"""These are tests for the sisotool in sisotool.py."""

@pytest.fixture

def tsys(self, request):

"""Return a generic SISO transfer function"""

dt = getattr(request, 'param', 0)

return TransferFunction([1000], [1, 25, 100, 0], dt)

@pytest.fixture

def sys222(self):

"""2-states square system (2 inputs x 2 outputs)"""

A222 = [[4., 1.],

[2., -3]]

B222 = [[5., 2.],

[-3., -3.]]

C222 = [[2., -4],

[0., 1.]]

D222 = [[3., 2.],

[1., -1.]]

return StateSpace(A222, B222, C222, D222)

@pytest.fixture

def sys221(self):

"""2-states, 2 inputs x 1 output"""

A222 = [[4., 1.],

[2., -3]]

B222 = [[5., 2.],

[-3., -3.]]

C221 = [[0., 1.]]

D221 = [[1., -1.]]

return StateSpace(A222, B222, C221, D221)

@pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,

def test_sisotool(self, tsys):

sisotool(tsys, Hz=False)

fig = plt.gcf()

ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]

# Check the initial root locus plot points

initial_point_0 = (np.array([-22.53155977]), np.array([0.]))

initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))

initial_point_2 = (np.array([-1.23422011]), np.array([6.54667031]))

assert_array_almost_equal(ax_rlocus.lines[4].get_data(),

initial_point_0, 4)

assert_array_almost_equal(ax_rlocus.lines[5].get_data(),

initial_point_1, 4)

assert_array_almost_equal(ax_rlocus.lines[6].get_data(),

initial_point_2, 4)

# Check the step response before moving the point

step_response_original = np.array(

[0. , 0.0216, 0.1271, 0.3215, 0.5762, 0.8522, 1.1114, 1.3221,

1.4633, 1.5254])

assert_array_almost_equal(

ax_step.lines[0].get_data()[1][:10], step_response_original, 4)

bode_plot_params = {

'omega': None,

'dB': False,

'Hz': False,

'deg': True,

'omega_limits': None,

'omega_num': None,

'ax': np.array([[ax_mag], [ax_phase]]),

'display_margins': 'overlay',

}

# Check that the xaxes of the bode plot are shared before the rlocus click

assert ax_mag.get_xlim() == ax_phase.get_xlim()

ax_mag.set_xlim(2, 12)

assert ax_mag.get_xlim() == (2, 12)

assert ax_phase.get_xlim() == (2, 12)

# Move the rootlocus to another point

event = type('test', (object,), {'xdata': 2.31206868287,

'ydata': 15.5983051046,

'inaxes': ax_rlocus.axes})()

_click_dispatcher(event=event, sys=tsys, ax=ax_rlocus,

bode_plot_params=bode_plot_params, tvect=None)

# Check the moved root locus plot points

moved_point_0 = (np.array([-29.91742755]), np.array([0.]))

moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))

moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))

assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),

moved_point_0, 4)

assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),

moved_point_1, 4)

assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),

moved_point_2, 4)

# Check if the bode_mag line has moved

bode_mag_moved = np.array(

[69.0065, 68.6749, 68.3448, 68.0161, 67.6889, 67.3631, 67.0388,

66.7159, 66.3944, 66.0743])

assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],

bode_mag_moved, 4)

# Check if the step response has changed

step_response_moved = np.array(

[0. , 0.0237, 0.1596, 0.4511, 0.884 , 1.3985, 1.9031, 2.2922,

2.4676, 2.3606])

assert_array_almost_equal(

ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)

# Check that the xaxes of the bode plot are still shared after the rlocus click

assert ax_mag.get_xlim() == ax_phase.get_xlim()

ax_mag.set_xlim(3, 13)

assert ax_mag.get_xlim() == (3, 13)

assert ax_phase.get_xlim() == (3, 13)

@pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,

@pytest.mark.parametrize('tsys', [0, True],

def test_sisotool_tvect(self, tsys):

# test supply tvect

tvect = np.linspace(0, 1, 10)

sisotool(tsys, tvect=tvect)

fig = plt.gcf()

ax_rlocus, ax_step = fig.axes[1], fig.axes[3]

# Move the rootlocus to another point and confirm same tvect

event = type('test', (object,), {'xdata': 2.31206868287,

'ydata': 15.5983051046,

'inaxes': ax_rlocus.axes})()

_click_dispatcher(event=event, sys=tsys, ax=ax_rlocus,

bode_plot_params=dict(), tvect=tvect)

assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])

@pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,

def test_sisotool_initial_gain(self, tsys):

sisotool(tsys, initial_gain=1.2)

# kvect keyword should give deprecation warning

with pytest.warns(FutureWarning):

sisotool(tsys, kvect=1.2)

@pytest.mark.filterwarnings("ignore:connect:FutureWarning")

def test_sisotool_mimo(self, sys222, sys221):

# a 2x2 should not raise an error:

sisotool(sys222)

# but 2 input, 1 output should

with pytest.raises(ControlMIMONotImplemented):

@pytest.fixture

def plant(self, request):

plants = {

'syscont':TransferFunction(1,[1, 3, 0]),

'sysdisc1':c2d(TransferFunction(1,[1, 3, 0]), .1),

'syscont221':StateSpace([[-.3, 0],[1,0]],[[-1,],[.1,]], [0, -.3], 0)}

return plants[request.param]

# test permutations of system construction without plotting

@pytest.mark.parametrize('plant', ('syscont', 'sysdisc1', 'syscont221'), indirect=True)

@pytest.mark.parametrize('gain', ('P', 'I', 'D'))

@pytest.mark.parametrize('sign', (1,))

@pytest.mark.parametrize('input_signal', ('r', 'd'))

@pytest.mark.parametrize('Kp0', (0,))

@pytest.mark.parametrize('Ki0', (1.,))

@pytest.mark.parametrize('Kd0', (0.1,))

@pytest.mark.parametrize('deltaK', (1.,))

@pytest.mark.parametrize('tau', (0.01,))

@pytest.mark.parametrize('C_ff', (0, 1,))

@pytest.mark.parametrize('derivative_in_feedback_path', (True, False,))

@pytest.mark.parametrize("kwargs", [{'plot':False},])

def test_pid_designer_1(self, plant, gain, sign, input_signal, Kp0, Ki0, Kd0, deltaK, tau, C_ff,

derivative_in_feedback_path, kwargs):

rootlocus_pid_designer(plant, gain, sign, input_signal, Kp0, Ki0, Kd0, deltaK, tau, C_ff,

derivative_in_feedback_path, **kwargs)

# test creation of sisotool plot

# input from reference or disturbance

@pytest.mark.parametrize('plant', ('syscont', 'syscont221'), indirect=True)

@pytest.mark.parametrize("kwargs", [

@pytest.mark.filterwarnings("ignore:connect:FutureWarning")

def test_pid_designer_2(self, plant, kwargs):