Merge pull request #291 from upb-lea/nightly

Merge for Release 3.0.3

Author: bhk11

.github/workflows/build_and_test.yml

@@ -36,14 +36,44 @@ jobs:
   build-doc:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - name: Build Sphinx documentation
-      uses: nicholasphair/sphinx-action@7.0.0
+    - uses: actions/checkout@v4 
+    - uses: actions/setup-python@v5
       with:
-        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.
-    # ===============================
+          python-version: "3.11"
+    - name: Install docs toolchain
+      #pre-build-command: "apt-get update && apt-get install -y git && python -m pip install 'sphinx==3.5.4' 'docutils==0.16' sphinx_mdinclude 'sphinx-rtd-theme==1.0.0' 'sphinxcontrib-applehelp==1.0.4' 'sphinxcontrib-devhelp==1.0.2' 'sphinxcontrib-qthelp==1.0.3' 'sphinxcontrib-serializinghtml==1.1.5' 'sphinxcontrib-htmlhelp==2.0.0' && python -m pip install -r requirements.txt && python -m pip install git+https://github.com/upb-lea/control-block-diagram && python -m pip install ."
+      #docs-folder: "docs/"
+      run: |
+        python -m pip install -U pip setuptools wheel
+        if [ -f requirements.txt ]; then pip install -r requirements.txt || true; fi
+        pip install "sphinx==7.3.7" "docutils==0.20.1" "myst-parser==2.0.0" "sphinx-rtd-theme==3.0.2"
+        # REQUIRED so autodoc can import gem_controllers.*
+        pip install git+https://github.com/upb-lea/gem-control@main
+        # Optional: if gem-control imports this at import time in your pages
+        # pip install git+https://github.com/upb-lea/control-block-diagram
+        # Install your package so autodoc can import your modules too
+        pip install .
+    - name: Ensure docs/_static exists
+      run: mkdir -p docs/_static
+    - name: Build docs
+      working-directory: docs
+      run: |
+        sphinx-build -b html -n -T -v -E . _build/html --keep-going -w /tmp/sphinx-log
+        echo "---- Sphinx log ----"
+        cat /tmp/sphinx-log || true
+    - name: Upload docs as Pages artifact
+      if: success()
+      uses: actions/upload-pages-artifact@v3
+      with:
+        path: docs/_build/html
+    - name: Print Sphinx log on failure
+      if: failure()
+      run: |
+       echo "::group::/tmp/sphinx-log"
+       tail -n +1 /tmp/sphinx-log || true
+       echo "::endgroup::"
+      # Publish built docs to gh-pages branch.
+      # ===============================
     - name: Commit documentation changes
       run: |
         git clone https://github.com/upb-lea/gym-electric-motor.git --branch gh-pages --single-branch gh-pages

.gitignore

@@ -31,4 +31,7 @@ examples/logs/
 .vscode/settings.json
 .vscode/launch.json
 plots/
-saved_plots/
+saved_plots/
+
+# debug files
+*/debug.ipynb

CHANGELOG.md

@@ -9,6 +9,22 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## Changed
 ## Fixed
 
+## [3.0.3] - 2025-12-19
+## Added
+- Automated testing of the existing examples
+- Automated testing of the electric motors
+- 2x3 phase PMSM environment with tests and documentation
+- finite-control-set model predictive current control example
+- finite-control-set model predicitve current control is now available in gem-control for PMSM and SynRM (currently working not with superimposed speed and / or torque control)
+- merged gem-control documentation into the gem docs
+## Changed
+- Changed minimum required gymnasium version to 0.29.1.
+- Updated the code of gem-control to be compatible with gymnasium v1.0.0
+## Fixed
+- Updated syntax in the classic_controllers to run with gymnasium v1.0.0 
+- #263 updated the stable-baselines3, model predictive control and gem-control examples to run with gymnasium v1.0.0
+- exchanged widget to ipympl within the examples to run the visualization in visual studio code
+
 ## [3.0.2] - 2024-11-19
 ## Added
 ## Changed

README.md

@@ -19,7 +19,7 @@
 
 ## Overview
 The gym-electric-motor (GEM) package is a Python toolbox for the simulation and control of various electric motors.
-It is built upon [Faram Gymnasium Environments](https://gymnasium.farama.org/), and, therefore, can be used for both, classical control simulation and [reinforcement learning](https://github.com/upb-lea/reinforcement_learning_course_materials) experiments. It allows you to construct a typical drive train with the usual building blocks, i.e., supply voltages, converters, electric motors and load models, and obtain not only a closed-loop simulation of this physical structure, but also a rich interface for plugging in any decision making algorithm, from linear feedback control to [Deep Deterministic Policy Gradient](https://spinningup.openai.com/en/latest/algorithms/ddpg.html) agents.
+It is built upon [Farama Gymnasium Environments](https://gymnasium.farama.org/), and, therefore, can be used for both, classical control simulation and [reinforcement learning](https://github.com/upb-lea/reinforcement_learning_course_materials) experiments. It allows you to construct a typical drive train with the usual building blocks, i.e., supply voltages, converters, electric motors and load models, and obtain not only a closed-loop simulation of this physical structure, but also a rich interface for plugging in any decision making algorithm, from linear feedback control to [Deep Deterministic Policy Gradient](https://spinningup.openai.com/en/latest/algorithms/ddpg.html) agents.
 In addition, an automated framework for classical control structures based on PI controllers is provided.
 
 ## Getting Started
@@ -82,14 +82,14 @@ A GEM environment consists of following building blocks:
 Among various DC-motor models, the following AC motors - together with their power electronic counterparts - are available:
 - Permanent magnet synchronous motor (PMSM) 
 - Synchronous reluctance motor (SynRM)
-- Externally exited synchronous motor (EESM)
+- Externally excited synchronous motor (EESM)
 - Squirrel cage induction motor (SCIM)
 - Doubly-fed induction motor (DFIM)
 
 The converters can be driven by means of a duty cycle (continuous control set) or switching commands (finite control set). 
 
 ### Citation
-A white paper for the general toolbox in the context of drive simulation and control prototyping can be found in the [Journal of Open Sorce Software (JOSS)](https://joss.theoj.org/papers/10.21105/joss.02498). Please use the following BibTeX entry for citing it:
+A white paper for the general toolbox in the context of drive simulation and control prototyping can be found in the [Journal of Open Source Software (JOSS)](https://joss.theoj.org/papers/10.21105/joss.02498). Please use the following BibTeX entry for citing it:
 ```
 @article{Balakrishna2021,
     doi = {10.21105/joss.02498},

docs/conf.py

@@ -14,8 +14,23 @@
 #
 import os
 import sys
+
+
+os.environ.setdefault("MPLBACKEND", "Agg")
+os.environ.setdefault("QT_QPA_PLATFORM", "offscreen")
+try:
+    import matplotlib; matplotlib.use("Agg")
+except Exception:
+    pass
+
+autodoc_mock_imports = [
+    "tkinter","tkinter.ttk","tkinter.filedialog",
+    "IPython","IPython.display",
+    # add more if needed in your project:
+    "PyQt5","PyQt6","PySide2","PySide6","OpenGL","OpenGL.GL","cv2",
+    "PIL.ImageTk","wx","gi","kivy","vispy","glfw",
+]
 sys.path.insert(0, os.path.abspath('..'))
-sys.setrecursionlimit(1500)
 # -- Project information -----------------------------------------------------
 
 project = 'gym-electric-motor'
@@ -39,23 +54,41 @@
 # ones.
 extensions = [
     'sphinx.ext.autodoc',
-    'sphinx.ext.coverage',
+    'sphinx.ext.autosummary',
     'sphinx.ext.mathjax',
     'sphinx.ext.viewcode',
     'sphinx.ext.napoleon',
     'sphinx_rtd_theme',
-    'm2r2'
+    'myst_parser',
+    'sphinx.ext.intersphinx'
 ]
-
+html_theme = "sphinx_rtd_theme"
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
+suppress_warnings = ['autodoc.import_object']
 
 # The suffix(es) of source filenames.
+#source_suffix = ['.rst', '.md']
 # You can specify multiple suffix as a list of string:
-#
-source_suffix = ['.rst', '.md']
 # source_suffix = '.rst'
+source_suffix = { ".rst": "restructuredtext", ".md": "myst" }
+
+# MyST features
+myst_enable_extensions = ["colon_fence", "deflist", "dollarmath", "amsmath"]
+autosummary_generate = True
+autodoc_default_options = {
+    "members": True,
+    "undoc-members": True,
+    "inherited-members": True,
+    "show-inheritance": True,
+    "member-order": "groupwise",
+}
 
+# Cross-link to external docs
+intersphinx_mapping = {
+    "python": ("https://docs.python.org/3", {}),
+    "gem_control": ("https://upb-lea.github.io/gem-control/", None),
+}
 # The master toctree document.
 master_doc = 'index'
 
@@ -67,8 +100,11 @@
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
-
+language = "en"
+# Don't look for translation catalogs (avoids "locale_dir ... does not exist")
+locale_dirs = []
+# (optional) keeps .po files ungrouped if you ever add i18n later
+gettext_compact = False
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path .
@@ -83,13 +119,17 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'sphinx_rtd_theme'
+
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
 # documentation.
 #
-# html_theme_options = {}
+html_theme_options = { 
+    "collapse_navigation": False,  # keep the tree expanded (optional)
+    "navigation_depth": 4,         # how deep the *page* tree goes
+    "titles_only": True,
+    }
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
@@ -110,7 +150,7 @@
 # -- Options for HTMLHelp output ---------------------------------------------
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = 'LEA-RLdoc'
+htmlhelp_basename = 'GEM-doc'
 
 
 # -- Options for LaTeX output ------------------------------------------------
@@ -129,20 +169,22 @@
 
     # Additional stuff for the LaTeX preamble.
     #
-    # 'preamble': '',
+    'preamble': r'''
+\usepackage{amsmath}
+''',
 
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
-    'packages': latex_packages
+    #'packages': latex_packages
 }
 
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, 'LEA-RL.tex', 'LEA-RL Documentation',
-     'Arne Traue, Gerrit Book', 'manual'),
+    (master_doc, 'gem-doc.tex', 'GEM Documentation',
+     'Praneeth Balakrishna, Gerrit Book, Felix Book, Darius Jakobeit, Wilhelm Kirchgässner, Maximilian Schenke, Arne Traue, Oliver Wallscheid', 'manual'),
 ]
 
 
@@ -151,9 +193,35 @@
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
 man_pages = [
-    (master_doc, 'lea-rl', 'LEA-RL Documentation',
+    (master_doc, 'gem', 'GEM Documentation',
      [author], 1)
 ]
+# --- Patch broken upstream docstrings so the build doesn't fail ---
+BAD_DOCSTRINGS = {
+    "gym_electric_motor.core.ElectricMotorEnvironment",
+    "gym_electric_motor.core.ConstraintMonitor",
+}
+BAD_DOCSTRING_PREFIXES = (
+    "gym_electric_motor.physical_systems.electric_motors.",
+    "gym_electric_motor.physical_systems.mechanical_loads.",
+    # add more if needed:
+    # "gym_electric_motor.envs.",
+)
+
+def _suppress_broken_docstrings(app, what, name, obj, options, lines):
+    """Replace known-bad docstrings with a short stub so Sphinx won't error."""
+    if name in BAD_DOCSTRINGS or any(name.startswith(pfx) for pfx in BAD_DOCSTRING_PREFIXES):
+        lines[:] = [
+            f"API for ``{name}``.",
+            "",
+            ".. note::",
+            "   The original docstring is temporarily suppressed due to formatting issues",
+            "   upstream. Once it’s cleaned, we’ll restore the full text here.",
+        ]
+
+def setup(app):
+    app.connect("autodoc-process-docstring", _suppress_broken_docstrings)
+    return {"version": "1.0", "parallel_read_safe": True}
 
 
 # -- Options for Texinfo output ----------------------------------------------
@@ -162,10 +230,8 @@
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (master_doc, 'LEA-RL', 'LEA-RL Documentation',
-     author, 'LEA-RL', 'One line description of project.',
+    (master_doc, 'GEM', 'GEM Documentation',
+     author, 'GEM', 'A package to simulate and control electrical drives.',
      'Miscellaneous'),
 ]
-
-
 # -- Extension configuration -------------------------------------------------

docs/constraints.txt

@@ -0,0 +1,4 @@
+sphinx==7.3.7
+docutils==0.20.1
+myst-parser==2.0.0
+sphinx-rtd-theme==3.0.2

docs/diagrams/block_diagrams.drawio

@@ -0,0 +1 @@
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