From fa430f17e783262154bf7d8153639dbbb6dbe021 Mon Sep 17 00:00:00 2001
From: Stefan Ecklebe <stefan.ecklebe@umit-tirol.at>
Date: Mon, 21 Oct 2024 17:54:22 +0200
Subject: [PATCH] Fix problem with disturbance module if no sensor is present

---
 pymoskito/examples/car/model.py         | 2 +-
 pymoskito/examples/tanksystem/model.py  | 2 +-
 pymoskito/generic_simulation_modules.py | 6 +++---
 pymoskito/simulation_modules.py         | 9 ++++++---
 4 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/pymoskito/examples/car/model.py b/pymoskito/examples/car/model.py
index 6ac767fc..3f7655fa 100644
--- a/pymoskito/examples/car/model.py
+++ b/pymoskito/examples/car/model.py
@@ -46,7 +46,7 @@ def state_function(self, t, x, args):
         """
 
         x1, x2, x3, x4, x5 = x
-        v, w = 1, 1
+        v, w = args[0]
 
         return np.array([v * np.cos(x3),
                          v * np.sin(x3),
diff --git a/pymoskito/examples/tanksystem/model.py b/pymoskito/examples/tanksystem/model.py
index f917f9bf..775fd97d 100644
--- a/pymoskito/examples/tanksystem/model.py
+++ b/pymoskito/examples/tanksystem/model.py
@@ -79,7 +79,7 @@ def event_level_2_high(self, t, x):
         return x[1] - self.settings["hT"]
 
     def calc_output(self, input_vector):
-        return [input_vector[0], input_vector[1] + np.random.random(1)[0] / 100]
+        return input_vector
 
 
 pm.register_simulation_module(pm.Model, TwoTankSystem)
diff --git a/pymoskito/generic_simulation_modules.py b/pymoskito/generic_simulation_modules.py
index 4cdb9db4..ead3d536 100644
--- a/pymoskito/generic_simulation_modules.py
+++ b/pymoskito/generic_simulation_modules.py
@@ -627,10 +627,10 @@ class GaussianNoise(Disturbance):
                                    ("mean", 0)])
 
     def __init__(self, settings):
-        settings.update([("input signal", "Sensor")])
+        settings.update([("input signal", "Model_Output")])
         Disturbance.__init__(self, settings)
 
-    def _disturb(self, value):
+    def _disturb(self, t, signal):
         return np.random.normal(self._settings['mean'],
                                 self._settings['sigma'],
-                                value.output_dim)
+                                signal.shape)
diff --git a/pymoskito/simulation_modules.py b/pymoskito/simulation_modules.py
index 773f3d46..ed6c63ea 100644
--- a/pymoskito/simulation_modules.py
+++ b/pymoskito/simulation_modules.py
@@ -593,10 +593,12 @@ def __init__(self, settings):
         SimulationModule.__init__(self, settings)
 
     def calc_output(self, input_dict):
-        return self._disturb(input_dict[self._settings["input signal"]])
+        return self._disturb(
+            input_dict["time"],
+            input_dict.get(self._settings["input signal"], None))
 
     @abstractmethod
-    def _disturb(self, value):
+    def _disturb(self, t, signal):
         """
         Placeholder for disturbance calculations.
 
@@ -604,7 +606,8 @@ def _disturb(self, value):
         to create the noise.
 
         Args:
-            value (array-like float): Values from the source selected by the
+            t (float): Current simulation time.
+            signal (array-like float): Values from the source selected by the
                 ``input_signal`` property.
         Returns:
             array-like float: Noise that will be mixed with a signal later on.