Update autovec and add more functions (#388)

* Fix docstring attachment issue

* Add simple tests for all autovecd methods

* Add autovec to freqresp

* Fix how autovec handles single output function

* Fix freqrespv error introduced in previous commit

* Update sigma docstring

Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>

Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>

Author: albheim

src/ControlSystems.jl

@@ -70,7 +70,7 @@ export  LTISystem,
         solve,
         Simulator,
         # Frequency Response
-        freqresp,
+        freqresp, freqrespv,
         evalfr,
         bode, bodev,
         nyquist, nyquistv,

src/freqresp.jl

@@ -5,7 +5,7 @@ Evaluate the frequency response of a linear system
 `w -> C*((iw*im -A)^-1)*B + D`
 
 of system `sys` over the frequency vector `w`."""
-function freqresp(sys::LTISystem, w_vec::AbstractVector{<:Real})
+@autovec () function freqresp(sys::LTISystem, w_vec::AbstractVector{<:Real})
     # Create imaginary freq vector s
     if iscontinuous(sys)
         s_vec = im*w_vec
@@ -100,7 +100,7 @@ end
 Compute the magnitude and phase parts of the frequency response of system `sys`
 at frequencies `w`
 
-`mag` and `phase` has size `(length(w), ny, nu)`""" bode
+`mag` and `phase` has size `(length(w), ny, nu)`""" 
 @autovec (1, 2) function bode(sys::LTISystem, w::AbstractVector)
     resp = freqresp(sys, w)
     return abs.(resp), rad2deg.(unwrap!(angle.(resp),1)), w
@@ -112,7 +112,7 @@ end
 Compute the real and imaginary parts of the frequency response of system `sys`
 at frequencies `w`
 
-`re` and `im` has size `(length(w), ny, nu)`""" nyquist
+`re` and `im` has size `(length(w), ny, nu)`""" 
 @autovec (1, 2) function nyquist(sys::LTISystem, w::AbstractVector)
     resp = freqresp(sys, w)
     return real(resp), imag(resp), w
@@ -121,10 +121,10 @@ end
 
 """`sv, w = sigma(sys[, w])`
 
-Compute the singular values of the frequency response of system `sys` at
+Compute the singular values `sv` of the frequency response of system `sys` at
 frequencies `w`
 
-`sv` has size `(length(w), max(ny, nu))`""" sigma
+`sv` has size `(length(w), max(ny, nu))`""" 
 @autovec (1) function sigma(sys::LTISystem, w::AbstractVector)
     resp = freqresp(sys, w)
     sv = dropdims(mapslices(svdvals, resp, dims=(2,3)),dims=3)

src/utilities.jl

@@ -153,35 +153,39 @@ index2range(ind::Colon) = ind
 """@autovec (indices...) f() = (a, b, c)
 
 A macro that helps in creating versions of functions where excessive dimensions are 
-removed automatically for specific outputs. `indices` are the indexes of the outputs 
-of the functions which should be flattened. 
+removed automatically for specific outputs. `indices` contains each index for which 
+the output tuple should be flattened. If the function only has a single output it 
+(not a tuple with a single item) it should be called as `@autovec () f() = ...`.
 `f()` is the original function and `fv()` will be the version with flattened outputs.
 """
 macro autovec(indices, f) 
     dict = MacroTools.splitdef(f)
     rtype = get(dict, :rtype, :Any)
     indices = eval(indices)
-    maxidx = max(indices...)
-
-    # Build the returned expression on the form (ret[1], vec(ret[2]), ret[3]...) where 2 ∈ indices
-    idxmax = maximum(indices)
-    return_exp = :()
-    for i in 1:idxmax
-        if i in indices
-            return_exp = :($return_exp..., vec(result[$i]))
-        else
-            return_exp = :($return_exp..., result[$i])
+
+    # If indices is empty it means we vec the entire return value
+    if length(indices) == 0
+        return_exp = :(vec(result))
+    else # Build the returned expression on the form (ret[1], vec(ret[2]), ret[3]...) where 2 ∈ indices
+        idxmax = maximum(indices)
+        return_exp = :()
+        for i in 1:idxmax
+            if i in indices
+                return_exp = :($return_exp..., vec(result[$i]))
+            else
+                return_exp = :($return_exp..., result[$i])
+            end
         end
+        return_exp = :($return_exp..., result[$idxmax+1:end]...)
     end
-    return_exp = :($return_exp..., result[$idxmax+1:end]...)
 
     fname = dict[:name]
     args = get(dict, :args, [])
     kwargs = get(dict, :kwargs, [])
     argnames = extractvarname.(args)
     kwargnames = extractvarname.(kwargs)
     quote
-        $(esc(f)) # Original function
+        Core.@__doc__ $(esc(f)) # Original function
 
         """`$($(esc(fname)))v($(join($(args), ", ")); $(join($(kwargs), ", ")))` 
 

test/test_autovec.jl

@@ -1,8 +1,9 @@
-
 @testset "test_autovec" begin
 
 
+# Test all different autovecd methods
 sys = tf([1], [1, 2])
+w = exp10.(LinRange(-3,3,10))
 
 # Check output of bode and make sure dimensions are correct
 mag, phase, w = bode(sys)
@@ -13,12 +14,59 @@ magv, phasev, w = bodev(sys)
 @test size(magv) == size(phasev) == size(w)
 @test vec(mag) == magv && vec(phase) == phasev
 
-w = exp10.(LinRange(-3,3,10))
 mag, phase, _ = bodev(sys, w)
 @test size(mag) == size(phase) == size(w)
 
+# Check output of nyquist and make sure dimensions are correct
+real, imag, w = nyquist(sys)
+@test size(real) == size(imag) == (size(w,1), 1, 1)
+
+# Check output of nyquistv and make sure dimensions are correct
+realv, imagv, w = nyquistv(sys)
+@test size(realv) == size(imagv) == size(w)
+@test vec(real) == realv && vec(imag) == imagv
+
+real, imag, _ = nyquistv(sys, w)
+@test size(real) == size(imag) == size(w)
+
+# Check output of sigma and make sure dimensions are correct
+sv, w = sigma(sys)
+@test size(sv) == (size(w,1), 1)
+
+# Check output of sigmav and make sure dimensions are correct
+svv, w = sigmav(sys)
+@test size(svv) == size(w)
+@test vec(sv) == svv 
+
+sv, _ = sigmav(sys, w)
+@test size(sv) == size(w)
+
+# Check output of freqresp and make sure dimensions are correct
+fs = freqresp(sys, w)
+@test size(fs) == (size(w,1), 1, 1)
+
+# Check output of freqrespv and make sure dimensions are correct
+fsv = freqrespv(sys, w)
+@test size(fsv) == size(w)
+@test vec(fs) == fsv 
+
+
+
+
+
+
 # Test that we can define varous kinds of methods with autovec
 
+# Test arguments for single output
+ControlSystems.@autovec () function t0(b::Int, c::Float64=1.0)
+    return [b c]
+end
+
+@test @isdefined t0
+@test @isdefined t0v
+@test t0(5) == [5.0 1.0]
+@test t0v(5) == [5.0, 1.0]
+
 # Test arguments
 ControlSystems.@autovec (2,) function t0(a, b::Int, c::Float64=1.0)
     return a, [b c]