fixed unit test code

sawyerbfuller · sawyerbfuller · commit cd7faaa12206 · 2021-11-05T14:34:53.000-07:00
diff --git a/control/sisotool.py b/control/sisotool.py
@@ -258,6 +258,7 @@ def pid_designer(plant, gain='P', sign=+1, input_signal='r',
         Feedforward controller. If :class:`LTI`, must have timebase that is
         compatible with plant.
     """
+
     plant = _convert_to_statespace(plant)
     if plant.ninputs == 1:
         plant = ss2io(plant, inputs='u', outputs='y')
diff --git a/control/tests/lti_test.py b/control/tests/lti_test.py
@@ -77,7 +77,7 @@ def test_damp(self):
         p2_splane = -wn2 * zeta2 + 1j * wn2 * np.sqrt(1 - zeta2**2)
         p2_zplane = np.exp(p2_splane * dt)
         np.testing.assert_almost_equal(p2, p2_zplane)
-        
+
     def test_dcgain(self):
         sys = tf(84, [1, 2])
         np.testing.assert_allclose(sys.dcgain(), 42)
@@ -136,7 +136,7 @@ def test_common_timebase(self, dt1, dt2, expected, sys1, sys2):
                               (0, 1),
                               (1, 2)])
     def test_common_timebase_errors(self, i1, i2):
-        """Test that common_timbase throws errors on invalid combinations"""
+        """Test that common_timbase raises errors on invalid combinations"""
         with pytest.raises(ValueError):
             common_timebase(i1, i2)
         # Make sure behaviour is symmetric
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
@@ -143,19 +143,25 @@ def test_sisotool_mimo(self,  sys222, sys221):
 
 @pytest.mark.usefixtures("mplcleanup")
 class TestPidDesigner:
-    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)
+    @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]
 
     # cont or discrete, vary P I or D
-    @pytest.mark.parametrize('plant', (syscont, sysdisc1))
+#    @pytest.mark.parametrize('plant', (syscont, sysdisc1))
+    @pytest.mark.parametrize('plant', ('syscont', 'sysdisc1'), indirect=True)
     @pytest.mark.parametrize('gain', ('P', 'I', 'D'))
     @pytest.mark.parametrize("kwargs", [{'Kp0':0.01},])
     def test_pid_designer_1(self, plant, gain, kwargs):
         pid_designer(plant, gain, **kwargs)
 
     # input from reference or disturbance
-    @pytest.mark.parametrize('plant', (syscont, syscont221))
+    @pytest.mark.parametrize('plant', ('syscont', 'syscont221'), indirect=True)
+#    @pytest.mark.parametrize('plant', (syscont, syscont221))
     @pytest.mark.parametrize("kwargs", [
         {'input_signal':'r', 'Kp0':0.01, 'derivative_in_feedback_path':True},
         {'input_signal':'d', 'Kp0':0.01, 'derivative_in_feedback_path':True},])
