Hotfix env init

.github/workflows/build_and_test.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.8, 3.9, "3.10"]
+        python-version: [3.9, "3.10", "3.11"]
 
     steps:
     - uses: actions/checkout@v3
@@ -41,7 +41,7 @@ jobs:
     - name: Build Sphinx documentation
       uses: ammaraskar/sphinx-action@master
       with:
-        pre-build-command: "python -m pip install sphinx m2r2 sphinx_rtd_theme && python -m pip install -r requirements.txt & python -m pip install ."
+        pre-build-command: "python -m pip install sphinx m2r2 sphinx_rtd_theme==1.3.0 && python -m pip install -r requirements.txt & python -m pip install ."
         docs-folder: "docs/"
     # Publish built docs to gh-pages branch.
     # ===============================

.gitignore

@@ -30,4 +30,5 @@ examples/logs/
 /my_examples/
 .vscode/settings.json
 .vscode/launch.json
-plots/
+plots/
+saved_plots/

CHANGELOG.md

@@ -9,6 +9,19 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## Changed
 ## Fixed
 
+## [2.0.1] - Unreleased
+## Added
+- Support for Python 3.11
+- Ruff: Python linter & formatter (see [DEVELOPMENT.md](DEVELOPMENT.md))
+- StateObserver: An easy way to get state values with error checking [example](examples/observers/state_observer_example.py)
+- Integrated gem_controls repository into gem. classic_controllers will be removed in further version
+- Using pyproject.toml, dropping deprecated setup.py
+- Enabled Gymnasium env checker [see here](https://gymnasium.farama.org/api/experimental/wrappers/#gymnasium.experimental.wrappers.PassiveEnvCheckerV0)
+## Changed
+- Linted and formatted all files
+- Changed max. steps in some test files to improve test speed by 30%
+## Fixed
+
 ## [2.0.0] - 2023-08-15
 ## Added
 - Support for Python 3.10

DEVELOPMENT.md

@@ -0,0 +1,41 @@
+# Packaging
+Update build tool: `python -m pip install --upgrade build`
+
+Build: `python -m build`
+
+# Testing 
+Run: `pytest --sw`
+> --sw, --stepwise      Exit on test failure and continue from last failing test next time
+
+Warning as error:
+> python -W error -m pytest --sw -v
+
+# Linter and Formater
+Ruff: https://docs.astral.sh/ruff/installation/
+
+Use `ruff check src/` for linting
+or `ruff format src/` for formatting
+
+
+# Install package for local development
+Run: `pip install -e .`
+> -e, --editable <path/url>   Install a project in editable mode (i.e. setuptools "develop mode") from a local project path or a VCS url
+
+Check correct package install directory with python interpreter
+Run: `python`
+
+```
+>>> import gym_electric_motor as gem
+>>> gem
+<module 'gym_electric_motor' from '/home/***/gym-electric-motor/src/gym_electric_motor/__init__.py'>
+```
+
+# Sidenotes
+```
+python -V
+Python 3.10.13
+```
+
+
+## No poetry
+Some complex dependency systems don't work good with poetry (e.g. pytorch) (https://python-poetry.org/)

examples/classic_controllers/classic_controllers_dc_motor_example.py

@@ -1,10 +1,11 @@
 from classic_controllers import Controller
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
+
 import gym_electric_motor as gem
 from gym_electric_motor.visualization import MotorDashboard
+from gym_electric_motor.visualization.render_modes import RenderMode
 
-if __name__ == '__main__':
-
+if __name__ == "__main__":
     """
     motor type:     'PermExDc'  Permanently Excited DC Motor
                     'ExtExDc'   Externally Excited MC Motor
@@ -19,26 +20,30 @@
                     'Finite'    Discrete Action Space
     """
 
-    motor_type = 'PermExDc'
-    control_type = 'TC'
-    action_type = 'Cont'
+    motor_type = "PermExDc"
+    control_type = "TC"
+    action_type = "Cont"
 
-    motor = action_type + '-' + control_type + '-' + motor_type + '-v0'
+    motor = action_type + "-" + control_type + "-" + motor_type + "-v0"
 
-    if motor_type in ['PermExDc', 'SeriesDc']:
-        states = ['omega', 'torque', 'i', 'u']
-    elif motor_type == 'ShuntDc':
-        states = ['omega', 'torque', 'i_a', 'i_e', 'u']
-    elif motor_type == 'ExtExDc':
-        states = ['omega', 'torque', 'i_a', 'i_e', 'u_a', 'u_e']
+    if motor_type in ["PermExDc", "SeriesDc"]:
+        states = ["omega", "torque", "i", "u"]
+    elif motor_type == "ShuntDc":
+        states = ["omega", "torque", "i_a", "i_e", "u"]
+    elif motor_type == "ExtExDc":
+        states = ["omega", "torque", "i_a", "i_e", "u_a", "u_e"]
     else:
-        raise KeyError(motor_type + ' is not available')
+        raise KeyError(motor_type + " is not available")
 
     # definition of the plotted variables
     external_ref_plots = [ExternallyReferencedStatePlot(state) for state in states]
 
+    motor_dashboard = MotorDashboard(additional_plots=external_ref_plots, render_mode=RenderMode.Figure)
     # initialize the gym-electric-motor environment
-    env = gem.make(motor, visualization=MotorDashboard(additional_plots=external_ref_plots), render_mode="figure_once")
+    env = gem.make(
+        motor,
+        visualization=motor_dashboard,
+    )
     """
         initialize the controller
 
@@ -50,10 +55,10 @@
             a (optional)                    tuning parameter of the symmetrical optimum (default: 4)
 
     """
-    visualization = MotorDashboard(additional_plots=external_ref_plots)
+
     controller = Controller.make(env, external_ref_plots=external_ref_plots)
 
-    (state, reference), _ = env.reset(seed = None)
+    (state, reference), _ = env.reset(seed=None)
     # simulate the environment
     for i in range(10001):
         action = controller.control(state, reference)
@@ -62,4 +67,5 @@
             env.reset()
             controller.reset()
 
+    motor_dashboard.show_and_hold()
     env.close()

examples/classic_controllers/classic_controllers_ind_motor_example.py

@@ -6,8 +6,7 @@
 from gym_electric_motor.physical_system_wrappers import FluxObserver
 import numpy as np
 
-if __name__ == '__main__':
-
+if __name__ == "__main__":
     """
         motor type:     'SCIM'      Squirrel Cage Induction Motor
 
@@ -18,21 +17,27 @@
         action_type:    'AbcCont'      Continuous Action Space
     """
 
-    motor_type = 'SCIM'
-    control_type = 'TC'
-    action_type = 'Cont'
+    motor_type = "SCIM"
+    control_type = "TC"
+    action_type = "Cont"
 
-    env_id = action_type + '-' + control_type + '-' + motor_type + '-v0'
+    env_id = action_type + "-" + control_type + "-" + motor_type + "-v0"
 
     # definition of the plotted variables
-    states = ['omega', 'torque', 'i_sd', 'i_sq', 'u_sd', 'u_sq']
+    states = ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
     external_ref_plots = [ExternallyReferencedStatePlot(state) for state in states]
-    external_plot = [ExternalPlot(referenced=control_type != 'CC'), ExternalPlot(min=-np.pi, max=np.pi)]
+    external_plot = [
+        ExternalPlot(referenced=control_type != "CC"),
+        ExternalPlot(min=-np.pi, max=np.pi),
+    ]
     external_ref_plots += external_plot
 
     # initialize the gym-electric-motor environment
-    env = gem.make(env_id, physical_system_wrappers=(FluxObserver(),),
-                   visualization=MotorDashboard(state_plots=('omega', 'psi_abs', 'psi_angle')))
+    env = gem.make(
+        env_id,
+        physical_system_wrappers=(FluxObserver(),),
+        visualization=MotorDashboard(state_plots=("omega", "psi_abs", "psi_angle")),
+    )
 
     """
         initialize the controller

examples/classic_controllers/classic_controllers_synch_motor_example.py

@@ -4,8 +4,7 @@
 from gym_electric_motor.visualization import MotorDashboard
 
 
-if __name__ == '__main__':
-
+if __name__ == "__main__":
     """
         motor type:     'PMSM'      Permanent Magnet Synchronous Motor
                         'SynRM'     Synchronous Reluctance Motor
@@ -18,18 +17,22 @@
                         'Finite'    Discrete Action Space
     """
 
-    motor_type = 'PMSM'
-    control_type = 'TC'
-    action_type = 'Cont'
-
-    env_id = action_type + '-' + control_type + '-' + motor_type + '-v0'
+    motor_type = "PMSM"
+    control_type = "TC"
+    action_type = "Cont"
 
+    env_id = action_type + "-" + control_type + "-" + motor_type + "-v0"
 
     # definition of the plotted variables
-    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in ['omega', 'torque', 'i_sd', 'i_sq', 'u_sd', 'u_sq']]
+    external_ref_plots = [
+        ExternallyReferencedStatePlot(state)
+        for state in ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
+    ]
 
     # initialize the gym-electric-motor environment
-    env = gem.make(env_id, visualization=MotorDashboard(additional_plots=external_ref_plots))
+    env = gem.make(
+        env_id, visualization=MotorDashboard(additional_plots=external_ref_plots)
+    )
 
     """
     initialize the controller
@@ -48,7 +51,9 @@
 
     """
 
-    controller = Controller.make(env, external_ref_plots=external_ref_plots, torque_control='analytical')
+    controller = Controller.make(
+        env, external_ref_plots=external_ref_plots, torque_control="analytical"
+    )
 
     (state, reference), _ = env.reset()