clean from old scipyy<1.3 and python2 code

bnavigator · bnavigator · commit d4ee3be8f1ff · 2022-06-16T11:37:16.000+02:00
diff --git a/control/tests/conftest.py b/control/tests/conftest.py
@@ -1,7 +1,6 @@
 """conftest.py - pytest local plugins and fixtures"""
 
 from contextlib import contextmanager
-from distutils.version import StrictVersion
 import os
 import sys
 
@@ -18,10 +17,6 @@
 # pytest.param(marks=)
 slycotonly = pytest.mark.skipif(not control.exception.slycot_check(),
                                 reason="slycot not installed")
-noscipy0 = pytest.mark.skipif(StrictVersion(sp.__version__) < "1.0",
-                              reason="requires SciPy 1.0 or greater")
-nopython2 = pytest.mark.skipif(sys.version_info < (3, 0),
-                               reason="requires Python 3+")
 matrixfilter = pytest.mark.filterwarnings("ignore:.*matrix subclass:"
                                           "PendingDeprecationWarning")
 matrixerrorfilter = pytest.mark.filterwarnings("error:.*matrix subclass:"
@@ -110,10 +105,10 @@ def editsdefaults():
 
 @pytest.fixture(scope="function")
 def mplcleanup():
-    """Workaround for python2
-
-    python 2 does not like to mix the original mpl decorator with pytest
-    fixtures. So we roll our own.
+    """Clean up any plots and changes a test may have made to matplotlib.
+    
+    compare matplotlib.testing.decorators.cleanup() but as a fixture instead
+    of a decorator.
     """
     save = mpl.units.registry.copy()
     try:
diff --git a/control/tests/flatsys_test.py b/control/tests/flatsys_test.py
@@ -8,8 +8,6 @@
 created for that purpose.
 """
 
-from distutils.version import StrictVersion
-
 import numpy as np
 import pytest
 import scipy as sp
@@ -118,11 +116,10 @@ def test_kinematic_car(self, vehicle_flat, poly):
         resp = ct.input_output_response(vehicle_flat, T, ud, x0)
         np.testing.assert_array_almost_equal(resp.states, xd, decimal=2)
 
-        # For SciPy 1.0+, integrate equations and compare to desired
-        if StrictVersion(sp.__version__) >= "1.0":
-            t, y, x = ct.input_output_response(
-                vehicle_flat, T, ud, x0, return_x=True)
-            np.testing.assert_allclose(x, xd, atol=0.01, rtol=0.01)
+        # integrate equations and compare to desired
+        t, y, x = ct.input_output_response(
+            vehicle_flat, T, ud, x0, return_x=True)
+        np.testing.assert_allclose(x, xd, atol=0.01, rtol=0.01)
 
     def test_flat_default_output(self, vehicle_flat):
         # Construct a flat system with the default outputs
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -15,7 +15,7 @@
 
 import control as ct
 from control import iosys as ios
-from control.tests.conftest import noscipy0, matrixfilter
+from control.tests.conftest import matrixfilter
 
 class TestIOSys:
 
@@ -46,7 +46,6 @@ class TSys:
 
         return T
 
-    @noscipy0
     def test_linear_iosys(self, tsys):
         # Create an input/output system from the linear system
         linsys = tsys.siso_linsys
@@ -65,7 +64,6 @@ def test_linear_iosys(self, tsys):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y, atol=0.002, rtol=0.)
 
-    @noscipy0
     def test_tf2io(self, tsys):
         # Create a transfer function from the state space system
         linsys = tsys.siso_linsys
@@ -129,7 +127,6 @@ def test_iosys_print(self, tsys, capsys):
         ios_linearized = ios.linearize(ios_unspecified, [0, 0], [0])
         print(ios_linearized)
 
-    @noscipy0
     @pytest.mark.parametrize("ss", [ios.NonlinearIOSystem, ct.ss])
     def test_nonlinear_iosys(self, tsys, ss):
         # Create a simple nonlinear I/O system
@@ -236,7 +233,6 @@ def test_linearize_named_signals(self, kincar):
         assert lin_nocopy.find_output('x') is None
         assert lin_nocopy.find_state('x') is None
 
-    @noscipy0
     def test_connect(self, tsys):
         # Define a couple of (linear) systems to interconnection
         linsys1 = tsys.siso_linsys
@@ -294,7 +290,6 @@ def test_connect(self, tsys):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     @pytest.mark.parametrize(
         "connections, inplist, outlist",
         [pytest.param([[(1, 0), (0, 0, 1)]], [[(0, 0, 1)]], [[(1, 0, 1)]],
@@ -338,7 +333,6 @@ def test_connect_spec_variants(self, tsys, connections, inplist, outlist):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y, atol=0.002, rtol=0.)
 
-    @noscipy0
     @pytest.mark.parametrize(
         "connections, inplist, outlist",
         [pytest.param([['sys2.u[0]', 'sys1.y[0]']],
@@ -375,7 +369,6 @@ def test_connect_spec_warnings(self, tsys, connections, inplist, outlist):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y, atol=0.002, rtol=0.)
 
-    @noscipy0
     def test_static_nonlinearity(self, tsys):
         # Linear dynamical system
         linsys = tsys.siso_linsys
@@ -400,7 +393,6 @@ def test_static_nonlinearity(self, tsys):
         np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=2)
 
 
-    @noscipy0
     @pytest.mark.filterwarnings("ignore:Duplicate name::control.iosys")
     def test_algebraic_loop(self, tsys):
         # Create some linear and nonlinear systems to play with
@@ -470,7 +462,6 @@ def test_algebraic_loop(self, tsys):
         with pytest.raises(RuntimeError):
             ios.input_output_response(*args)
 
-    @noscipy0
     def test_summer(self, tsys):
         # Construct a MIMO system for testing
         linsys = tsys.mimo_linsys1
@@ -489,7 +480,6 @@ def test_summer(self, tsys):
         ios_t, ios_y = ios.input_output_response(iosys_parallel, T, U, X0)
         np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_rmul(self, tsys):
         # Test right multiplication
         # TODO: replace with better tests when conversions are implemented
@@ -510,7 +500,6 @@ def test_rmul(self, tsys):
         lti_t, lti_y = ct.forced_response(ioslin, T, U*U, X0)
         np.testing.assert_array_almost_equal(ios_y, lti_y*lti_y, decimal=3)
 
-    @noscipy0
     def test_neg(self, tsys):
         """Test negation of a system"""
 
@@ -533,7 +522,6 @@ def test_neg(self, tsys):
         lti_t, lti_y = ct.forced_response(ioslin, T, U*U, X0)
         np.testing.assert_array_almost_equal(ios_y, -lti_y, decimal=3)
 
-    @noscipy0
     def test_feedback(self, tsys):
         # Set up parameters for simulation
         T, U, X0 = tsys.T, tsys.U, tsys.X0
@@ -549,7 +537,6 @@ def test_feedback(self, tsys):
         lti_t, lti_y = ct.forced_response(linsys, T, U, X0)
         np.testing.assert_allclose(ios_y, lti_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_bdalg_functions(self, tsys):
         """Test block diagram functions algebra on I/O systems"""
         # Set up parameters for simulation
@@ -596,7 +583,6 @@ def test_bdalg_functions(self, tsys):
         ios_t, ios_y = ios.input_output_response(iosys_feedback, T, U, X0)
         np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_algebraic_functions(self, tsys):
         """Test algebraic operations on I/O systems"""
         # Set up parameters for simulation
@@ -648,7 +634,6 @@ def test_algebraic_functions(self, tsys):
         ios_t, ios_y = ios.input_output_response(iosys_negate, T, U, X0)
         np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_nonsquare_bdalg(self, tsys):
         # Set up parameters for simulation
         T = tsys.T
@@ -699,7 +684,6 @@ def test_nonsquare_bdalg(self, tsys):
         with pytest.raises(ValueError):
             ct.series(*args)
 
-    @noscipy0
     def test_discrete(self, tsys):
         """Test discrete time functionality"""
         # Create some linear and nonlinear systems to play with
@@ -868,7 +852,6 @@ def test_find_eqpts(self, tsys):
         assert xeq is None
         assert ueq is None
 
-    @noscipy0
     def test_params(self, tsys):
         # Start with the default set of parameters
         ios_secord_default = ios.NonlinearIOSystem(
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
@@ -1,7 +1,6 @@
 """timeresp_test.py - test time response functions"""
 
 from copy import copy
-from distutils.version import StrictVersion
 
 import numpy as np
 import pytest
@@ -521,8 +520,6 @@ def test_impulse_response_mimo(self, tsystem):
         _t, yy = impulse_response(sys, T=t, input=0)
         np.testing.assert_array_almost_equal(yy[:,0,:], yref_notrim, decimal=4)
 
-    @pytest.mark.skipif(StrictVersion(sp.__version__) < "1.3",
-                        reason="requires SciPy 1.3 or greater")
     @pytest.mark.parametrize("tsystem", ["siso_tf1"], indirect=True)
     def test_discrete_time_impulse(self, tsystem):
         # discrete time impulse sampled version should match cont time
@@ -998,9 +995,6 @@ def test_time_series_data_convention_2D(self, tsystem):
         [6,    2,    2,  False,  (2, 2, 8),  (2, 8)],
     ])
     def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
-        # Figure out if we have SciPy 1+
-        scipy0 = StrictVersion(sp.__version__) < '1.0'
-
         # Define the system
         if fcn == ct.tf and (nout > 1 or ninp > 1) and not slycot_check():
             pytest.skip("Conversion of MIMO systems to transfer functions "
@@ -1077,7 +1071,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
             assert yvec.shape == (8, )
 
         # For InputOutputSystems, also test input/output response
-        if isinstance(sys, ct.InputOutputSystem) and not scipy0:
+        if isinstance(sys, ct.InputOutputSystem):
             _, yvec = ct.input_output_response(sys, tvec, uvec, squeeze=squeeze)
             assert yvec.shape == shape2
 
@@ -1108,7 +1102,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
             assert yvec.shape == (sys.noutputs, 8)
 
         # For InputOutputSystems, also test input_output_response
-        if isinstance(sys, ct.InputOutputSystem) and not scipy0:
+        if isinstance(sys, ct.InputOutputSystem):
             _, yvec = ct.input_output_response(sys, tvec, uvec)
             if squeeze is not True or sys.noutputs > 1:
                 assert yvec.shape == (sys.noutputs, 8)
diff --git a/control/tests/xferfcn_test.py b/control/tests/xferfcn_test.py
@@ -12,7 +12,7 @@
 from control import isctime, isdtime, sample_system, defaults
 from control.statesp import _convert_to_statespace
 from control.xferfcn import _convert_to_transfer_function
-from control.tests.conftest import slycotonly, nopython2, matrixfilter
+from control.tests.conftest import slycotonly, matrixfilter
 
 
 class TestXferFcn:
@@ -448,7 +448,6 @@ def test_call_siso(self, dt, omega, resp):
             np.testing.assert_allclose(sys.evalfr(omega), resp, atol=1e-3)
 
 
-    @nopython2
     def test_call_dtime(self):
         sys = TransferFunction([1., 3., 5], [1., 6., 2., -1], 0.1)
         np.testing.assert_array_almost_equal(sys(1j), -0.5 - 0.5j)
@@ -741,8 +740,7 @@ def test_indexing(self):
         "matarrayin",
         [pytest.param(np.array,
                       id="arrayin",
-                      marks=[nopython2,
-                             pytest.mark.skip(".__matmul__ not implemented")]),
+                      marks=[pytest.mark.skip(".__matmul__ not implemented")]),
          pytest.param(np.matrix,
                       id="matrixin",
                       marks=matrixfilter)],
diff --git a/doc/intro.rst b/doc/intro.rst
@@ -36,7 +36,7 @@ Installation
 ============
 
 The `python-control` package can be installed using pip, conda or the
-standard distutils/setuptools mechanisms.  The package requires `numpy`_ and
+standard setuptools mechanisms.  The package requires `numpy`_ and
 `scipy`_, and the plotting routines require `matplotlib
 <https://matplotlib.org>`_.  In addition, some routines require the `slycot
 <https://github.com/python-control/Slycot>`_ library in order to implement
diff --git a/setup.py b/setup.py
@@ -42,7 +42,7 @@
     packages=find_packages(exclude=['benchmarks']),
     classifiers=[f for f in CLASSIFIERS.split('\n') if f],
     install_requires=['numpy',
-                      'scipy',
+                      'scipy>=1.3',
                       'matplotlib'],
     extras_require={
        'test': ['pytest', 'pytest-timeout'],
