changes to enable package-wide default, 'control.default_dt')

sawyerbfuller · bnavigator · commit 0223b82ca46d · 2020-12-31T01:25:42.000+01:00
diff --git a/control/config.py b/control/config.py
@@ -15,7 +15,7 @@
 
 # Package level default values
 _control_defaults = {
-    # No package level defaults (yet)
+    'control.default_dt':0
 }
 defaults = dict(_control_defaults)
 
@@ -216,8 +216,6 @@ def use_legacy_defaults(version):
         # switched to 'array' as default for state space objects
         set_defaults('statesp', use_numpy_matrix=True)
         # switched to 0 (=continuous) as default timestep
-        set_defaults('statesp', default_dt=None)
-        set_defaults('xferfcn', default_dt=None)
-        set_defaults('iosys', default_dt=None)
+        set_defaults('control', default_dt=None)
 
     return (major, minor, patch)
diff --git a/control/iosys.py b/control/iosys.py
@@ -46,8 +46,7 @@
            'linearize', 'ss2io', 'tf2io']
 
 # Define module default parameter values
-_iosys_defaults = {
-    'iosys.default_dt': 0}
+_iosys_defaults = {}
 
 class InputOutputSystem(object):
     """A class for representing input/output systems.
@@ -166,9 +165,13 @@ def __init__(self, inputs=None, outputs=None, states=None, params={},
 
         """
         # Store the input arguments
-        self.params = params.copy()             # default parameters
-        self.dt = kwargs.get('dt', config.defaults['iosys.default_dt'])                    # timebase
-        self.name = self.name_or_default(name)  # system name
+
+        # default parameters
+        self.params = params.copy()
+        # timebase
+        self.dt = kwargs.get('dt', config.defaults['control.default_dt'])
+        # system name
+        self.name = self.name_or_default(name)
 
         # Parse and store the number of inputs, outputs, and states
         self.set_inputs(inputs)
@@ -724,7 +727,7 @@ def __init__(self, updfcn, outfcn=None, inputs=None, outputs=None,
         self.outfcn = outfcn
 
         # Initialize the rest of the structure
-        dt = kwargs.get('dt', config.defaults['iosys.default_dt'])
+        dt = kwargs.get('dt', config.defaults['control.default_dt'])
         super(NonlinearIOSystem, self).__init__(
             inputs=inputs, outputs=outputs, states=states,
             params=params, dt=dt, name=name
diff --git a/control/statesp.py b/control/statesp.py
@@ -72,7 +72,6 @@
 # Define module default parameter values
 _statesp_defaults = {
     'statesp.use_numpy_matrix': False,  # False is default in 0.9.0 and above
-    'statesp.default_dt': 0,
     'statesp.remove_useless_states': True,
 }
 
@@ -155,8 +154,8 @@ class StateSpace(LTI):
     Setting dt = 0 specifies a continuous system, while leaving dt = None
     means the system timebase is not specified.  If 'dt' is set to True, the
     system will be treated as a discrete time system with unspecified sampling
-    time. The default value of 'dt' is None and can be changed by changing the
-    value of ``control.config.defaults['statesp.default_dt']``.
+    time. The default value of 'dt' is 0 and can be changed by changing the
+    value of ``control.config.defaults['control.default_dt']``.
 
     """
 
@@ -180,10 +179,10 @@ def __init__(self, *args, **kw):
         if len(args) == 4:
             # The user provided A, B, C, and D matrices.
             (A, B, C, D) = args
-            if _isstaticgain(A, B, C, D): 
+            if _isstaticgain(A, B, C, D):
                 dt = None
             else:
-                dt = config.defaults['statesp.default_dt']
+                dt = config.defaults['control.default_dt']
         elif len(args) == 5:
             # Discrete time system
             (A, B, C, D, dt) = args
@@ -199,10 +198,10 @@ def __init__(self, *args, **kw):
             try:
                 dt = args[0].dt
             except NameError:
-                if _isstaticgain(A, B, C, D): 
+                if _isstaticgain(A, B, C, D):
                     dt = None
                 else:
-                    dt = config.defaults['statesp.default_dt']
+                    dt = config.defaults['control.default_dt']
         else:
             raise ValueError("Expected 1, 4, or 5 arguments; received %i." % len(args))
 
@@ -1268,7 +1267,7 @@ def _mimo2simo(sys, input, warn_conversion=False):
     return sys
 
 def _isstaticgain(A, B, C, D):
-    """returns True if and only if the system has no dynamics, that is, 
+    """returns True if and only if the system has no dynamics, that is,
     if A and B are zero. """
     return not np.any(np.matrix(A, dtype=float)) \
         and not np.any(np.matrix(B, dtype=float))
diff --git a/control/tests/config_test.py b/control/tests/config_test.py
@@ -234,20 +234,17 @@ def test_legacy_defaults(self):
     @pytest.mark.parametrize("dt", [0, None])
     def test_change_default_dt(self, dt):
         """Test that system with dynamics uses correct default dt"""
-        ct.set_defaults('statesp', default_dt=dt)
+        ct.set_defaults('control', default_dt=dt)
         assert ct.ss(1, 0, 0, 1).dt == dt
-        ct.set_defaults('xferfcn', default_dt=dt)
         assert ct.tf(1, [1, 1]).dt == dt
-
-        # nlsys = ct.iosys.NonlinearIOSystem(
-        #     lambda t, x, u: u * x * x,
-        #     lambda t, x, u: x, inputs=1, outputs=1)
-        # assert nlsys.dt == dt
+        nlsys = ct.iosys.NonlinearIOSystem(
+            lambda t, x, u: u * x * x,
+            lambda t, x, u: x, inputs=1, outputs=1)
+        assert nlsys.dt == dt
 
     def test_change_default_dt_static(self):
         """Test that static gain systems always have dt=None"""
-        ct.set_defaults('xferfcn', default_dt=0)
+        ct.set_defaults('control', default_dt=0)
         assert ct.tf(1, 1).dt is None
-        ct.set_defaults('statesp', default_dt=0)
         assert ct.ss(0, 0, 0, 1).dt is None
         # TODO: add in test for static gain iosys
diff --git a/control/xferfcn.py b/control/xferfcn.py
@@ -70,8 +70,7 @@
 
 
 # Define module default parameter values
-_xferfcn_defaults = {
-    'xferfcn.default_dt': 0}
+_xferfcn_defaults = {}
 
 class TransferFunction(LTI):
 
@@ -95,8 +94,8 @@ class TransferFunction(LTI):
     has a non-zero value, then it must match whenever two transfer functions
     are combined.  If 'dt' is set to True, the system will be treated as a
     discrete time system with unspecified sampling time. The default value of
-    'dt' is None and can be changed by changing the value of
-    ``control.config.defaults['xferfcn.default_dt']``.
+    'dt' is 0 and can be changed by changing the value of
+    ``control.config.defaults['control.default_dt']``.
 
     The TransferFunction class defines two constants ``s`` and ``z`` that
     represent the differentiation and delay operators in continuous and
@@ -127,8 +126,8 @@ def __init__(self, *args):
             (num, den) = args
             if _isstaticgain(num, den):
                 dt = None
-            else: 
-                dt = config.defaults['xferfcn.default_dt']
+            else:
+                dt = config.defaults['control.default_dt']
         elif len(args) == 3:
             # Discrete time transfer function
             (num, den, dt) = args
@@ -146,8 +145,8 @@ def __init__(self, *args):
             except NameError:   # pragma: no coverage
                 if _isstaticgain(num, den):
                     dt = None
-                else: 
-                    dt = config.defaults['xferfcn.default_dt']
+                else:
+                    dt = config.defaults['control.default_dt']
         else:
             raise ValueError("Needs 1, 2 or 3 arguments; received %i."
                              % len(args))
@@ -421,7 +420,7 @@ def __mul__(self, other):
         outputs = self.outputs
 
         dt = common_timebase(self.dt, other.dt)
-        
+
         # Preallocate the numerator and denominator of the sum.
         num = [[[0] for j in range(inputs)] for i in range(outputs)]
         den = [[[1] for j in range(inputs)] for i in range(outputs)]
@@ -1083,16 +1082,16 @@ def _dcgain_cont(self):
         return np.squeeze(gain)
 
     def is_static_gain(self):
-         """returns True if and only if all of the numerator and denominator 
-         polynomials of the (possibly MIMO) transfer function are zeroth order, 
+         """returns True if and only if all of the numerator and denominator
+         polynomials of the (possibly MIMO) transfer function are zeroth order,
          that is, if the system has no dynamics. """
-         for list_of_polys in self.num, self.den: 
+         for list_of_polys in self.num, self.den:
              for row in list_of_polys:
                  for poly in row:
-                     if len(poly) > 1: 
+                     if len(poly) > 1:
                          return False
          return True
-         
+
 # c2d function contributed by Benjamin White, Oct 2012
 def _c2d_matched(sysC, Ts):
     # Pole-zero match method of continuous to discrete time conversion
@@ -1566,15 +1565,15 @@ def _clean_part(data):
     return data
 
 def _isstaticgain(num, den):
-    """returns True if and only if all of the numerator and denominator 
-    polynomials of the (possibly MIMO) transfer funnction are zeroth order, 
+    """returns True if and only if all of the numerator and denominator
+    polynomials of the (possibly MIMO) transfer funnction are zeroth order,
     that is, if the system has no dynamics. """
     num, den = _clean_part(num), _clean_part(den)
-    for list_of_polys in num, den: 
+    for list_of_polys in num, den:
         for row in list_of_polys:
             for poly in row:
                 poly_trimmed = np.trim_zeros(poly, 'f') # trim leading zeros
-                if len(poly_trimmed) > 1: 
+                if len(poly_trimmed) > 1:
                     return False
     return True
 
