Build system and test suite update

.github/conda-env/test-env.yml

@@ -6,6 +6,7 @@ dependencies:
   - pytest
   - pytest-cov
   - pytest-timeout
+  - pytest-xvfb
   - numpy
   - matplotlib
-  - scipy
+  - scipy

.github/workflows/control-slycot-src.yml

@@ -13,19 +13,8 @@ jobs:
         path: python-control
     - name: Set up Python
       uses: actions/setup-python@v2
-    - name: Install Python dependencies
-      run: |
-        # Set up conda
-        echo $CONDA/bin >> $GITHUB_PATH
-
-        # Set up (virtual) X11
-        sudo apt install -y xvfb
-
-        # Install test tools
-        conda install pip pytest pytest-timeout
-
-        # Install python-control dependencies
-        conda install numpy matplotlib scipy
+    - name: Install Python dependencies and test tools
+      run: pip install -v -e './python-control[test]'
 
     - name: Checkout Slycot
       uses: actions/checkout@v3
@@ -43,11 +32,10 @@ jobs:
         # Install compilers, libraries, and development environment
         sudo apt-get -y install gfortran cmake --fix-missing
         sudo apt-get -y install libblas-dev liblapack-dev
-        conda install -c conda-forge scikit-build setuptools-scm
 
         # Compile and install slycot
-        pip install -v --no-build-isolation --no-deps .
+        pip install -v .
 
     - name: Test with pytest
       working-directory: python-control
-      run: xvfb-run --auto-servernum pytest control/tests
+      run: pytest -v control/tests

.github/workflows/install_examples.yml

@@ -1,4 +1,4 @@
-name: setup.py, examples
+name: Setup, Examples, Notebooks
 
 on: [push, pull_request]
 
@@ -7,26 +7,23 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
-    - name: Set up Python
-      uses: actions/setup-python@v2
-    - name: Install Python dependencies
+    - uses: actions/checkout@v3
+    - name: Install Python dependencies from conda-forge
       run: |
-        # Set up conda
+        # Set up conda using the preinstalled GHA Miniconda environment
         echo $CONDA/bin >> $GITHUB_PATH
+        conda config --add channels conda-forge
+        conda config --set channel_priority strict
 
-        # Set up (virtual) X11
-        sudo apt install -y xvfb
+        # Install build tools
+        conda install pip setuptools setuptools-scm
 
-        # Install test tools
-        conda install pip pytest
+        # Install python-control dependencies and extras
+        conda install numpy matplotlib scipy
+        conda install slycot pmw jupyter
 
-        # Install python-control dependencies
-        conda install numpy matplotlib scipy jupyter
-        conda install -c conda-forge slycot pmw
-
-    - name: Install with setup.py
-      run: python setup.py install
+    - name: Install from source
+      run: pip install .
 
     - name: Run examples
       run: |

.github/workflows/python-package-conda.yml

@@ -8,30 +8,32 @@ jobs:
       Py${{ matrix.python-version }};
       ${{ matrix.slycot || 'no' }} Slycot;
       ${{ matrix.pandas || 'no' }} Pandas;
-      ${{ matrix.cvxopt || 'no' }} CVXOPT;
+      ${{ matrix.cvxopt || 'no' }} CVXOPT
       ${{ matrix.array-and-matrix == 1 && '; array and matrix' || '' }}
+      ${{ matrix.mplbackend && format('; {0}', matrix.mplbackend) }}
     runs-on: ubuntu-latest
 
     strategy:
       max-parallel: 5
+      fail-fast: false
       matrix:
-        python-version: [3.7, 3.9]
+        python-version: ['3.7', '3.10']
         slycot: ["", "conda"]
         pandas: [""]
         cvxopt: ["", "conda"]
+        mplbackend: [""]
         array-and-matrix: [0]
         include:
-          - python-version: 3.9
+          - python-version: '3.10'
             slycot: conda
             pandas: conda
+            cvxopt: conda
+            mplbackend: QtAgg
             array-and-matrix: 1
 
     steps:
     - uses: actions/checkout@v3
 
-    - name: Set up (virtual) X11
-      run:  sudo apt install -y xvfb
-
     - name: Setup Conda
       uses: conda-incubator/setup-miniconda@v2
       with:
@@ -55,15 +57,15 @@ jobs:
           mamba install pandas
         fi
         if [[ '${{matrix.cvxopt}}' == 'conda' ]]; then
-          mamba install  cvxopt
+          mamba install cvxopt
         fi
 
     - name: Test with pytest
       shell: bash -l {0}
       env:
         PYTHON_CONTROL_ARRAY_AND_MATRIX: ${{ matrix.array-and-matrix }}
-      run: |
-        xvfb-run --auto-servernum pytest --cov=control --cov-config=.coveragerc control/tests
+        MPLBACKEND: ${{ matrix.mplbackend }}
+      run: pytest -v --cov=control --cov-config=.coveragerc control/tests
 
     - name: Coveralls parallel
       # https://github.com/coverallsapp/github-action

README.rst

@@ -97,17 +97,14 @@ To install using pip::
 If you install Slycot using pip you'll need a development environment
 (e.g., Python development files, C and Fortran compilers).
 
-Distutils
----------
+Installing from source
+----------------------
 
-To install in your home directory, use::
+To install from source, get the source code of the desired branch or release
+from the github repository or archive, unpack, and run from within the
+toplevel `python-control` directory::
 
-  python setup.py install --user
-
-To install for all users (on Linux or Mac OS)::
-
-  python setup.py build
-  sudo python setup.py install
+  pip install .
 
 
 Development

control/tests/config_test.py

@@ -8,7 +8,6 @@
 from math import pi, log10
 
 import matplotlib.pyplot as plt
-from matplotlib.testing.decorators import cleanup as mplcleanup
 import numpy as np
 import pytest
 
@@ -18,7 +17,6 @@
 @pytest.mark.usefixtures("editsdefaults")  # makes sure to reset the defaults
                                            # to the test configuration
 class TestConfig:
-
     # Create a simple second order system to use for testing
     sys = ct.tf([10], [1, 2, 1])
 
@@ -28,8 +26,7 @@ def test_set_defaults(self):
         assert ct.config.defaults['freqplot.deg'] == 2
         assert ct.config.defaults['freqplot.Hz'] is None
 
-    @mplcleanup
-    def test_get_param(self):
+    def test_get_param(self, mplcleanup):
         assert ct.config._get_param('freqplot', 'dB')\
             == ct.config.defaults['freqplot.dB']
         assert ct.config._get_param('freqplot', 'dB', 1) == 1
@@ -92,8 +89,7 @@ def test_default_deprecation(self):
             assert ct.config.defaults['bode.Hz'] \
                 == ct.config.defaults['freqplot.Hz']
 
-    @mplcleanup
-    def test_fbs_bode(self):
+    def test_fbs_bode(self, mplcleanup):
         ct.use_fbs_defaults()
 
         # Generate a Bode plot
@@ -137,8 +133,7 @@ def test_fbs_bode(self):
         phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
 
-    @mplcleanup
-    def test_matlab_bode(self):
+    def test_matlab_bode(self, mplcleanup):
         ct.use_matlab_defaults()
 
         # Generate a Bode plot
@@ -182,8 +177,7 @@ def test_matlab_bode(self):
         phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
 
-    @mplcleanup
-    def test_custom_bode_default(self):
+    def test_custom_bode_default(self, mplcleanup):
         ct.config.defaults['freqplot.dB'] = True
         ct.config.defaults['freqplot.deg'] = True
         ct.config.defaults['freqplot.Hz'] = True
@@ -204,8 +198,7 @@ def test_custom_bode_default(self):
         np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
         np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
 
-    @mplcleanup
-    def test_bode_number_of_samples(self):
+    def test_bode_number_of_samples(self, mplcleanup):
         # Set the number of samples (default is 50, from np.logspace)
         mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
         assert len(mag_ret) == 87
@@ -219,8 +212,7 @@ def test_bode_number_of_samples(self):
         mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
         assert len(mag_ret) == 87
 
-    @mplcleanup
-    def test_bode_feature_periphery_decade(self):
+    def test_bode_feature_periphery_decade(self, mplcleanup):
         # Generate a sample Bode plot to figure out the range it uses
         ct.reset_defaults()     # Make sure starting state is correct
         mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)

control/tests/conftest.py

@@ -1,13 +1,11 @@
 """conftest.py - pytest local plugins and fixtures"""
 
 import os
-import sys
 from contextlib import contextmanager
 
 import matplotlib as mpl
 import numpy as np
 import pytest
-import scipy as sp
 
 import control
 
@@ -45,15 +43,15 @@ def control_defaults():
                 params=[pytest.param("arrayout", marks=matrixerrorfilter),
                         pytest.param("matrixout", marks=matrixfilter)])
 def matarrayout(request):
-    """Switch the config to use np.ndarray and np.matrix as returns"""
+    """Switch the config to use np.ndarray and np.matrix as returns."""
     restore = control.config.defaults['statesp.use_numpy_matrix']
     control.use_numpy_matrix(request.param == "matrixout", warn=False)
     yield
     control.use_numpy_matrix(restore, warn=False)
 
 
 def ismatarrayout(obj):
-    """Test if the returned object has the correct type as configured
+    """Test if the returned object has the correct type as configured.
 
     note that isinstance(np.matrix(obj), np.ndarray) is True
     """
@@ -63,15 +61,15 @@ def ismatarrayout(obj):
 
 
 def asmatarrayout(obj):
-    """Return a object according to the configured default"""
+    """Return a object according to the configured default."""
     use_matrix = control.config.defaults['statesp.use_numpy_matrix']
     matarray = np.asmatrix if use_matrix else np.asarray
     return matarray(obj)
 
 
 @contextmanager
 def check_deprecated_matrix():
-    """Check that a call produces a deprecation warning because of np.matrix"""
+    """Check that a call produces a deprecation warning because of np.matrix."""
     use_matrix = control.config.defaults['statesp.use_numpy_matrix']
     if use_matrix:
         with pytest.deprecated_call():
@@ -94,13 +92,13 @@ def check_deprecated_matrix():
                           False)]
                         if usebydefault or TEST_MATRIX_AND_ARRAY])
 def matarrayin(request):
-    """Use array and matrix to construct input data in tests"""
+    """Use array and matrix to construct input data in tests."""
     return request.param
 
 
 @pytest.fixture(scope="function")
 def editsdefaults():
-    """Make sure any changes to the defaults only last during a test"""
+    """Make sure any changes to the defaults only last during a test."""
     restore = control.config.defaults.copy()
     yield
     control.config.defaults = restore.copy()

control/tests/rlocus_test.py

@@ -85,6 +85,8 @@ def test_root_locus_neg_false_gain_nonproper(self):
 
     # TODO: cover and validate negative false_gain branch in _default_gains()
 
+    @pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
+                        reason="Requires the zoom toolbar")
     def test_root_locus_zoom(self):
         """Check the zooming functionality of the Root locus plot"""
         system = TransferFunction([1000], [1, 25, 100, 0])

control/tests/sisotool_test.py

@@ -46,6 +46,8 @@ def sys221(self):
         D221 = [[1., -1.]]
         return StateSpace(A222, B222, C221, D221)
 
+    @pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
+                        reason="Requires the zoom toolbar")
     def test_sisotool(self, tsys):
         sisotool(tsys, Hz=False)
         fig = plt.gcf()
@@ -114,6 +116,8 @@ def test_sisotool(self, tsys):
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
 
+    @pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
+                        reason="Requires the zoom toolbar")
     @pytest.mark.parametrize('tsys', [0, True],
                              indirect=True, ids=['ctime', 'dtime'])
     def test_sisotool_tvect(self, tsys):