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allow single string as signal list for I/O system #315

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Merged
murrayrm merged 2 commits into from
Jun 30, 2019
Merged

allow single string as signal list for I/O system #315

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7be744c
allow single string as signal list for I/O system
murrayrm Jun 17, 2019
b29233e
add __str__ for I/O systems + additional signal name fixes
murrayrm Jun 21, 2019
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69 changes: 45 additions & 24 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,17 @@ def __init__(self, inputs=None, outputs=None, states=None, params={},
def __repr__(self):
return self.name if self.name is not None else str(type(self))

def __str__(self):
"""String representation of an input/output system"""
str = "System: " + (self.name if self.name else "(none)") + "\n"
str += "Inputs (%d): " % self.ninputs
for key in self.input_index: str += key + ", "
str += "\nOutputs (%d): " % self.noutputs
for key in self.output_index: str += key + ", "
str += "\nStates (%d): " % self.nstates
for key in self.state_index: str += key + ", "
return str

def __mul__(sys2, sys1):
"""Multiply two input/output systems (series interconnection)"""

Expand Down Expand Up @@ -363,7 +374,11 @@ def _process_signal_list(self, signals, prefix='s'):

elif isinstance(signals, int):
# Number of signals given; make up the names
return signals, {'x[%d]' % i: i for i in range(signals)}
return signals, {'%s[%d]' % (prefix, i): i for i in range(signals)}

elif isinstance(signals, str):
# Single string given => single signal with given name
return 1, {signals: 0}

elif all(isinstance(s, str) for s in signals):
# Use the list of strings as the signal names
Expand Down Expand Up @@ -433,7 +448,7 @@ def set_outputs(self, outputs, prefix='y'):
optional prefix parameter).
prefix : string, optional
If `outputs` is an integer, create the names of the states using
the given prefix (default = 'u'). The names of the input will be
the given prefix (default = 'y'). The names of the input will be
of the form `prefix[i]`.

"""
Expand All @@ -453,7 +468,7 @@ def set_states(self, states, prefix='x'):
optional prefix parameter).
prefix : string, optional
If `states` is an integer, create the names of the states using
the given prefix (default = 'u'). The names of the input will be
the given prefix (default = 'x'). The names of the input will be
of the form `prefix[i]`.

"""
Expand Down Expand Up @@ -667,13 +682,16 @@ def __init__(self, linsys, inputs=None, outputs=None, states=None,

# Process input, output, state lists, if given
# Make sure they match the size of the linear system
ninputs, self.input_index = self._process_signal_list(inputs)
ninputs, self.input_index = self._process_signal_list(
inputs if inputs is not None else linsys.inputs, prefix='u')
if ninputs is not None and linsys.inputs != ninputs:
raise ValueError("Wrong number/type of inputs given.")
noutputs, self.output_index = self._process_signal_list(outputs)
noutputs, self.output_index = self._process_signal_list(
outputs if outputs is not None else linsys.outputs, prefix='y')
if noutputs is not None and linsys.outputs != noutputs:
raise ValueError("Wrong number/type of outputs given.")
nstates, self.state_index = self._process_signal_list(states)
nstates, self.state_index = self._process_signal_list(
states if states is not None else linsys.states, prefix='x')
if nstates is not None and linsys.states != nstates:
raise ValueError("Wrong number/type of states given.")

Expand Down Expand Up @@ -868,20 +886,20 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],

inplist : tuple of input specifications, optional
List of specifications for how the inputs for the overall system
are mapped to the subsystems. The input specification is the same
as the form defined in the connection specification. Each system
input is added to the input for the listed subsystem.
are mapped to the subsystem inputs. The input specification is
the same as the form defined in the connection specification.
Each system input is added to the input for the listed subsystem.

If omitted, the input map can be specified using the
`set_input_map` method.

outlist : tuple of output specifications, optional
List of specifications for how the outputs for the subsystems are
mapped to overall system. The output specification is the same as
the form defined in the connection specification (including the
optional gain term). Numbered outputs must be chosen from the
list of subsystem outputs, but named outputs can also be contained
in the list of subsystem inputs.
mapped to overall system outputs. The output specification is the
same as the form defined in the connection specification
(including the optional gain term). Numbered outputs must be
chosen from the list of subsystem outputs, but named outputs can
also be contained in the list of subsystem inputs.

If omitted, the output map can be specified using the
`set_output_map` method.
Expand Down Expand Up @@ -964,10 +982,12 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
states=nstates, params=params, dt=dt)

# If input or output list was specified, update it
nsignals, self.input_index = self._process_signal_list(inputs)
nsignals, self.input_index = \
self._process_signal_list(inputs, prefix='u')
if nsignals is not None and len(inplist) != nsignals:
raise ValueError("Wrong number/type of inputs given.")
nsignals, self.output_index = self._process_signal_list(outputs)
nsignals, self.output_index = \
self._process_signal_list(outputs, prefix='y')
if nsignals is not None and len(outlist) != nsignals:
raise ValueError("Wrong number/type of outputs given.")

Expand All @@ -981,8 +1001,10 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],

# Convert the input list to a matrix: maps system to subsystems
self.input_map = np.zeros((ninputs, self.ninputs))
for index in range(len(inplist)):
self.input_map[self._parse_input_spec(inplist[index]), index] = 1
for index, inpspec in enumerate(inplist):
if isinstance(inpspec, (int, str, tuple)): inpspec = [inpspec]
for spec in inpspec:
self.input_map[self._parse_input_spec(spec), index] = 1

# Convert the output list to a matrix: maps subsystems to system
self.output_map = np.zeros((self.noutputs, noutputs + ninputs))
Expand Down Expand Up @@ -1116,10 +1138,9 @@ def _compute_static_io(self, t, x, u):
def _parse_input_spec(self, spec):
"""Parse an input specification and returns the index

This function parses a specification of an input of an
interconnected system component and returns the index of that
input in the internal input vector. Input specifications
are of one of the following forms:
This function parses a specification of an input of an interconnected
system component and returns the index of that input in the internal
input vector. Input specifications are of one of the following forms:

i first input for the ith system
(i,) first input for the ith system
Expand Down Expand Up @@ -1228,8 +1249,8 @@ def _parse_signal(self, spec, signame='input', dictname=None):
# For now, only allow signal level of system name
# TODO: expand to allow nested signal names
if len(namelist) != 2:
raise ValueError("Couldn't parse signal reference '%s'."
% spec)
raise ValueError("Couldn't parse %s signal reference '%s'."
% (signame, spec))

system_index = self._find_system(namelist[0])
if system_index is None:
Expand Down