added tests

.gitignore

@@ -40,6 +40,7 @@ output/
 
 # Editor Config #
 .vscode/
+.vs/
 .spyproject/
 .spyderproject/
 

pyproject.toml

@@ -29,4 +29,14 @@ classifiers=[
 ]
 
 [project.urls]
-Homepage = "https://github.com/SherbyRobotics/pyro/tree/master"
+Homepage = "https://github.com/SherbyRobotics/pyro/tree/master"
+
+[tool.pytest.ini_options]
+testpaths = "test"
+addopts = "-v -ra -q"
+log_cli = true
+log_cli_level = "INFO"
+log_format = "%(asctime)s %(levelname)s %(message)s"
+log_date_format = "%Y-%m-%d %H:%M:%S"
+minversion = "6.0"
+filterwarnings = "ignore"

test/test_system.py

@@ -0,0 +1,84 @@
+import pytest
+import numpy as np
+import matplotlib.pyplot as plt
+import matplotlib
+from pyro.dynamic import ContinuousDynamicSystem  # Replace 'your_module' with the actual module name
+
+matplotlib.use('Template')
+# Mock subclass to implement the f method
+class MockContinuousDynamicSystem(ContinuousDynamicSystem):
+    def f(self, x, u, t):
+        # Simple dynamic equation for testing
+        return -x + u
+
+# Test cases
+@pytest.fixture
+def system():
+    return MockContinuousDynamicSystem(n=2, m=2, p=2)
+
+@pytest.fixture
+def system_3d():
+    return MockContinuousDynamicSystem(n=3, m=2, p=2)
+
+def test_initialization(system):
+    assert system.n == 2
+    assert system.m == 2
+    assert system.p == 2
+    assert system.state_label == ["State 0", "State 1"]
+    assert system.input_label == ["Input 0", "Input 1"]
+    assert system.output_label == ["Output 0", "Output 1"]
+
+def test_f_method(system):
+    x = np.array([1.0, 2.0])
+    u = np.array([0.5, 1.5])
+    t = 0
+    dx = system.f(x, u, t)
+    assert np.array_equal(dx, -x + u)
+
+def test_h_method(system):
+    x = np.array([1.0, 2.0])
+    u = np.array([0.5, 1.5])
+    t = 0
+    y = system.h(x, u, t)
+    assert np.array_equal(y, x)
+
+def test_t2u_method(system):
+    t = 0
+    u = system.t2u(t)
+    assert np.array_equal(u, system.ubar)
+
+def test_isavalidstate(system):
+    x_valid = np.array([0.0, 0.0])
+    x_invalid = np.array([11.0, 0.0])
+    assert system.isavalidstate(x_valid) is True
+    assert system.isavalidstate(x_invalid) is False
+
+def test_isavalidinput(system):
+    x = np.array([0.0, 0.0])
+    u_valid = np.array([0.0, 0.0])
+    u_invalid = np.array([2.0, 0.0])
+    assert system.isavalidinput(x, u_valid) is True
+    assert system.isavalidinput(x, u_invalid) is False
+
+def test_fsim(system):
+    x = np.array([1.0, 2.0])
+    t = 0
+    dx = system.fsim(x, t)
+    expected_dx = -x + system.ubar
+    assert np.array_equal(dx, expected_dx)
+
+def test_x_next(system):
+    x = np.array([1.0, 2.0])
+    u = np.array([0.5, 1.5])
+    t = 0
+    dt = 0.1
+    steps = 1
+    x_next = system.x_next(x, u, t, dt, steps)
+    expected_x_next = x + dt * (-x + u)
+    assert np.allclose(x_next, expected_x_next)
+
+def test_animate_simulation(system):
+    system.compute_trajectory(tf=1.0, n=11)
+    animation = system.animate_simulation()
+    assert animation is not None
+    plt.close('all')

test/test_with_pytest.py

@@ -0,0 +1,7 @@
+# test_with_pytest.py
+
+def test_always_passes():
+    assert True
+
+def test_always_fails():
+    assert False