For LTI/LTI, keep the type of the left operand whenever possible. This
# prioritizes the first operand, but we need to watch out for non-proper
# transfer functions (in which case TransferFunction should be returned)
#
# * For FRD/LTI, convert LTI to FRD by evaluating the LTI transfer function
# at the FRD frequencies (can't got the other way since we can't convert
# an FRD object to state space/transfer function).
#
# * For IOS/LTI, convert to IOS. In the case of a linear I/O system (LIO),
# this will preserve the linear structure since the LTI system will
# be converted to state space.
#
# * When combining state space or transfer with linear I/O systems, the
# * output should be of type Linear IO system, since that maintains the
# * underlying state space attributes.
#
# Note: tfx = non-proper transfer function, order(num) > order(den)
#
type_list = ['ss', 'tf', 'tfx', 'frd', 'lio', 'ios', 'arr', 'flt']
conversion_table = [
('ss', ['ss', 'ss', 'tf' 'frd', 'lio', 'ios', 'ss', 'ss' ]),
('tf', ['tf', 'tf', 'tf' 'frd', 'lio', 'ios', 'tf', 'tf' ]),
('tfx', ['tf', 'tf', 'tf', 'frd', 'E', 'E', 'tf', 'tf' ]),
('frd', ['frd', 'frd', 'frd', 'frd', 'E', 'E', 'frd', 'frd']),
('lio', ['lio', 'lio', 'E', 'E', 'lio', 'ios', 'lio', 'lio']),
('ios', ['ios', 'ios', 'E', 'E', 'ios', 'ios', 'ios', 'ios']),
('arr', ['ss', 'tf', 'tf' 'frd', 'lio', 'ios', 'arr', 'arr']),
('flt', ['ss', 'tf', 'tf' 'frd', 'lio', 'ios', 'arr', 'flt'])]
@pytest.mark.skip(reason="future test; conversions not yet fully implemented")
# @pytest.mark.parametrize("opname", ['add', 'sub', 'mul', 'truediv'])
# @pytest.mark.parametrize("opname", ['add', 'sub', 'mul'])
# @pytest.mark.parametrize("ltype", type_list)
# @pytest.mark.parametrize("rtype", type_list)
def test_binary_op_type_conversions(opname, ltype, rtype, sys_dict):
op = getattr(operator, opname)
leftsys = sys_dict[ltype]
rightsys = sys_dict[rtype]
expected = \
conversion_table[type_list.index(ltype)][1][type_list.index(rtype)]
# Get rid of warnings for InputOutputSystem objects by making a copy
if isinstance(leftsys, ct.InputOutputSystem) and leftsys == rightsys:
rightsys = leftsys.copy()
# Make sure we get the right result
if expected == 'E' or expected[0] == 'x':
# Exception expected
with pytest.raises(TypeError):
op(leftsys, rightsys)
else:
# Operation should work and return the given type
result = op(leftsys, rightsys)
# Print out what we are testing in case something goes wrong
assert isinstance(result, type_dict[expected])
# Make sure that input, output, and state names make sense
assert len(result.input_labels) == result.ninputs
assert len(result.output_labels) == result.noutputs
if result.nstates is not None:
assert len(result.state_labels) == result.nstates
@pytest.mark.parametrize(
"typelist, connections, inplist, outlist, expected", [
(['lio', 'lio'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['lio', 'ss'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['ss', 'lio'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['ss', 'ss'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['lio', 'tf'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'lio'),
(['lio', 'frd'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'E'),
(['ios', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['lio', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['ss', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['tf', 'ios'], [[(1, 0), (0, 0)]], [[(0, 0)]], [[(1, 0)]], 'ios'),
(['lio', 'ss', 'tf'],
[[(1, 0), (0, 0)], [(2, 0), (1, 0)]], [[(0, 0)]], [[(2, 0)]], 'lio'),
(['ios', 'ss', 'tf'],
[[(1, 0), (0, 0)], [(2, 0), (1, 0)]], [[(0, 0)]], [[(2, 0)]], 'ios'),
])
def test_interconnect(
typelist, connections, inplist, outlist, expected, sys_dict):
# Create the system list
syslist = [sys_dict[_type] for _type in typelist]
# Make copies of any duplicates
for sysidx, sys in enumerate(syslist):
if sys == syslist[0]:
syslist[sysidx] = sys.copy()
# Make sure we get the right result
if expected == 'E' or expected[0] == 'x':
# Exception expected
with pytest.raises(TypeError):
result = ct.interconnect(syslist, connections, inplist, outlist)
else:
result = ct.interconnect(syslist, connections, inplist, outlist)
# Make sure the type is correct
assert isinstance(result, type_dict[expected])
# Make sure we can evaluate the dynamics
np.testing.assert_equal(
result.dynamics(
0, np.zeros(result.nstates), np.zeros(result.ninputs)),
np.zeros(result.nstates))