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murrayrmmurrayrm
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PEP8 cleanup
1 parent fa041b6 commit 4f08382

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Lines changed: 87 additions & 56 deletions

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‎control/iosys.py‎

Lines changed: 87 additions & 56 deletions
Original file line numberDiff line numberDiff line change
@@ -48,6 +48,7 @@
4848
# Define module default parameter values
4949
_iosys_defaults = {}
5050

51+
5152
class InputOutputSystem(object):
5253
"""A class for representing input/output systems.
5354
@@ -75,7 +76,7 @@ class for a set of subclasses that are used to implement specific
7576
System timebase. 0 (default) indicates continuous
7677
time, True indicates discrete time with unspecified sampling
7778
time, positive number is discrete time with specified
78-
sampling time, None indicates unspecified timebase (either
79+
sampling time, None indicates unspecified timebase (either
7980
continuous or discrete time).
8081
params : dict, optional
8182
Parameter values for the systems. Passed to the evaluation functions
@@ -95,7 +96,7 @@ class for a set of subclasses that are used to implement specific
9596
System timebase. 0 (default) indicates continuous
9697
time, True indicates discrete time with unspecified sampling
9798
time, positive number is discrete time with specified
98-
sampling time, None indicates unspecified timebase (either
99+
sampling time, None indicates unspecified timebase (either
99100
continuous or discrete time).
100101
params : dict, optional
101102
Parameter values for the systems. Passed to the evaluation functions
@@ -118,6 +119,7 @@ class for a set of subclasses that are used to implement specific
118119
"""
119120

120121
idCounter = 0
122+
121123
def name_or_default(self, name=None):
122124
if name is None:
123125
name = "sys[{}]".format(InputOutputSystem.idCounter)
@@ -153,15 +155,15 @@ def __init__(self, inputs=None, outputs=None, states=None, params={},
153155
System timebase. 0 (default) indicates continuous
154156
time, True indicates discrete time with unspecified sampling
155157
time, positive number is discrete time with specified
156-
sampling time, None indicates unspecified timebase (either
158+
sampling time, None indicates unspecified timebase (either
157159
continuous or discrete time).
158160
params : dict, optional
159161
Parameter values for the systems. Passed to the evaluation
160162
functions for the system as default values, overriding internal
161163
defaults.
162164
name : string, optional
163-
System name (used for specifying signals). If unspecified, a generic
164-
name <sys[id]> is generated with a unique integer id.
165+
System name (used for specifying signals). If unspecified, a
166+
generic name <sys[id]> is generated with a unique integer id.
165167
166168
Returns
167169
-------
@@ -190,11 +192,14 @@ def __str__(self):
190192
"""String representation of an input/output system"""
191193
str = "System: " + (self.name if self.name else "(None)") + "\n"
192194
str += "Inputs (%s): " % self.ninputs
193-
for key in self.input_index: str += key + ", "
195+
for key in self.input_index:
196+
str += key + ", "
194197
str += "\nOutputs (%s): " % self.noutputs
195-
for key in self.output_index: str += key + ", "
198+
for key in self.output_index:
199+
str += key + ", "
196200
str += "\nStates (%s): " % self.nstates
197-
for key in self.state_index: str += key + ", "
201+
for key in self.state_index:
202+
str += key + ", "
198203
return str
199204

200205
def __mul__(sys2, sys1):
@@ -224,10 +229,11 @@ def __mul__(sys2, sys1):
224229
# Make sure timebase are compatible
225230
dt = common_timebase(sys1.dt, sys2.dt)
226231

227-
inplist = [(0,i) for i in range(sys1.ninputs)]
228-
outlist = [(1,i) for i in range(sys2.noutputs)]
232+
inplist = [(0, i) for i in range(sys1.ninputs)]
233+
outlist = [(1, i) for i in range(sys2.noutputs)]
229234
# Return the series interconnection between the systems
230-
newsys = InterconnectedSystem((sys1, sys2), inplist=inplist, outlist=outlist)
235+
newsys = InterconnectedSystem(
236+
(sys1, sys2), inplist=inplist, outlist=outlist)
231237

232238
# Set up the connection map manually
233239
newsys.set_connect_map(np.block(
@@ -281,10 +287,11 @@ def __add__(sys1, sys2):
281287
ninputs = sys1.ninputs
282288
noutputs = sys1.noutputs
283289

284-
inplist = [[(0,i),(1,i)] for i in range(ninputs)]
285-
outlist = [[(0,i),(1,i)] for i in range(noutputs)]
290+
inplist = [[(0, i), (1, i)] for i in range(ninputs)]
291+
outlist = [[(0, i), (1, i)] for i in range(noutputs)]
286292
# Create a new system to handle the composition
287-
newsys = InterconnectedSystem((sys1, sys2), inplist=inplist, outlist=outlist)
293+
newsys = InterconnectedSystem(
294+
(sys1, sys2), inplist=inplist, outlist=outlist)
288295

289296
# Return the newly created system
290297
return newsys
@@ -303,10 +310,11 @@ def __neg__(sys):
303310
if sys.ninputs is None or sys.noutputs is None:
304311
raise ValueError("Can't determine number of inputs or outputs")
305312

306-
inplist = [(0,i) for i in range(sys.ninputs)]
307-
outlist = [(0,i,-1) for i in range(sys.noutputs)]
313+
inplist = [(0, i) for i in range(sys.ninputs)]
314+
outlist = [(0, i, -1) for i in range(sys.noutputs)]
308315
# Create a new system to hold the negation
309-
newsys = InterconnectedSystem((sys,), dt=sys.dt, inplist=inplist, outlist=outlist)
316+
newsys = InterconnectedSystem(
317+
(sys,), dt=sys.dt, inplist=inplist, outlist=outlist)
310318

311319
# Return the newly created system
312320
return newsys
@@ -476,12 +484,13 @@ def feedback(self, other=1, sign=-1, params={}):
476484
# Make sure timebases are compatible
477485
dt = common_timebase(self.dt, other.dt)
478486

479-
inplist = [(0,i) for i in range(self.ninputs)]
480-
outlist = [(0,i) for i in range(self.noutputs)]
487+
inplist = [(0, i) for i in range(self.ninputs)]
488+
outlist = [(0, i) for i in range(self.noutputs)]
481489

482490
# Return the series interconnection between the systems
483-
newsys = InterconnectedSystem((self, other), inplist=inplist, outlist=outlist,
484-
params=params, dt=dt)
491+
newsys = InterconnectedSystem(
492+
(self, other), inplist=inplist, outlist=outlist,
493+
params=params, dt=dt)
485494

486495
# Set up the connecton map manually
487496
newsys.set_connect_map(np.block(
@@ -514,8 +523,10 @@ def linearize(self, x0, u0, t=0, params={}, eps=1e-6,
514523
ninputs = _find_size(self.ninputs, u0)
515524

516525
# Convert x0, u0 to arrays, if needed
517-
if np.isscalar(x0): x0 = np.ones((nstates,)) * x0
518-
if np.isscalar(u0): u0 = np.ones((ninputs,)) * u0
526+
if np.isscalar(x0):
527+
x0 = np.ones((nstates,)) * x0
528+
if np.isscalar(u0):
529+
u0 = np.ones((ninputs,)) * u0
519530

520531
# Compute number of outputs by evaluating the output function
521532
noutputs = _find_size(self.noutputs, self._out(t, x0, u0))
@@ -566,7 +577,8 @@ def linearize(self, x0, u0, t=0, params={}, eps=1e-6,
566577
def copy(self, newname=None):
567578
"""Make a copy of an input/output system."""
568579
newsys = copy.copy(self)
569-
newsys.name = self.name_or_default("copy of " + self.name if not newname else newname)
580+
newsys.name = self.name_or_default(
581+
"copy of " + self.name if not newname else newname)
570582
return newsys
571583

572584

@@ -605,15 +617,15 @@ def __init__(self, linsys, inputs=None, outputs=None, states=None,
605617
System timebase. 0 (default) indicates continuous
606618
time, True indicates discrete time with unspecified sampling
607619
time, positive number is discrete time with specified
608-
sampling time, None indicates unspecified timebase (either
620+
sampling time, None indicates unspecified timebase (either
609621
continuous or discrete time).
610622
params : dict, optional
611623
Parameter values for the systems. Passed to the evaluation
612624
functions for the system as default values, overriding internal
613625
defaults.
614626
name : string, optional
615-
System name (used for specifying signals). If unspecified, a generic
616-
name <sys[id]> is generated with a unique integer id.
627+
System name (used for specifying signals). If unspecified, a
628+
generic name <sys[id]> is generated with a unique integer id.
617629
618630
Returns
619631
-------
@@ -729,11 +741,11 @@ def __init__(self, updfcn, outfcn=None, inputs=None, outputs=None,
729741
* dt = 0: continuous time system (default)
730742
* dt > 0: discrete time system with sampling period 'dt'
731743
* dt = True: discrete time with unspecified sampling period
732-
* dt = None: no timebase specified
744+
* dt = None: no timebase specified
733745
734746
name : string, optional
735-
System name (used for specifying signals). If unspecified, a generic
736-
name <sys[id]> is generated with a unique integer id.
747+
System name (used for specifying signals). If unspecified, a
748+
generic name <sys[id]> is generated with a unique integer id.
737749
738750
Returns
739751
-------
@@ -899,23 +911,28 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
899911
* dt = 0: continuous time system (default)
900912
* dt > 0: discrete time system with sampling period 'dt'
901913
* dt = True: discrete time with unspecified sampling period
902-
* dt = None: no timebase specified
914+
* dt = None: no timebase specified
903915
904916
name : string, optional
905-
System name (used for specifying signals). If unspecified, a generic
906-
name <sys[id]> is generated with a unique integer id.
917+
System name (used for specifying signals). If unspecified, a
918+
generic name <sys[id]> is generated with a unique integer id.
907919
908920
"""
909921
# Convert input and output names to lists if they aren't already
910-
if not isinstance(inplist, (list, tuple)): inplist = [inplist]
911-
if not isinstance(outlist, (list, tuple)): outlist = [outlist]
922+
if not isinstance(inplist, (list, tuple)):
923+
inplist = [inplist]
924+
if not isinstance(outlist, (list, tuple)):
925+
outlist = [outlist]
912926

913927
# Check to make sure all systems are consistent
914928
self.syslist = syslist
915929
self.syslist_index = {}
916-
nstates = 0; self.state_offset = []
917-
ninputs = 0; self.input_offset = []
918-
noutputs = 0; self.output_offset = []
930+
nstates = 0
931+
self.state_offset = []
932+
ninputs = 0
933+
self.input_offset = []
934+
noutputs = 0
935+
self.output_offset = []
919936
sysobj_name_dct = {}
920937
sysname_count_dct = {}
921938
for sysidx, sys in enumerate(syslist):
@@ -943,14 +960,16 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
943960
# Duplicates are renamed sysname_1, sysname_2, etc.
944961
if sys in sysobj_name_dct:
945962
sys = sys.copy()
946-
warn("Duplicate object found in system list: %s. Making a copy" % str(sys))
963+
warn("Duplicate object found in system list: %s. "
964+
"Making a copy" % str(sys))
947965
if sys.name is not None and sys.name in sysname_count_dct:
948966
count = sysname_count_dct[sys.name]
949967
sysname_count_dct[sys.name] += 1
950968
sysname = sys.name + "_" + str(count)
951969
sysobj_name_dct[sys] = sysname
952970
self.syslist_index[sysname] = sysidx
953-
warn("Duplicate name found in system list. Renamed to {}".format(sysname))
971+
warn("Duplicate name found in system list. "
972+
"Renamed to {}".format(sysname))
954973
else:
955974
sysname_count_dct[sys.name] = 1
956975
sysobj_name_dct[sys] = sys.name
@@ -959,7 +978,8 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
959978
if states is None:
960979
states = []
961980
for sys, sysname in sysobj_name_dct.items():
962-
states += [sysname + '.' + statename for statename in sys.state_index.keys()]
981+
states += [sysname + '.' +
982+
statename for statename in sys.state_index.keys()]
963983

964984
# Create the I/O system
965985
super(InterconnectedSystem, self).__init__(
@@ -989,14 +1009,16 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
9891009
# Convert the input list to a matrix: maps system to subsystems
9901010
self.input_map = np.zeros((ninputs, self.ninputs))
9911011
for index, inpspec in enumerate(inplist):
992-
if isinstance(inpspec, (int, str, tuple)): inpspec = [inpspec]
1012+
if isinstance(inpspec, (int, str, tuple)):
1013+
inpspec = [inpspec]
9931014
for spec in inpspec:
9941015
self.input_map[self._parse_input_spec(spec), index] = 1
9951016

9961017
# Convert the output list to a matrix: maps subsystems to system
9971018
self.output_map = np.zeros((self.noutputs, noutputs + ninputs))
9981019
for index, outspec in enumerate(outlist):
999-
if isinstance(outspec, (int, str, tuple)): outspec = [outspec]
1020+
if isinstance(outspec, (int, str, tuple)):
1021+
outspec = [outspec]
10001022
for spec in outspec:
10011023
ylist_index, gain = self._parse_output_spec(spec)
10021024
self.output_map[index, ylist_index] = gain
@@ -1041,7 +1063,7 @@ def _rhs(self, t, x, u):
10411063

10421064
# Go through each system and update the right hand side for that system
10431065
xdot = np.zeros((self.nstates,)) # Array to hold results
1044-
state_index = 0; input_index = 0 # Start at the beginning
1066+
state_index, input_index = 0, 0 # Start at the beginning
10451067
for sys in self.syslist:
10461068
# Update the right hand side for this subsystem
10471069
if sys.nstates != 0:
@@ -1084,7 +1106,7 @@ def _compute_static_io(self, t, x, u):
10841106
# TODO (later): see if there is a more efficient way to compute
10851107
cycle_count = len(self.syslist) + 1
10861108
while cycle_count > 0:
1087-
state_index = 0; input_index = 0; output_index = 0
1109+
state_index, input_index, output_index = 0, 0, 0
10881110
for sys in self.syslist:
10891111
# Compute outputs for each system from current state
10901112
ysys = sys._out(
@@ -1097,8 +1119,8 @@ def _compute_static_io(self, t, x, u):
10971119

10981120
# Store the input in the second part of ylist
10991121
ylist[noutputs + input_index:
1100-
noutputs + input_index + sys.ninputs] = \
1101-
ulist[input_index:input_index + sys.ninputs]
1122+
noutputs + input_index + sys.ninputs] = \
1123+
ulist[input_index:input_index + sys.ninputs]
11021124

11031125
# Increment the index pointers
11041126
state_index += sys.nstates
@@ -1229,7 +1251,8 @@ def _parse_signal(self, spec, signame='input', dictname=None):
12291251
return spec
12301252

12311253
# Figure out the name of the dictionary to use
1232-
if dictname is None: dictname = signame + '_index'
1254+
if dictname is None:
1255+
dictname = signame + '_index'
12331256

12341257
if isinstance(spec, str):
12351258
# If we got a dotted string, break up into pieces
@@ -1415,7 +1438,8 @@ def input_output_response(sys, T, U=0., X0=0, params={}, method='RK45',
14151438
for i in range(len(T)):
14161439
u = U[i] if len(U.shape) == 1 else U[:, i]
14171440
y[:, i] = sys._out(T[i], [], u)
1418-
if (squeeze): y = np.squeeze(y)
1441+
if squeeze:
1442+
y = np.squeeze(y)
14191443
if return_x:
14201444
return T, y, []
14211445
else:
@@ -1495,7 +1519,8 @@ def ivp_rhs(t, x): return sys._rhs(t, x, u(t))
14951519
raise TypeError("Can't determine system type")
14961520

14971521
# Get rid of extra dimensions in the output, of desired
1498-
if (squeeze): y = np.squeeze(y)
1522+
if squeeze:
1523+
y = np.squeeze(y)
14991524

15001525
if return_x:
15011526
return soln.t, y, soln.y
@@ -1580,9 +1605,12 @@ def find_eqpt(sys, x0, u0=[], y0=None, t=0, params={},
15801605
noutputs = _find_size(sys.noutputs, y0)
15811606

15821607
# Convert x0, u0, y0 to arrays, if needed
1583-
if np.isscalar(x0): x0 = np.ones((nstates,)) * x0
1584-
if np.isscalar(u0): u0 = np.ones((ninputs,)) * u0
1585-
if np.isscalar(y0): y0 = np.ones((ninputs,)) * y0
1608+
if np.isscalar(x0):
1609+
x0 = np.ones((nstates,)) * x0
1610+
if np.isscalar(u0):
1611+
u0 = np.ones((ninputs,)) * u0
1612+
if np.isscalar(y0):
1613+
y0 = np.ones((ninputs,)) * y0
15861614

15871615
# Discrete-time not yet supported
15881616
if isdtime(sys, strict=True):
@@ -1718,7 +1746,8 @@ def rootfun(z):
17181746

17191747
# Compute the update and output maps
17201748
dx = sys._rhs(t, x, u) - dx0
1721-
if dtime: dx -= x # TODO: check
1749+
if dtime:
1750+
dx -= x # TODO: check
17221751
dy = sys._out(t, x, u) - y0
17231752

17241753
# Map the results into the constrained variables
@@ -1736,7 +1765,8 @@ def rootfun(z):
17361765
z = (x, u, sys._out(t, x, u))
17371766

17381767
# Return the result based on what the user wants and what we found
1739-
if not return_y: z = z[0:2] # Strip y from result if not desired
1768+
if not return_y:
1769+
z = z[0:2] # Strip y from result if not desired
17401770
if return_result:
17411771
# Return whatever we got, along with the result dictionary
17421772
return z + (result,)
@@ -1810,7 +1840,8 @@ def _find_size(sysval, vecval):
18101840

18111841

18121842
# Convert a state space system into an input/output system (wrapper)
1813-
def ss2io(*args, **kw): return LinearIOSystem(*args, **kw)
1843+
def ss2io(*args, **kw):
1844+
return LinearIOSystem(*args, **kw)
18141845
ss2io.__doc__ = LinearIOSystem.__init__.__doc__
18151846

18161847

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