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[AUTO] JuliaFormatter.jl run #202

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179 changes: 110 additions & 69 deletions src/exa_linalg.jl
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120 changes: 77 additions & 43 deletions src/onepass.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -703,15 +703,15 @@ function p_constraint_exa!(p, p_ocp, e1, e2, e3, c_type, label)
e2 = replace_call(e2, p.x, p.t0, x0)
e2 = replace_call(e2, p.x, p.tf, xf)
e2 = subs2(e2, x0, p.x, 0)
e2 = subs(e2, x0, :([$(p.x)[$k, 0] for $k ∈ 1:$(p.dim_x)]))
e2 = subs(e2, x0, :([$(p.x)[$k, 0] for $k in 1:($(p.dim_x))]))
e2 = subs2(e2, xf, p.x, :grid_size)
e2 = subs(e2, xf, :([$(p.x)[$k, grid_size] for $k ∈ 1:$(p.dim_x)]))
e2 = subs(e2, xf, :([$(p.x)[$k, grid_size] for $k in 1:($(p.dim_x))]))
quote
length($e1) == length($e3) || throw("wrong bound dimension") # (vs. __throw) since raised at runtime
if length($e1) == 1
$pref.constraint($p_ocp, $e2; lcon=($e1[1]), ucon=($e3[1])) # todo: add _denull
else
for $l ∈ 1:length($e1)
for $l in 1:length($e1)
$pref.constraint($p_ocp, $e2[$l]; lcon=($e1[$l]), ucon=($e3[$l])) # todo: add _denull
end
end
Expand Down Expand Up @@ -815,17 +815,24 @@ function p_constraint_exa!(p, p_ocp, e1, e2, e3, c_type, label)
l = __symgen(:l)
e2 = replace_call(e2, [p.x, p.u], p.t, [xt, ut])
e2 = subs2(e2, xt, p.x, j)
e2 = subs(e2, xt, :([$(p.x)[$k, $j] for $k ∈ 1:$(p.dim_x)]))
e2 = subs(e2, xt, :([$(p.x)[$k, $j] for $k in 1:($(p.dim_x))]))
e2 = subs2(e2, ut, p.u, j)
e2 = subs(e2, ut, :([$(p.u)[$k, $j] for $k ∈ 1:$(p.dim_u)]))
e2 = subs(e2, ut, :([$(p.u)[$k, $j] for $k in 1:($(p.dim_u))]))
e2 = subs(e2, p.t, :($(p.t0) + $j * $(p.dt)))
quote
length($e1) == length($e3) || throw("wrong bound dimension") # (vs. __throw) since raised at runtime
if length($e1) == 1
$pref.constraint($p_ocp, $e2 for $j in 0:grid_size; lcon=($e1[1]), ucon=($e3[1])) # todo: add _denull
$pref.constraint(
$p_ocp, $e2 for $j in 0:grid_size; lcon=($e1[1]), ucon=($e3[1])
) # todo: add _denull
else
for $l ∈ 1:length($e1)
$pref.constraint($p_ocp, $e2[$l] for $j in 0:grid_size; lcon=($e1[$l]), ucon=($e3[$l])) # todo: add _denull
for $l in 1:length($e1)
$pref.constraint(
$p_ocp,
$e2[$l] for $j in 0:grid_size;
lcon=($e1[$l]),
ucon=($e3[$l]),
) # todo: add _denull
end
end
end
Expand Down Expand Up @@ -882,33 +889,47 @@ function p_dynamics_exa!(p, p_ocp, x, t, e)
j12 = :($j1 + 0.5)
k = __symgen(:k)
ej1 = subs2(e, xt, p.x, j1)
ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k ∈ 1:$(p.dim_x)]))
ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k in 1:($(p.dim_x))]))
ej1 = subs2(ej1, ut, p.u, j1)
ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
ej1 = subs(ej1, p.t, :($(p.t0) + $j1 * $(p.dt)))
ej2 = subs2(e, xt, p.x, j2)
ej2 = subs(ej2, xt, :([$(p.x)[$k, $j2] for $k ∈ 1:$(p.dim_x)]))
ej2 = subs(ej2, xt, :([$(p.x)[$k, $j2] for $k in 1:($(p.dim_x))]))
ej2 = subs2(ej2, ut, p.u, j2)
ej2 = subs(ej2, ut, :([$(p.u)[$k, $j2] for $k ∈ 1:$(p.dim_u)]))
ej2 = subs(ej2, ut, :([$(p.u)[$k, $j2] for $k in 1:($(p.dim_u))]))
ej2 = subs(ej2, p.t, :($(p.t0) + $j2 * $(p.dt)))
ej12 = subs2m(e, xt, p.x, j1)
ej12 = subs(ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k ∈ 1:$(p.dim_x)]))
ej12 = subs(
ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k in 1:($(p.dim_x))
])
)
ej12 = subs2(ej12, ut, p.u, j1)
ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
ej12 = subs(ej12, p.t, :($(p.t0) + $j12 * $(p.dt)))
dxj = :([$(p.x)[$k, $j2] - $(p.x)[$k, $j1] for $k ∈ 1:$(p.dim_x)])
dxj = :([$(p.x)[$k, $j2] - $(p.x)[$k, $j1] for $k in 1:($(p.dim_x))])
i = __symgen(:i)
code = quote
for $i ∈ 1:$(p.dim_x)
for $i in 1:($(p.dim_x))
$(p.dyn_con)[$i] = if scheme == :euler # dyn_con already defined outside try catch
$pref.constraint($p_ocp, $dxj[$i] - $(p.dt) * $ej1[$i] for $j1 in 0:grid_size-1) # todo: add _denull
$pref.constraint(
$p_ocp,
$dxj[$i] - $(p.dt) * $ej1[$i] for $j1 in 0:(grid_size - 1)
) # todo: add _denull
elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
$pref.constraint($p_ocp, $dxj[$i] - $(p.dt) * $ej2[$i] for $j1 in 0:grid_size-1) # todo: add _denull
$pref.constraint(
$p_ocp,
$dxj[$i] - $(p.dt) * $ej2[$i] for $j1 in 0:(grid_size - 1)
) # todo: add _denull
elseif scheme == :midpoint
$pref.constraint($p_ocp, $dxj[$i] - $(p.dt) * $ej12[$i] for $j1 in 0:grid_size-1) # todo: add _denull
$pref.constraint(
$p_ocp,
$dxj[$i] - $(p.dt) * $ej12[$i] for $j1 in 0:(grid_size - 1)
) # todo: add _denull
elseif scheme ∈ (:trapeze, :trapezoidal) # trapezoidal is deprecated
$pref.constraint(
$p_ocp, $dxj[$i] - $(p.dt) * ($ej1[$i] + $ej2[$i]) / 2 for $j1 in 0:grid_size-1 # todo: add _denull
$p_ocp,
$dxj[$i] - $(p.dt) * ($ej1[$i] + $ej2[$i]) / 2 for
$j1 in 0:(grid_size - 1) # todo: add _denull
)
else
throw(
Expand Down Expand Up @@ -962,7 +983,8 @@ end

function p_dynamics_coord_exa!(p, p_ocp, x, i::Integer, t, e) # todo: also also add coord = range for :exa
pref = prefix_exa()
i ∈ p.dyn_coords && return __throw("dynamics coordinate $i already defined", p.lnum, p.line)
i ∈ p.dyn_coords &&
return __throw("dynamics coordinate $i already defined", p.lnum, p.line)
append!(p.dyn_coords, i)
xt = __symgen(:xt)
ut = __symgen(:ut)
Expand All @@ -972,31 +994,35 @@ function p_dynamics_coord_exa!(p, p_ocp, x, i::Integer, t, e) # todo: also also
j12 = :($j1 + 0.5)
k = __symgen(:k)
ej1 = subs2(e, xt, p.x, j1)
ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k ∈ 1:$(p.dim_x)]))
ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k in 1:($(p.dim_x))]))
ej1 = subs2(ej1, ut, p.u, j1)
ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
ej1 = subs(ej1, p.t, :($(p.t0) + $j1 * $(p.dt)))
ej2 = subs2(e, xt, p.x, j2)
ej2 = subs(ej2, xt, :([$(p.x)[$k, $j2] for $k ∈ 1:$(p.dim_x)]))
ej2 = subs(ej2, xt, :([$(p.x)[$k, $j2] for $k in 1:($(p.dim_x))]))
ej2 = subs2(ej2, ut, p.u, j2)
ej2 = subs(ej2, ut, :([$(p.u)[$k, $j2] for $k ∈ 1:$(p.dim_u)]))
ej2 = subs(ej2, ut, :([$(p.u)[$k, $j2] for $k in 1:($(p.dim_u))]))
ej2 = subs(ej2, p.t, :($(p.t0) + $j2 * $(p.dt)))
ej12 = subs2m(e, xt, p.x, j1)
ej12 = subs(ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k ∈ 1:$(p.dim_x)]))
ej12 = subs(
ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k in 1:($(p.dim_x))
])
)
ej12 = subs2(ej12, ut, p.u, j1)
ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
ej12 = subs(ej12, p.t, :($(p.t0) + $j12 * $(p.dt)))
dxij = :($(p.x)[$i, $j2] - $(p.x)[$i, $j1])
code = quote
$(p.dyn_con)[$i] = if scheme == :euler # dyn_con already defined outside try catch
$pref.constraint($p_ocp, $dxij - $(p.dt) * $ej1 for $j1 in 0:grid_size-1) # todo: add _denull
$pref.constraint($p_ocp, $dxij - $(p.dt) * $ej1 for $j1 in 0:(grid_size - 1)) # todo: add _denull
elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
$pref.constraint($p_ocp, $dxij - $(p.dt) * $ej2 for $j1 in 0:grid_size-1) # todo: add _denull
$pref.constraint($p_ocp, $dxij - $(p.dt) * $ej2 for $j1 in 0:(grid_size - 1)) # todo: add _denull
elseif scheme == :midpoint
$pref.constraint($p_ocp, $dxij - $(p.dt) * $ej12 for $j1 in 0:grid_size-1) # todo: add _denull
$pref.constraint($p_ocp, $dxij - $(p.dt) * $ej12 for $j1 in 0:(grid_size - 1)) # todo: add _denull
elseif scheme ∈ (:trapeze, :trapezoidal) # trapezoidal is deprecated
$pref.constraint(
$p_ocp, $dxij - $(p.dt) * ($ej1 + $ej2) / 2 for $j1 in 0:grid_size-1 # todo: add _denull
$p_ocp,
$dxij - $(p.dt) * ($ej1 + $ej2) / 2 for $j1 in 0:(grid_size - 1) # todo: add _denull
)
else
throw(
Expand Down Expand Up @@ -1046,25 +1072,28 @@ function p_lagrange_exa!(p, p_ocp, e, type)
j12 = :($j1 + 0.5)
k = __symgen(:k)
ej1 = subs2(e, xt, p.x, j1)
ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k ∈ 1:$(p.dim_x)]))
ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k in 1:($(p.dim_x))]))
ej1 = subs2(ej1, ut, p.u, j1)
ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
ej1 = subs(ej1, p.t, :($(p.t0) + $j1 * $(p.dt)))
ej12 = subs2m(e, xt, p.x, j1)
ej12 = subs(ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k ∈ 1:$(p.dim_x)]))
ej12 = subs(
ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k in 1:($(p.dim_x))
])
)
ej12 = subs2(ej12, ut, p.u, j1)
ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
ej12 = subs(ej12, p.t, :($(p.t0) + $j12 * $(p.dt)))
code = quote
if scheme == :euler
$pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 0:grid_size-1) # todo: add _denull
$pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 0:(grid_size - 1)) # todo: add _denull
elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
$pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:grid_size) # todo: add _denull
elseif scheme == :midpoint
$pref.objective($p_ocp, $(p.dt) * $ej12 for $j1 in 0:grid_size-1) # todo: add _denull
$pref.objective($p_ocp, $(p.dt) * $ej12 for $j1 in 0:(grid_size - 1)) # todo: add _denull
elseif scheme ∈ (:trapeze, :trapezoidal) # trapezoidal is deprecated
$pref.objective($p_ocp, $(p.dt) * $ej1 / 2 for $j1 in (0, grid_size)) # todo: add _denull
$pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:grid_size-1) # todo: add _denull
$pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:(grid_size - 1)) # todo: add _denull
else
throw(
"unknown numerical scheme: $scheme (possible choices are :euler, :euler_implicit, :midpoint, :trapeze)",
Expand Down Expand Up @@ -1114,9 +1143,9 @@ function p_mayer_exa!(p, p_ocp, e, type)
e = replace_call(e, p.x, p.t0, x0)
e = replace_call(e, p.x, p.tf, xf)
e = subs2(e, x0, p.x, 0)
e = subs(e, x0, :([$(p.x)[$k, 0] for $k ∈ 1:$(p.dim_x)]))
e = subs(e, x0, :([$(p.x)[$k, 0] for $k in 1:($(p.dim_x))]))
e = subs2(e, xf, p.x, :grid_size)
e = subs(e, xf, :([$(p.x)[$k, grid_size] for $k ∈ 1:$(p.dim_x)]))
e = subs(e, xf, :([$(p.x)[$k, grid_size] for $k in 1:($(p.dim_x))]))
# now, x[i](t0) has been replaced by x[i, 0] and x[i](tf) by x[i, grid_size]
code = :($pref.objective($p_ocp, $e)) # todo: add _denull
return __wrap(code, p.lnum, p.line)
Expand Down Expand Up @@ -1370,9 +1399,12 @@ function def_exa(e; log=false)
p = ParsingInfo()
code = parse!(p, p_ocp, e; log=log, backend=:exa)
dyn_check = quote
!$p.is_global_dyn && !$p.is_coord_dyn && throw($e_pref.ParsingError("dynamics not defined")) # not $(p.xxxx) as these infos are known statically
!$p.is_global_dyn &&
!$p.is_coord_dyn &&
throw($e_pref.ParsingError("dynamics not defined")) # not $(p.xxxx) as these infos are known statically
if $p.is_coord_dyn # same: also known statically
sort($(p.dyn_coords)) == 1:($(p.dim_x)) || throw($e_pref.ParsingError("some coordinates of dynamics undefined"))
sort($(p.dyn_coords)) == 1:($(p.dim_x)) ||
throw($e_pref.ParsingError("some coordinates of dynamics undefined"))
end
end
default_scheme = QuoteNode(__default_scheme_exa())
Expand Down Expand Up @@ -1434,7 +1466,9 @@ function def_exa(e; log=false)
$(p.box_u) # lvar and uvar for control
$(p.box_v) # lvar and uvar for variable (after x and u for compatibility with CTDirect)
$p_ocp = $pref.ExaCore(
base_type; backend=backend, minimize=($p.criterion == :min) # not $(p.xxxx) as this info is known statically
base_type;
backend=backend,
minimize=($p.criterion == :min), # not $(p.xxxx) as this info is known statically
)
# _denull(e) = e # todo
# _denull(e::$pref.Null{T}) where {T<:Real} = e.value # todo: Null must be imported by OC.jl
Expand Down
29 changes: 17 additions & 12 deletions src/utils.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -122,16 +122,19 @@ julia> subs2(subs2(e, :x0, :x, 0), :xf, :x, :N)
:(x0 * (2 * x[3, N]))
```
"""
function subs2(e, x, y, j; k = __symgen(:k))
foo(x, y, j) = (h, args...) -> begin
f = Expr(h, args...)
@match f begin
:($xx[$rg]) && if ((xx == x) && is_range(rg)) end => :([$y[$k, $j] for $k ∈ $rg])
:($xx[$i]) && if (xx == x) end => :($y[$i, $j])
_ => f
function subs2(e, x, y, j; k=__symgen(:k))
foo(x, y, j) =
(h, args...) -> begin
f = Expr(h, args...)
@match f begin
:($xx[$rg]) && if ((xx == x) && is_range(rg))
end => :([$y[$k, $j] for $k in $rg])
:($xx[$i]) && if (xx == x)
end => :($y[$i, $j])
_ => f
end
end
end
expr_it(e, foo(x, y, j), x -> x)
expr_it(e, foo(x, y, j), x -> x)
end

"""
Expand Down Expand Up @@ -195,13 +198,15 @@ julia> subs2m(e, :x0, :x, 0)
:([((x[k, 0] + x[k, 0 + 1]) / 2) for k ∈ 1:3])
```
"""
function subs2m(e, x, y, j; k = __symgen(:k))
function subs2m(e, x, y, j; k=__symgen(:k))
foo(x, y, j) =
(h, args...) -> begin
f = Expr(h, args...)
@match f begin
:($xx[$rg]) && if ((xx == x) && is_range(rg)) end => :([($y[$k, $j] + $y[$k, $j + 1]) / 2 for $k ∈ $rg])
:($xx[$i]) && if (xx == x) end => :(($y[$i, $j] + $y[$i, $j + 1]) / 2)
:($xx[$rg]) && if ((xx == x) && is_range(rg))
end => :([($y[$k, $j] + $y[$k, $j + 1]) / 2 for $k in $rg])
:($xx[$i]) && if (xx == x)
end => :(($y[$i, $j] + $y[$i, $j + 1]) / 2)
_ => f
end
end
Expand Down
2 changes: 1 addition & 1 deletion test/coverage.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -14,4 +14,4 @@
# ==============================================================================
using Coverage
using CTBase
CTBase.postprocess_coverage(; root_dir=dirname(@__DIR__), dest_dir=".coverage")
CTBase.postprocess_coverage(; root_dir=dirname(@__DIR__), dest_dir=".coverage")
8 changes: 3 additions & 5 deletions test/runtests.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -68,9 +68,7 @@ const SHOWTIMING = true
CTBase.run_tests(;
args=String.(ARGS),
testset_name="CTParser tests",
available_tests=(
"suite/test_*",
),
available_tests=("suite/test_*",),
filename_builder=name -> "test_$(name).jl",
funcname_builder=name -> "test_$(name)",
verbose=VERBOSE,
Expand All @@ -89,6 +87,6 @@ if Base.JLOptions().code_coverage != 0
julia --project -e 'using Pkg; Pkg.test("CTParser"; coverage=true); include("test/coverage.jl")'

================================================================================
"""
""",
)
end
end
15 changes: 9 additions & 6 deletions test/suite/test_dynamics_exa.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ activate_backend(:exa) # nota bene: needs to be executed before @def are expande

function test_dynamics_exa()
l_scheme = [:euler, :euler_implicit, :midpoint, :trapeze]
for scheme ∈ l_scheme
for scheme in l_scheme
__test_dynamics_exa(; scheme=scheme)
CUDA.functional() && __test_dynamics_exa(CUDABackend(); scheme=scheme)
end
Expand Down Expand Up @@ -226,7 +226,8 @@ function __test_dynamics_exa(
t ∈ [0, 1], time
x ∈ R³, state
u ∈ R², control
∂(x)(t) == [x₁(t) + x₂(t) + x₃(t), 2x₁(t) * u₁(t) + x₂(t) * u₂(t), x₁(t) + 2x₂(t) - x₃(t)]
∂(x)(t) ==
[x₁(t) + x₂(t) + x₃(t), 2x₁(t) * u₁(t) + x₂(t) * u₂(t), x₁(t) + 2x₂(t) - x₃(t)]
x(0) == [1, 0, 0]
x₁(1) => min
end
Expand Down Expand Up @@ -340,14 +341,16 @@ function __test_dynamics_exa(
u ∈ R³, control
∂(x)(t) == [
x₂(t),
u₁(t) * sin(x₇(t)) * sin(x₉(t)) + u₁(t) * cos(x₇(t)) * sin(x₈(t)) * cos(x₉(t)),
u₁(t) * sin(x₇(t)) * sin(x₉(t)) +
u₁(t) * cos(x₇(t)) * sin(x₈(t)) * cos(x₉(t)),
x₄(t),
u₁(t) * sin(x₇(t)) * cos(x₉(t)) - u₁(t) * cos(x₇(t)) * sin(x₈(t)) * sin(x₉(t)),
u₁(t) * sin(x₇(t)) * cos(x₉(t)) -
u₁(t) * cos(x₇(t)) * sin(x₈(t)) * sin(x₉(t)),
x₆(t),
u₁(t) * cos(x₇(t)) * cos(x₈(t)) - g,
u₂(t) * cos(x₇(t)) / cos(x₈(t)) + u₃(t) * sin(x₇(t)) / cos(x₈(t)),
-u₂(t) * sin(x₇(t)) + u₃(t) * cos(x₇(t)),
u₂(t) * cos(x₇(t)) * tan(x₈(t)) + u₃(t) * sin(x₇(t)) * tan(x₈(t))
u₂(t) * cos(x₇(t)) * tan(x₈(t)) + u₃(t) * sin(x₇(t)) * tan(x₈(t)),
]
x(0) == [0, 0, 0, 0, 0, 0, 0, 0, 0]
x₁(1) => min
Expand Down Expand Up @@ -460,4 +463,4 @@ function __test_dynamics_exa(
m = discretise_exa(o; backend=backend, scheme=scheme)
@test m isa ExaModels.ExaModel
end
end
end
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