CTBase 0.13 (#216)

* basic test suite ok * manual check for constraints / multipliers seems fine * fix docs * format code (#218) * Update README.md * format code * fix merge --------- Co-authored-by: Olivier Cots <[email protected]> * removed faulty comments in JSON part * version --------- Co-authored-by: Olivier Cots <[email protected]> Co-authored-by: Olivier Cots <[email protected]>
control-toolbox · Aug 26, 2024 · 0de20e7 · 0de20e7
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diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
@@ -16,8 +16,6 @@ jobs:
           - '1.10'
         os:
           - ubuntu-latest
-          - macOS-latest
-#          - windows-latest #fails with ssh-agent error on windows slave
         arch:
           - x64
     steps:

diff --git a/.github/workflows/Formatter.yml b/.github/workflows/Formatter.yml
@@ -0,0 +1,33 @@
+name: Formatter
+
+# Modified from https://github.com/julia-actions/julia-format
+on:
+    schedule:
+      - cron: '0 0 * * *'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: julia-actions/cache@v2
+      - name: Install JuliaFormatter and format
+        run: |
+          julia  -e 'import Pkg; Pkg.add("JuliaFormatter")'
+          julia  -e 'using JuliaFormatter; format(".")'
+      # https://github.com/marketplace/actions/create-pull-request
+      # https://github.com/peter-evans/create-pull-request#reference-example
+      - name: Create Pull Request
+        id: cpr
+        uses: peter-evans/create-pull-request@v3
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: ":robot: Format .jl files"
+          title: '[AUTO] JuliaFormatter.jl run'
+          branch: auto-juliaformatter-pr
+          delete-branch: true
+          labels: formatting, automated pr, no changelog
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.cpr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.cpr.outputs.pull-request-url }}"
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "CTDirect"
 uuid = "790bbbee-bee9-49ee-8912-a9de031322d5"
 authors = ["Olivier Cots <[email protected]>"]
-version = "0.11.2"
+version = "0.12.0"
 
 [deps]
 ADNLPModels = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"

diff --git a/benchmark/benchmark.jl b/benchmark/benchmark.jl
@@ -8,14 +8,21 @@ using MadNLPMumps
 
 #######################################################
 # load examples library
-problem_path = pwd()*"/test/problems"
-for problem_file in filter(contains(r".jl$"), readdir(problem_path; join=true))
+problem_path = pwd() * "/test/problems"
+for problem_file in filter(contains(r".jl$"), readdir(problem_path; join = true))
     include(problem_file)
 end
 
 
-function bench(;nlp_solver = :ipopt, linear_solver = nothing,
-    tol=1e-8, grid_size=1000, precompile = true, display=false, verbose=true)
+function bench(;
+    nlp_solver = :ipopt,
+    linear_solver = nothing,
+    tol = 1e-8,
+    grid_size = 1000,
+    precompile = true,
+    display = false,
+    verbose = true,
+)
 
     #######################################################
     # set (non) linear solvers and backends
@@ -30,45 +37,77 @@ function bench(;nlp_solver = :ipopt, linear_solver = nothing,
         linear_solver = "UmfpackSolver"
     end
 
-    verbose && @printf("Profile: NLP Solver %s with linear solver %s\n", nlp_solver, linear_solver)
+    verbose &&
+        @printf("Profile: NLP Solver %s with linear solver %s\n", nlp_solver, linear_solver)
 
     # blas backend (cf using MKL above, should be option...)
     verbose && @printf("Blas config: %s\n", LinearAlgebra.BLAS.lbt_get_config())
 
     # settings
-    verbose && @printf("Settings: tol=%g grid_size=%d precompile=%s\n\n", tol, grid_size, precompile)
+    verbose && @printf(
+        "Settings: tol=%g grid_size=%d precompile=%s\n\n",
+        tol,
+        grid_size,
+        precompile
+    )
 
     # load problems for benchmark
     names_list = ["beam", "bioreactor_1day", "fuller", "goddard", "jackson", "vanderpol"]
     problem_list = []
     for problem_name in names_list
         ocp_data = getfield(Main, Symbol(problem_name))()
-        push!(problem_list,ocp_data)
+        push!(problem_list, ocp_data)
     end
 
     #######################################################
     # precompile if required
     if precompile
-        t_precomp = 0.
+        t_precomp = 0.0
         verbose && print("Precompilation: ")
         for problem in problem_list
-            verbose && @printf("%s ",problem[:name])
-            t = @elapsed direct_solve(problem[:ocp], nlp_solver, linear_solver=linear_solver, max_iter=0, display=display)
+            verbose && @printf("%s ", problem[:name])
+            t = @elapsed direct_solve(
+                problem[:ocp],
+                nlp_solver,
+                linear_solver = linear_solver,
+                max_iter = 0,
+                display = display,
+            )
             t_precomp += t
         end
-        verbose && @printf("\nPrecompilation total time %6.2f\n\n",t_precomp)
+        verbose && @printf("\nPrecompilation total time %6.2f\n\n", t_precomp)
     end
 
     #######################################################
     # solve examples with timer and objective check
     t_list = []
     for problem in problem_list
-        t = @elapsed sol = direct_solve(problem[:ocp], nlp_solver, init=problem[:init], display=display, linear_solver=linear_solver, grid_size=grid_size, tol=tol)
-        if !isnothing(problem[:obj]) && !isapprox(sol.objective, problem[:obj], rtol=5e-2)
-            error("Objective mismatch for ", problem[:name], ": ", sol.objective, " instead of ", problem[:obj])
+        t = @elapsed sol = direct_solve(
+            problem[:ocp],
+            nlp_solver,
+            init = problem[:init],
+            display = display,
+            linear_solver = linear_solver,
+            grid_size = grid_size,
+            tol = tol,
+        )
+        if !isnothing(problem[:obj]) && !isapprox(sol.objective, problem[:obj], rtol = 5e-2)
+            error(
+                "Objective mismatch for ",
+                problem[:name],
+                ": ",
+                sol.objective,
+                " instead of ",
+                problem[:obj],
+            )
         else
-            verbose && @printf("%-30s completed in %6.2f s after %4d iterations\n",problem[:name],t,sol.iterations)
-            append!(t_list,t)
+            verbose && @printf(
+                "%-30s completed in %6.2f s after %4d iterations\n",
+                problem[:name],
+                t,
+                sol.iterations
+            )
+            append!(t_list, t)
         end
     end
 
@@ -83,16 +122,16 @@ function bench(;nlp_solver = :ipopt, linear_solver = nothing,
 end
 
 # +++ put repeat directly in bench()
-function bench_average(; repeat=2, verbose=false, kwargs...)
+function bench_average(; repeat = 2, verbose = false, kwargs...)
 
     # execute series of benchmark runs
     t_list = []
-    for i in 1:repeat
-        t = bench(;verbose=verbose, kwargs...)
+    for i = 1:repeat
+        t = bench(; verbose = verbose, kwargs...)
         append!(t_list, t)
         @printf("Run %d / %d: time (s) = %6.2f\n", i, repeat, t)
     end
-   
+
     # print / return average total time
     avg_time = sum(t_list) / length(t_list)
     @printf("Average time (s): %6.2f\n", avg_time)
@@ -101,11 +140,11 @@ function bench_average(; repeat=2, verbose=false, kwargs...)
 end
 
 
-function bench_series(;grid_size_list=[250, 500, 1000, 2500, 5000, 10000], kwargs...)
+function bench_series(; grid_size_list = [250, 500, 1000, 2500, 5000, 10000], kwargs...)
     println(grid_size_list)
     t_list = []
     for grid_size in grid_size_list
-        t = bench_average(;grid_size=grid_size, kwargs...)
+        t = bench_average(; grid_size = grid_size, kwargs...)
         append!(t_list, t)
         @printf("Grid size %d: time (s) = %6.2f\n\n", grid_size, t)
     end

diff --git a/benchmark/prof.jl b/benchmark/prof.jl
@@ -21,48 +21,60 @@ prob = include("../problems/fuller.jl")
 #prob = include("../problems/goddard.jl")
 ocp = prob[:ocp]
 grid_size = 100
-docp, nlp = direct_transcription(ocp, grid_size=grid_size)
+docp, nlp = direct_transcription(ocp, grid_size = grid_size)
 println("Load problem ", prob[:name])
 
 # full solve
 if test_time
-  if precompile
-    println("Precompilation")
-    solve(ocp, grid_size=grid_size, display=false, max_iter=2)
-  end
-  println("Timed solve")
-  @timev sol = solve(ocp, grid_size=grid_size, print_level=0)
+    if precompile
+        println("Precompilation")
+        solve(ocp, grid_size = grid_size, display = false, max_iter = 2)
+    end
+    println("Timed solve")
+    @timev sol = solve(ocp, grid_size = grid_size, print_level = 0)
 end
 
 if precompile
-  println("Precompilation")
-  if test == :objective
-    CTDirect.DOCP_objective(CTDirect.DOCP_initial_guess(docp), docp)
-  else
-    CTDirect.DOCP_constraints!(zeros(docp.dim_NLP_constraints), CTDirect.DOCP_initial_guess(docp), docp)
-  end
+    println("Precompilation")
+    if test == :objective
+        CTDirect.DOCP_objective(CTDirect.DOCP_initial_guess(docp), docp)
+    else
+        CTDirect.DOCP_constraints!(
+            zeros(docp.dim_NLP_constraints),
+            CTDirect.DOCP_initial_guess(docp),
+            docp,
+        )
+    end
 end
 
 if test_code_warntype
-  if test == :objective
-    # NB. Pb with the mayer part: obj is type unstable (Any) because ocp.mayer is Union(Mayer,nothing), even for mayer problems (also, we should not even enter this code part for lagrange problems since has_mayer us defined as const in DOCP oO ...).
-    @code_warntype CTDirect.DOCP_objective(CTDirect.DOCP_initial_guess(docp), docp)
-  else
-    # OK !
-    @code_warntype CTDirect.DOCP_constraints!(zeros(docp.dim_NLP_constraints), CTDirect.DOCP_initial_guess(docp), docp)
-  end
+    if test == :objective
+        # NB. Pb with the mayer part: obj is type unstable (Any) because ocp.mayer is Union(Mayer,nothing), even for mayer problems (also, we should not even enter this code part for lagrange problems since has_mayer us defined as const in DOCP oO ...).
+        @code_warntype CTDirect.DOCP_objective(CTDirect.DOCP_initial_guess(docp), docp)
+    else
+        # OK !
+        @code_warntype CTDirect.DOCP_constraints!(
+            zeros(docp.dim_NLP_constraints),
+            CTDirect.DOCP_initial_guess(docp),
+            docp,
+        )
+    end
 end
 
 if test_jet
-  if test == :objective
-    # 4 possible errors
-    # due to the ocp.mayer type problem cf above
-    @report_opt CTDirect.DOCP_objective(CTDirect.DOCP_initial_guess(docp), docp)
-  else
-    # 50 possible errors: some getindex (Integer vs Int...)
-    # all variables x,u,v
-    @report_opt CTDirect.DOCP_constraints!(zeros(docp.dim_NLP_constraints), CTDirect.DOCP_initial_guess(docp), docp)
-  end
+    if test == :objective
+        # 4 possible errors
+        # due to the ocp.mayer type problem cf above
+        @report_opt CTDirect.DOCP_objective(CTDirect.DOCP_initial_guess(docp), docp)
+    else
+        # 50 possible errors: some getindex (Integer vs Int...)
+        # all variables x,u,v
+        @report_opt CTDirect.DOCP_constraints!(
+            zeros(docp.dim_NLP_constraints),
+            CTDirect.DOCP_initial_guess(docp),
+            docp,
+        )
+    end
 end
 
 #=
@@ -73,4 +85,4 @@ if test_ipopt
   println("\n Discrete solution")
   println(dsol)
 end
-=#
+=#
diff --git a/docs/make.jl b/docs/make.jl
@@ -19,19 +19,12 @@ makedocs(
     format = Documenter.HTML(
         prettyurls = false,
         size_threshold_ignore = ["api-ctbase.md"],
-        assets=[
+        assets = [
             asset("https://control-toolbox.org/assets/css/documentation.css"),
             asset("https://control-toolbox.org/assets/js/documentation.js"),
         ],
     ),
-    pages = [
-        "Introduction"  => "index.md",
-        "API"           => "api.md",
-        "Developers"    => "dev-api.md",
-    ]
+    pages = ["Introduction" => "index.md", "API" => "api.md", "Developers" => "dev-api.md"],
 )
 
-deploydocs(
-    repo = "github.com/control-toolbox/CTDirect.jl.git",
-    devbranch = "main"
-)
+deploydocs(repo = "github.com/control-toolbox/CTDirect.jl.git", devbranch = "main")
diff --git a/ext/CTDirectExt.jl b/ext/CTDirectExt.jl
@@ -13,17 +13,17 @@ $(TYPEDSIGNATURES)
   
 Save OCP solution in JLD2 format
 """
-function JLD2.save(sol::OptimalControlSolution; filename_prefix="solution")
+function JLD2.save(sol::OptimalControlSolution; filename_prefix = "solution")
     save_object(filename_prefix * ".jld2", sol)
     return nothing
 end
-        
+
 """
 $(TYPEDSIGNATURES)
      
 Load OCP solution in JLD2 format
 """
-function JLD2.load(filename_prefix="solution")
+function JLD2.load(filename_prefix = "solution")
     return load_object(filename_prefix * ".jld2")
 end
 
@@ -33,9 +33,10 @@ $(TYPEDSIGNATURES)
 Export OCP solution in JSON format
 """
 function CTDirect.export_ocp_solution(sol::OptimalControlSolution; filename_prefix="solution")
-    open(filename_prefix * ".json", "w") do io
-        JSON3.pretty(io, CTDirect.OCPDiscreteSolution(sol))
-    end
+    # +++ redo this, start with basics, fuse into save
+    #open(filename_prefix * ".json", "w") do io
+    #    JSON3.pretty(io, CTDirect.OCPDiscreteSolution(sol))
+    #end
     return nothing
 end
 
@@ -45,9 +46,10 @@ $(TYPEDSIGNATURES)
 Read OCP solution in JSON format
 """
 function CTDirect.import_ocp_solution(filename_prefix="solution")
-    json_string = read(filename_prefix * ".json", String)
-    return JSON3.read(json_string)
+    # +++ add constructor from json blob, fuse into load 
+    #json_string = read(filename_prefix * ".json", String)
+    #return OptimalControlSolution(JSON3.read(json_string))
 end
 
 
-end
+end
-Original file line number
+Diff line change
@@ Expand Up / @@ -16,8 +16,6 @@ jobs: @@
               - '1.10'
             os:
               - ubuntu-latest
-              - macOS-latest
-    #          - windows-latest #fails with ssh-agent error on windows slave
             arch:
               - x64
         steps:
@@ Expand Down @@