"""phaseplot_test.py - test phase plot functions

RMM, 17 24 2011 (based on TestMatlab from v0.4c)

This test suite calls various phaseplot functions.  Since the plots
themselves can't be verified, this is mainly here to make sure all
of the function arguments are handled correctly.  If you run an
individual test by itself and then type show(), it should pop open
the figures so that you can check them visually.
"""


import matplotlib.pyplot as mpl
import numpy as np
from numpy import pi
import pytest
from control import phase_plot



@pytest.mark.usefixtures("mplcleanup")
class TestPhasePlot:

    def testInvPendNoSims(self):
        phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10));

    def testInvPendSims(self):
        phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10),
                  X0 = ([1,1], [-1,1]))

    def testInvPendTimePoints(self):
        phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10),
                  X0 = ([1,1], [-1,1]), T=np.linspace(0,5,100))

    def testInvPendLogtime(self):
        phase_plot(self.invpend_ode, X0 =
                  [ [-2*pi, 1.6], [-2*pi, 0.5], [-1.8, 2.1],
                    [-1, 2.1], [4.2, 2.1], [5, 2.1],
                    [2*pi, -1.6], [2*pi, -0.5], [1.8, -2.1],
                    [1, -2.1], [-4.2, -2.1], [-5, -2.1] ],
                  T = np.linspace(0, 40, 200),
                  logtime=(3, 0.7),
                  verbose=False)

    def testInvPendAuto(self):
        phase_plot(self.invpend_ode, lingrid = 0, X0=
                  [[-2.3056, 2.1], [2.3056, -2.1]], T=6, verbose=False)

    def testOscillatorParams(self):
        # default values
        m = 1
        b = 1
        k = 1           
        phase_plot(self.oscillator_ode, timepts = [0.3, 1, 2, 3], X0 =
                  [[-1,1], [-0.3,1], [0,1], [0.25,1], [0.5,1], [0.7,1],
                   [1,1], [1.3,1], [1,-1], [0.3,-1], [0,-1], [-0.25,-1],
                   [-0.5,-1], [-0.7,-1], [-1,-1], [-1.3,-1]],
                  T = np.linspace(0, 10, 100), parms = (m, b, k))

    def testNoArrows(self):
        # Test case from aramakrl that was generating a type error
        # System does not have arrows
        # cf. issue #96,
        # https://github.com/python-control/python-control/issues/96
        def d1(x1x2,t):
            x1,x2 = x1x2
            return np.array([x2, x2 - 2*x1])

        x1x2_0 = np.array([[-1.,1.], [-1.,-1.], [1.,1.], [1.,-1.],
                           [-1.,0.],[1.,0.],[0.,-1.],[0.,1.],[0.,0.]])

        mpl.figure(1)
        phase_plot(d1,X0=x1x2_0,T=100)

    # Sample dynamical systems - inverted pendulum
    def invpend_ode(self, x, t, m=1., l=1., b=0, g=9.8):
        import numpy as np
        return (x[1], -b/m*x[1] + (g*l/m) * np.sin(x[0]))

    # Sample dynamical systems - oscillator
    def oscillator_ode(self, x, t, m=1., b=1, k=1, extra=None):
        return (x[1], -k/m*x[0] - b/m*x[1])