Merge pull request #263 from roryyorke/rory/fix-examples-2

murrayrm · web-flow · commit ed80cbe65c6a · 2019-01-04T18:30:27.000-07:00
Make all examples Python 3 compatible
diff --git a/.travis.yml b/.travis.yml
@@ -76,5 +76,18 @@ script:
   - 'if [ $SLYCOT != "" ]; then python -c "import slycot"; fi'
   - coverage run setup.py test
 
+  # only run examples if Slycot is install
+  # set PYTHONPATH for examples
+  # pmw needed for examples/tfvis.py
+  # future is needed for Python 2, also for examples/tfvis.py
+
+  - if [[ "$SLYCOT" != "" ]]; then
+      export PYTHONPATH=$PWD;
+      conda install -c conda-forge pmw future;
+      cd examples; bash run_examples.sh; cd ..;
+    fi
+
+# arbitrary change to try to trigger travis build
+
 after_success:
   - coveralls
diff --git a/examples/genswitch.py b/examples/genswitch.py
@@ -5,6 +5,8 @@
 # of a genetic switch.  Plots time traces and a phase portrait using
 # the python-control library.
 
+import os
+
 import numpy as np
 import matplotlib.pyplot as mpl
 from scipy.integrate import odeint
@@ -50,7 +52,6 @@ def genswitch(y, t, mu=4, n=2):
 mpl.figure(3); mpl.clf(); # subplot(221);
 mpl.plot(tim1, sol1[:,0], 'b-', tim1, sol1[:,1], 'g--');
 # set(pl, 'LineWidth', AM_data_linewidth);
-mpl.hold(True);
 mpl.plot([tim1[-1], tim1[-1]+1], 
          [sol1[-1,0], sol2[0,1]], 'ko:', 
          [tim1[-1], tim1[-1]+1], [sol1[-1,1], sol2[0,0]], 'ko:');
@@ -71,10 +72,11 @@ def genswitch(y, t, mu=4, n=2):
           timepts = [0.2, 0.6, 1.2])
 
 # Add the stable equilibrium points
-mpl.hold(True);
 mpl.plot(eqpt[0], eqpt[1], 'k.', eqpt[1], eqpt[0], 'k.', 
   eqpt[2], eqpt[2], 'k.')       # 'MarkerSize', AM_data_markersize*3);
 
 mpl.xlabel('Protein A [scaled]');
 mpl.ylabel('Protein B [scaled]');       # 'Rotation', 90);
 
+if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
+    mpl.show()
diff --git a/examples/phaseplots.py b/examples/phaseplots.py
@@ -4,6 +4,8 @@
 # This file contains examples of phase portraits pulled from "Feedback
 # Systems" by Astrom and Murray (Princeton University Press, 2008).
 
+import os
+
 import numpy as np
 import matplotlib.pyplot as mpl
 from control.phaseplot import phase_plot
@@ -120,4 +122,5 @@ def saddle_ode(x, t):
 mpl.xlabel('$x_1$'); mpl.ylabel('$x_2$');
 mpl.title('Undamped system\nLyapunov stable, not asympt. stable')
 
-mpl.show()
+if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
+    mpl.show()
diff --git a/examples/pvtol-lqr.py b/examples/pvtol-lqr.py
@@ -3,10 +3,12 @@
 #
 # This file works through an LQR based design problem, using the
 # planar vertical takeoff and landing (PVTOL) aircraft example from
-# Astrom and Mruray, Chapter 5.  It is intended to demonstrate the
+# Astrom and Murray, Chapter 5.  It is intended to demonstrate the
 # basic functionality of the python-control package.
 #
 
+import os
+
 from numpy import *             # Grab all of the NumPy functions
 from matplotlib.pyplot import * # Grab MATLAB plotting functions
 from control.matlab import *    # MATLAB-like functions
@@ -118,9 +120,9 @@
 (Yy, Ty) = step(H1ay, T=linspace(0,10,100));
 
 subplot(221); title("Identity weights")
-# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
-plot(Tx.T, Yx.T, '-', Ty.T, Yy.T, '--'); hold(True);
-plot([0, 10], [1, 1], 'k-'); hold(True);
+# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--');
+plot(Tx.T, Yx.T, '-', Ty.T, Yy.T, '--'); 
+plot([0, 10], [1, 1], 'k-'); 
 
 axis([0, 10, -0.1, 1.4]); 
 ylabel('position');
@@ -141,10 +143,10 @@
 [Y3, T3] = step(H1cx, T=linspace(0,10,100));
 
 subplot(222); title("Effect of input weights")
-plot(T1.T, Y1.T, 'b-'); hold(True);
-plot(T2.T, Y2.T, 'b-'); hold(True);
-plot(T3.T, Y3.T, 'b-'); hold(True);
-plot([0 ,10], [1, 1], 'k-'); hold(True);
+plot(T1.T, Y1.T, 'b-');
+plot(T2.T, Y2.T, 'b-');
+plot(T3.T, Y3.T, 'b-');
+plot([0 ,10], [1, 1], 'k-');
 
 axis([0, 10, -0.1, 1.4]); 
 
@@ -190,4 +192,6 @@
 xlabel('time'); 
 legend(('x', 'y'), loc='lower right');
 
-show()
+if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
+    show()
+
diff --git a/examples/pvtol-nested-ss.py b/examples/pvtol-nested-ss.py
@@ -98,7 +98,7 @@
 bode(L, logspace(-4, 3));
 
 # Add crossover line
-subplot(211); hold(True);
+subplot(211);
 loglog([1e-4, 1e3], [1, 1], 'k-')
 
 # Replot phase starting at -90 degrees
@@ -107,7 +107,6 @@
 
 subplot(212);
 semilogx([1e-4, 1e3], [-180, -180], 'k-')
-hold(True);
 semilogx(w, np.squeeze(phase), 'b-')
 axis([1e-4, 1e3, -360, 0]);
 xlabel('Frequency [deg]'); ylabel('Phase [deg]');
@@ -118,7 +117,7 @@
 # Nyquist plot for complete design
 #
 figure(7); clf;
-axis([-700, 5300, -3000, 3000]); hold(True);
+axis([-700, 5300, -3000, 3000]);
 nyquist(L, (0.0001, 1000));
 axis([-700, 5300, -3000, 3000]);
 
@@ -127,7 +126,7 @@
 
 # Expanded region  
 figure(8); clf; subplot(231); 
-axis([-10, 5, -20, 20]); hold(True);
+axis([-10, 5, -20, 20]);
 nyquist(L);
 axis([-10, 5, -20, 20]);
 
@@ -145,7 +144,7 @@
 
 figure(9); 
 (Yvec, Tvec) = step(T, linspace(1, 20));
-plot(Tvec.T, Yvec.T); hold(True);
+plot(Tvec.T, Yvec.T);
 
 (Yvec, Tvec) = step(Co*S, linspace(1, 20));
 plot(Tvec.T, Yvec.T);
diff --git a/examples/robust_mimo.py b/examples/robust_mimo.py
@@ -4,6 +4,8 @@
 and Postlethwaite, 1st Edition.
 """
 
+import os
+
 import numpy as np
 import matplotlib.pyplot as plt
 
@@ -68,7 +70,7 @@ def analysis():
     plt.ylabel('output')
     plt.ylim([-1.1,2.1])
     plt.legend()
-    plt.title('o/l response to input [1,0]')
+    plt.title('o/l response\nto input [1,0]')
 
     plt.subplot(1,3,2)
     plt.plot(t,yu2[0],label='$y_1$')
@@ -77,7 +79,7 @@ def analysis():
     plt.ylabel('output')
     plt.ylim([-1.1,2.1])
     plt.legend()
-    plt.title('o/l response to input [0,1]')
+    plt.title('o/l response\nto input [0,1]')
 
     plt.subplot(1,3,3)
     plt.plot(t,yuz[0],label='$y_1$')
@@ -86,7 +88,7 @@ def analysis():
     plt.ylabel('output')
     plt.ylim([-1.1,2.1])
     plt.legend()
-    plt.title('o/l response to input [1,-1]')
+    plt.title('o/l response\nto input [1,-1]')
 
 
 def synth(wb1,wb2):
@@ -103,7 +105,7 @@ def synth(wb1,wb2):
     wp2 = ss(weighting(wb=wb2, m=1.5, a=1e-4))
     wp = wp1.append(wp2)
     k,_,info = mixsyn(g,wp,wu)
-    return k, info.gamma
+    return k, info[0]
 
 
 def step_opposite(g,t):
@@ -177,4 +179,6 @@ def design():
 
 analysis()
 design()
-plt.show()
+if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
+    plt.show()
+
diff --git a/examples/robust_siso.py b/examples/robust_siso.py
@@ -4,6 +4,8 @@
 and Postlethwaite, 1st Edition.
 """
 
+import os
+
 import numpy as np
 import matplotlib.pyplot as plt
 
@@ -99,4 +101,5 @@
 plt.legend()
 plt.title('Disturbance response')
 
-plt.show()
+if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
+    plt.show()
diff --git a/examples/rss-balred.py b/examples/rss-balred.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python
 
+import os
+
 import numpy as np
 import control.modelsimp as msimp
 import control.matlab as mt
@@ -29,7 +31,6 @@
 y, t = mt.step(fsys)
 yr, tr = mt.step(rsys)
 plt.plot(t.T, y.T)
-plt.hold(True)
 plt.plot(tr.T, yr.T)
 
 # Repeat balanced reduction, now with 100-dimensional random state space
@@ -42,3 +43,7 @@
 yrandr, trandr = mt.impulse(rsysrand)
 plt.plot(trand.T, yrand.T, trandr.T, yrandr.T) 
 
+
+if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
+    plt.show()
+
diff --git a/examples/run_examples.sh b/examples/run_examples.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+# Run the examples.  Doesn't run Jupyter notebooks.
+
+# The examples must cooperate: they must have no operations that wait
+# on user action, like matplotlib.pyplot.show, or starting a GUI event
+# loop.  Environment variable PYCONTROL_TEST_EXAMPLES is set when the
+# examples are being tested; existence of this variable should be used
+# to prevent such user-action-waiting operations.
+
+export PYCONTROL_TEST_EXAMPLES=1
+
+example_errors=""
+
+for example in *.py; do
+    echo "Running ${example}"
+    if ! python ${example}; then
+        example_errors="${example_errors} ${example}"
+    fi
+done
+    
+if [ -n "${example_errors}" ]; then
+    echo These examples had errors:
+    echo "${example_errors}"
+    exit 1
+else
+    echo All examples ran successfully
+fi
diff --git a/examples/slicot-test.py b/examples/slicot-test.py
@@ -1,6 +1,8 @@
 # Simple test function to test out SLICOT interface
 # RMM, 28 May 09
 
+from __future__ import print_function
+
 import numpy as np              # Numerical library
 from scipy import *             # Load the scipy functions
 from control.matlab import *    # Load the controls systems library
@@ -19,8 +21,8 @@
 # Eigenvalue placement
 #from slycot import sb01bd
 K = place(A, B, [-3, -2, -1])
-print "Pole place: K = ", K
-print "Pole place: eigs = ", np.linalg.eig(A - B * K)[0]
+print("Pole place: K = ", K)
+print("Pole place: eigs = ", np.linalg.eig(A - B * K)[0])
 
 # from slycot import ab01md
 # Ac, Bc, ncont, info = ab01md('I', A, B)
diff --git a/examples/test-statefbk.py b/examples/test-statefbk.py
@@ -1,6 +1,8 @@
 # test-statefbk.py - Unit tests for state feedback code
 # RMM, 6 Sep 2010
 
+from __future__ import print_function
+
 import numpy as np              # Numerical library
 from scipy import *             # Load the scipy functions
 from control.matlab import *    # Load the controls systems library
@@ -18,10 +20,10 @@
 
 # Controllability
 Wc = ctrb(A, B)
-print "Wc = ", Wc
+print("Wc = ", Wc)
 
 # Observability
 Wo = obsv(A, C)
-print "Wo = ", Wo
+print("Wo = ", Wo)
 
 
diff --git a/examples/tfvis.py b/examples/tfvis.py
