227 lines
8.7 KiB
Python
227 lines
8.7 KiB
Python
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#!/usr/bin/env python
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#
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# config_test.py - test config module
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# RMM, 25 may 2019
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#
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# This test suite checks the functionality of the config module
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import unittest
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import numpy as np
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import control as ct
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import matplotlib.pyplot as plt
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from math import pi, log10
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class TestConfig(unittest.TestCase):
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def setUp(self):
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# Create a simple second order system to use for testing
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self.sys = ct.tf([10], [1, 2, 1])
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def test_set_defaults(self):
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ct.config.set_defaults('config', test1=1, test2=2, test3=None)
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self.assertEqual(ct.config.defaults['config.test1'], 1)
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self.assertEqual(ct.config.defaults['config.test2'], 2)
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self.assertEqual(ct.config.defaults['config.test3'], None)
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def test_get_param(self):
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self.assertEqual(
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ct.config._get_param('bode', 'dB'),
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ct.config.defaults['bode.dB'])
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self.assertEqual(ct.config._get_param('bode', 'dB', 1), 1)
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ct.config.defaults['config.test1'] = 1
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self.assertEqual(ct.config._get_param('config', 'test1', None), 1)
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self.assertEqual(ct.config._get_param('config', 'test1', None, 1), 1)
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ct.config.defaults['config.test3'] = None
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self.assertEqual(ct.config._get_param('config', 'test3'), None)
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self.assertEqual(ct.config._get_param('config', 'test3', 1), 1)
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self.assertEqual(
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ct.config._get_param('config', 'test3', None, 1), None)
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self.assertEqual(ct.config._get_param('config', 'test4'), None)
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self.assertEqual(ct.config._get_param('config', 'test4', 1), 1)
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self.assertEqual(ct.config._get_param('config', 'test4', 2, 1), 2)
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self.assertEqual(ct.config._get_param('config', 'test4', None, 3), 3)
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self.assertEqual(
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ct.config._get_param('config', 'test4', {'test4':1}, None), 1)
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def test_fbs_bode(self):
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ct.use_fbs_defaults();
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# Generate a Bode plot
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plt.figure()
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omega = np.logspace(-3, 3, 100)
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ct.bode_plot(self.sys, omega)
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# Get the magnitude line
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mag_axis = plt.gcf().axes[0]
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mag_line = mag_axis.get_lines()
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mag_data = mag_line[0].get_data()
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mag_x, mag_y = mag_data
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# Make sure the x-axis is in rad/sec and y-axis is in natural units
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np.testing.assert_almost_equal(mag_x[0], 0.001, decimal=6)
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np.testing.assert_almost_equal(mag_y[0], 10, decimal=3)
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# Get the phase line
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phase_axis = plt.gcf().axes[1]
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phase_line = phase_axis.get_lines()
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phase_data = phase_line[0].get_data()
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phase_x, phase_y = phase_data
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# Make sure the x-axis is in rad/sec and y-axis is in degrees
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np.testing.assert_almost_equal(phase_x[-1], 1000, decimal=0)
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np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
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# Override the defaults and make sure that works as well
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plt.figure()
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ct.bode_plot(self.sys, omega, dB=True)
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mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
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plt.figure()
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ct.bode_plot(self.sys, omega, Hz=True)
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mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
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plt.figure()
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ct.bode_plot(self.sys, omega, deg=False)
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phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
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ct.reset_defaults()
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def test_matlab_bode(self):
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ct.use_matlab_defaults();
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# Generate a Bode plot
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plt.figure()
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omega = np.logspace(-3, 3, 100)
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ct.bode_plot(self.sys, omega)
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# Get the magnitude line
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mag_axis = plt.gcf().axes[0]
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mag_line = mag_axis.get_lines()
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mag_data = mag_line[0].get_data()
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mag_x, mag_y = mag_data
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# Make sure the x-axis is in Hertz and y-axis is in dB
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np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
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np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
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# Get the phase line
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phase_axis = plt.gcf().axes[1]
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phase_line = phase_axis.get_lines()
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phase_data = phase_line[0].get_data()
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phase_x, phase_y = phase_data
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# Make sure the x-axis is in Hertz and y-axis is in degrees
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np.testing.assert_almost_equal(phase_x[-1], 1000 / (2*pi), decimal=1)
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np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
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# Override the defaults and make sure that works as well
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plt.figure()
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ct.bode_plot(self.sys, omega, dB=True)
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mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
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plt.figure()
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ct.bode_plot(self.sys, omega, Hz=True)
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mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
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plt.figure()
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ct.bode_plot(self.sys, omega, deg=False)
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phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
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ct.reset_defaults()
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def test_custom_bode_default(self):
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ct.config.defaults['bode.dB'] = True
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ct.config.defaults['bode.deg'] = True
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ct.config.defaults['bode.Hz'] = True
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# Generate a Bode plot
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plt.figure()
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omega = np.logspace(-3, 3, 100)
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ct.bode_plot(self.sys, omega, dB=True)
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mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
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# Override defaults
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plt.figure()
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ct.bode_plot(self.sys, omega, Hz=True, deg=False, dB=True)
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mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
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phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
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np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
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np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
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np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
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ct.reset_defaults()
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def test_bode_number_of_samples(self):
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# Set the number of samples (default is 50, from np.logspace)
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
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self.assertEqual(len(mag_ret), 87)
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# Change the default number of samples
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ct.config.defaults['freqplot.number_of_samples'] = 76
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys)
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self.assertEqual(len(mag_ret), 76)
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# Override the default number of samples
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
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self.assertEqual(len(mag_ret), 87)
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ct.reset_defaults()
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def test_bode_feature_periphery_decade(self):
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# Generate a sample Bode plot to figure out the range it uses
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ct.reset_defaults() # Make sure starting state is correct
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
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omega_min, omega_max = omega_ret[[0, -1]]
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# Reset the periphery decade value (should add one decade on each end)
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ct.config.defaults['freqplot.feature_periphery_decades'] = 2
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
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np.testing.assert_almost_equal(omega_ret[0], omega_min/10)
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np.testing.assert_almost_equal(omega_ret[-1], omega_max * 10)
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# Make sure it also works in rad/sec, in opposite direction
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
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omega_min, omega_max = omega_ret[[0, -1]]
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ct.config.defaults['freqplot.feature_periphery_decades'] = 1
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mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
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np.testing.assert_almost_equal(omega_ret[0], omega_min*10)
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np.testing.assert_almost_equal(omega_ret[-1], omega_max/10)
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ct.reset_defaults()
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def test_reset_defaults(self):
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ct.use_matlab_defaults()
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ct.reset_defaults()
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self.assertEqual(ct.config.defaults['bode.dB'], False)
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self.assertEqual(ct.config.defaults['bode.deg'], True)
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self.assertEqual(ct.config.defaults['bode.Hz'], False)
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self.assertEqual(
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ct.config.defaults['freqplot.number_of_samples'], None)
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self.assertEqual(
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ct.config.defaults['freqplot.feature_periphery_decades'], 1.0)
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def tearDown(self):
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# Get rid of any figures that we created
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plt.close('all')
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# Reset the configuration defaults
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ct.config.reset_defaults()
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def suite():
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return unittest.TestLoader().loadTestsFromTestCase(TestTimeresp)
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if __name__ == '__main__':
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unittest.main()
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