Merge pull request #617 from bnavigator/cover-rlocus

murrayrm · web-flow · commit 608093e6a3b2 · 2021-06-15T19:28:17.000-07:00
Cover more of root_locus: dtime and sisotool
diff --git a/control/rlocus.py b/control/rlocus.py
@@ -137,7 +137,7 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
     print_gain = config._get_param(
         'rlocus', 'print_gain', print_gain, _rlocus_defaults)
 
-    sys_loop = sys if sys.issiso() else sys[0,0]
+    sys_loop = sys if sys.issiso() else sys[0, 0]
 
     # Convert numerator and denominator to polynomials if they aren't
     (nump, denp) = _systopoly1d(sys_loop)
@@ -232,16 +232,11 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
             ax.set_ylim(ylim)
 
         # Draw the grid
-        if grid and sisotool:
-            if isdtime(sys, strict=True):
-                zgrid(ax=ax)
-            else:
-                _sgrid_func(fig=fig)
-        elif grid:
+        if grid:
             if isdtime(sys, strict=True):
                 zgrid(ax=ax)
             else:
-                _sgrid_func()
+                _sgrid_func(fig=fig if sisotool else None)
         else:
             ax.axhline(0., linestyle=':', color='k', linewidth=.75, zorder=-20)
             ax.axvline(0., linestyle=':', color='k', linewidth=.75, zorder=-20)
diff --git a/control/setup.py b/control/setup.py
diff --git a/control/tests/rlocus_test.py b/control/tests/rlocus_test.py
@@ -15,16 +15,25 @@
 from control.bdalg import feedback
 
 
+@pytest.mark.usefixtures("mplcleanup")
 class TestRootLocus:
     """These are tests for the feedback function in rlocus.py."""
 
-    @pytest.fixture(params=[(TransferFunction, ([1, 2], [1, 2, 3])),
-                            (StateSpace, ([[1., 4.], [3., 2.]],
-                                       [[1.], [-4.]],
-                                       [[1., 0.]], [[0.]]))],
-                    ids=["tf", "ss"])
+    @pytest.fixture(params=[pytest.param((sysclass, sargs + (dt, )),
+                                         id=f"{systypename}-{dtstring}")
+                            for sysclass, systypename, sargs in [
+                                    (TransferFunction, 'TF', ([1, 2],
+                                                              [1, 2, 3])),
+                                    (StateSpace, 'SS', ([[1., 4.], [3., 2.]],
+                                                        [[1.], [-4.]],
+                                                        [[1., 0.]],
+                                                        [[0.]])),
+                                    ]
+                            for dt, dtstring in [(0, 'ctime'),
+                                                 (True, 'dtime')]
+                            ])
     def sys(self, request):
-        """Return some simple LTI system for testing"""
+        """Return some simple LTI systems for testing"""
         # avoid construction during collection time: prevent unfiltered
         # deprecation warning
         sysfn, args = request.param
@@ -37,7 +46,7 @@ def check_cl_poles(self, sys, pole_list, k_list):
             np.testing.assert_array_almost_equal(poles, poles_expected)
 
     def testRootLocus(self, sys):
-        """Basic root locus plot"""
+        """Basic root locus (no plot)"""
         klist = [-1, 0, 1]
 
         roots, k_out = root_locus(sys, klist, plot=False)
@@ -49,6 +58,33 @@ def test_without_gains(self, sys):
         roots, kvect = root_locus(sys, plot=False)
         self.check_cl_poles(sys, roots, kvect)
 
+    @pytest.mark.parametrize('grid', [None, True, False])
+    def test_root_locus_plot_grid(self, sys, grid):
+        rlist, klist = root_locus(sys, grid=grid)
+        ax = plt.gca()
+        n_gridlines = sum([int(line.get_linestyle() in [':', 'dotted',
+                                                        '--', 'dashed'])
+                           for line in ax.lines])
+        if grid is False:
+            assert n_gridlines == 2
+        else:
+            assert n_gridlines > 2
+        # TODO check validity of grid
+
+    def test_root_locus_warnings(self):
+        sys = TransferFunction([1000], [1, 25, 100, 0])
+        with pytest.warns(FutureWarning, match="Plot.*deprecated"):
+            rlist, klist = root_locus(sys, Plot=True)
+        with pytest.warns(FutureWarning, match="PrintGain.*deprecated"):
+            rlist, klist = root_locus(sys, PrintGain=True)
+
+    def test_root_locus_neg_false_gain_nonproper(self):
+        """ Non proper TranferFunction with negative gain: Not implemented"""
+        with pytest.raises(ValueError, match="with equal order"):
+            root_locus(TransferFunction([-1, 2], [1, 2]))
+
+    # TODO: cover and validate negative false_gain branch in _default_gains()
+
     def test_root_locus_zoom(self):
         """Check the zooming functionality of the Root locus plot"""
         system = TransferFunction([1000], [1, 25, 100, 0])
@@ -96,4 +132,3 @@ def test_rlocus_default_wn(self):
             [-1e-2, 1-1e7j, 1+1e7j], [0, -1e7j, 1e7j], 1))
 
         ct.root_locus(sys)
-
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
@@ -17,14 +17,10 @@ class TestSisotool:
     """These are tests for the sisotool in sisotool.py."""
 
     @pytest.fixture
-    def sys(self):
+    def tsys(self, request):
         """Return a generic SISO transfer function"""
-        return TransferFunction([1000], [1, 25, 100, 0])
-
-    @pytest.fixture
-    def sysdt(self):
-        """Return a generic SISO transfer function"""
-        return TransferFunction([1000], [1, 25, 100, 0], True)
+        dt = getattr(request, 'param', 0)
+        return TransferFunction([1000], [1, 25, 100, 0], dt)
 
     @pytest.fixture
     def sys222(self):
@@ -50,8 +46,8 @@ def sys221(self):
         D221 = [[1., -1.]]
         return StateSpace(A222, B222, C221, D221)
 
-    def test_sisotool(self, sys):
-        sisotool(sys, Hz=False)
+    def test_sisotool(self, tsys):
+        sisotool(tsys, Hz=False)
         fig = plt.gcf()
         ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]
 
@@ -89,7 +85,7 @@ def test_sisotool(self, sys):
         event = type('test', (object,), {'xdata': 2.31206868287,
                                          'ydata': 15.5983051046,
                                          'inaxes': ax_rlocus.axes})()
-        _RLClickDispatcher(event=event, sys=sys, fig=fig,
+        _RLClickDispatcher(event=event, sys=tsys, fig=fig,
                            ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
                            bode_plot_params=bode_plot_params, tvect=None)
 
@@ -118,37 +114,24 @@ def test_sisotool(self, sys):
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
 
-    def test_sisotool_tvect(self, sys):
+    @pytest.mark.parametrize('tsys', [0, True],
+                             indirect=True, ids=['ctime', 'dtime'])
+    def test_sisotool_tvect(self, tsys):
         # test supply tvect
         tvect = np.linspace(0, 1, 10)
-        sisotool(sys, tvect=tvect)
+        sisotool(tsys, tvect=tvect)
         fig = plt.gcf()
         ax_rlocus, ax_step = fig.axes[1], fig.axes[3]
 
         # Move the rootlocus to another point and confirm same tvect
         event = type('test', (object,), {'xdata': 2.31206868287,
                                          'ydata': 15.5983051046,
                                          'inaxes': ax_rlocus.axes})()
-        _RLClickDispatcher(event=event, sys=sys, fig=fig,
+        _RLClickDispatcher(event=event, sys=tsys, fig=fig,
                            ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
                            bode_plot_params=dict(), tvect=tvect)
         assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])
 
-    def test_sisotool_tvect_dt(self, sysdt):
-        # test supply tvect
-        tvect = np.linspace(0, 1, 10)
-        sisotool(sysdt, tvect=tvect)
-        fig = plt.gcf()
-        ax_rlocus, ax_step = fig.axes[1], fig.axes[3]
-
-        # Move the rootlocus to another point and confirm same tvect
-        event = type('test', (object,), {'xdata': 2.31206868287,
-                                         'ydata': 15.5983051046,
-                                         'inaxes': ax_rlocus.axes})()
-        _RLClickDispatcher(event=event, sys=sysdt, fig=fig,
-                           ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
-                           bode_plot_params=dict(), tvect=tvect)
-        assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])
 
     def test_sisotool_mimo(self,  sys222, sys221):
         # a 2x2 should not raise an error:
diff --git a/setup.cfg b/setup.cfg
@@ -5,4 +5,3 @@ universal=1
 addopts = -ra
 filterwarnings =
     error:.*matrix subclass:PendingDeprecationWarning
-
