Implement better motor model

.github/workflows/benchmark.yml

@@ -0,0 +1,279 @@
+name: Solver Time Benchmark
+
+# Comment-triggered: a maintainer (OWNER / MEMBER / COLLABORATOR) types
+# `/bench` on a PR. The work is split across parallel jobs to cut wall-clock:
+#
+#   resolve ─ gate + ack + resolve PR head/base SHAs
+#      │
+#      ├─ build (matrix: pr | base) ── two self-contained choreo-cli binaries
+#      │                               built concurrently, uploaded as artifacts
+#      │
+#      └─ bench (matrix: one job per project variant) ── each downloads both
+#                 binaries, benches ONLY its variant, renders that variant's
+#                 SVGs, uploads a per-variant artifact
+#      │
+#   collate ─ merges every per-variant artifact, pushes the rendered SVGs to a
+#             per-run CUSTOM ref `refs/bench-renders/<run_id>` (a hidden ref,
+#             not a branch/tag, so it never shows in the Branches/Tags UI) and
+#             links them by commit SHA so they're viewable in the browser via
+#             GitHub's blob viewer (not just a ZIP), builds the comparison
+#             report, uploads the consolidated artifact, posts a fresh PR comment
+
+on:
+  issue_comment:
+    types: [created]
+
+permissions:
+  pull-requests: write
+  contents: write   # collate pushes trajectory SVGs to a per-run refs/bench-renders/* custom ref
+  actions: read
+
+jobs:
+  resolve:
+    # Only run when:
+    #   - the comment is on a PR (not a plain issue)
+    #   - the body starts with "/bench"
+    #   - the commenter has write access (gates external drive-by triggers)
+    if: >-
+      github.event.issue.pull_request &&
+      startsWith(github.event.comment.body, '/bench') &&
+      (github.event.comment.author_association == 'OWNER' ||
+       github.event.comment.author_association == 'MEMBER' ||
+       github.event.comment.author_association == 'COLLABORATOR')
+    runs-on: ubuntu-slim
+    outputs:
+      head_sha: ${{ steps.pr.outputs.head_sha }}
+      base_sha: ${{ steps.pr.outputs.base_sha }}
+      head_repo: ${{ steps.pr.outputs.head_repo }}
+      variants: ${{ steps.variants.outputs.variants }}
+    steps:
+      - name: Acknowledge the trigger comment
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ github.event.comment.id }}
+          reactions: rocket
+
+      - name: Resolve PR head + base
+        id: pr
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const pr = await github.rest.pulls.get({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              pull_number: context.issue.number,
+            });
+            core.setOutput('head_sha', pr.data.head.sha);
+            core.setOutput('base_sha', pr.data.base.sha);
+            core.setOutput('head_repo', pr.data.head.repo.full_name);
+
+      - name: Checkout test-projects + enumerate script
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ steps.pr.outputs.head_repo }}
+          ref: ${{ steps.pr.outputs.head_sha }}
+          persist-credentials: false
+          sparse-checkout: |
+            test-projects
+            scripts/ci/enumerate-variants.sh
+          sparse-checkout-cone-mode: false
+
+      - name: Enumerate project variants
+        id: variants
+        run: bash scripts/ci/enumerate-variants.sh
+
+  # --------------------------------------------------------------------------
+  # build choreo-cli for both PR and base concurrently
+  build:
+    needs: resolve
+    runs-on: ubuntu-24.04-arm
+    strategy:
+      fail-fast: false
+      matrix:
+        side: [pr, base]
+    steps:
+      - name: Checkout PR head
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ needs.resolve.outputs.head_repo }}
+          ref: ${{ needs.resolve.outputs.head_sha }}
+          fetch-depth: 0
+          persist-credentials: false
+
+      # For the base binary, overlay the base branch's Rust crates on top of
+      # the PR checkout (everything else — scripts, test-projects — is unused
+      # by the build itself).
+      - name: Overlay base sources
+        if: matrix.side == 'base'
+        run: |
+          git fetch origin ${{ needs.resolve.outputs.base_sha }}
+          git checkout ${{ needs.resolve.outputs.base_sha }} -- \
+            src-core src-cli trajoptlib Cargo.lock Cargo.toml
+
+      - name: Make GCC 14 the default toolchain
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
+
+      - name: Set up sccache
+        uses: mozilla-actions/sccache-action@v0.0.10
+
+      - name: Build choreo-cli (${{ matrix.side }})
+        # if base is schema-incompatible continue anyways
+        continue-on-error: ${{ matrix.side == 'base' }}
+        run: cargo build --release -p choreo-cli
+        env:
+          RUSTC_WRAPPER: sccache
+          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_STARTUP_TIMEOUT: "600"
+
+      - name: Upload binary
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: cli-${{ matrix.side }}
+          path: target/release/choreo-cli
+          if-no-files-found: warn
+
+  # --------------------------------------------------------------------------
+  # parallelize bench for each project
+  # not parallelized further to avoid variance in HW causing noisy comparisons
+  bench:
+    needs: [resolve, build]
+    runs-on: ubuntu-24.04-arm
+    strategy:
+      fail-fast: false
+      matrix:
+        variant: ${{ fromJSON(needs.resolve.outputs.variants) }}
+    env:
+      VARIANT: ${{ matrix.variant }}
+    steps:
+      - name: Checkout PR head
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ needs.resolve.outputs.head_repo }}
+          ref: ${{ needs.resolve.outputs.head_sha }}
+          persist-credentials: false
+
+      - name: Download PR binary
+        uses: actions/download-artifact@v7
+        with:
+          name: cli-pr
+          path: bin-pr
+
+      - name: Download base binary
+        id: dl_base
+        continue-on-error: true
+        uses: actions/download-artifact@v7
+        with:
+          name: cli-base
+          path: bin-base
+
+      - name: Make binaries executable
+        run: |
+          chmod +x bin-pr/choreo-cli
+          [ -f bin-base/choreo-cli ] && chmod +x bin-base/choreo-cli || true
+
+      - name: Stage variant
+        run: |
+          mkdir -p tp-pr tp-base
+          cp -r "test-projects/$VARIANT" "tp-pr/$VARIANT"
+          cp -r "test-projects/$VARIANT" "tp-base/$VARIANT"
+
+      - name: Run PR benchmark
+        continue-on-error: true
+        timeout-minutes: 60
+        run: bash scripts/run-bench.sh "$PWD/bin-pr/choreo-cli" tp-pr out-pr "$VARIANT"
+
+
+      - name: Run base benchmark
+        continue-on-error: true # tolerate missing / schema-incompatible base
+        timeout-minutes: 60
+        run: |
+          if [ -x bin-base/choreo-cli ]; then
+            bash scripts/run-bench.sh "$PWD/bin-base/choreo-cli" tp-base out-base "$VARIANT"
+          else
+            echo "no base binary available — skipping base run for $VARIANT"
+          fi
+
+      - name: Render trajectory SVGs with linear acceleration coloring
+        run: bash scripts/ci/render-variant.sh
+
+      - name: Upload per-variant artifact
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: bench-${{ matrix.variant }}
+          path: |
+            out-pr/**
+            out-base/**
+            tp-pr/**
+            tp-base/**
+          if-no-files-found: warn
+
+  # --------------------------------------------------------------------------
+  collate:
+    needs: [resolve, bench]
+    runs-on: ubuntu-slim
+    steps:
+      - name: Checkout PR head
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ needs.resolve.outputs.head_repo }}
+          ref: ${{ needs.resolve.outputs.head_sha }}
+          persist-credentials: false
+          sparse-checkout: scripts
+          sparse-checkout-cone-mode: false
+
+      - name: Merge per-variant artifacts
+        continue-on-error: true # if every bench job was skipped, still comment
+        uses: actions/download-artifact@v7
+        with:
+          pattern: bench-*
+          path: merged
+          merge-multiple: true
+
+      - name: Publish renders to a ref
+        id: renders
+        continue-on-error: true # a missing renders link must not block the comment
+        uses: actions/github-script@v7
+        env:
+          HEAD_SHA: ${{ needs.resolve.outputs.head_sha }}
+        with:
+          script: |
+            const publish = require(`${process.env.GITHUB_WORKSPACE}/scripts/ci/publish-renders.cjs`)
+            await publish({ github, context, core })
+
+      - name: Build markdown report
+        env:
+          ARTIFACT_URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+          HEAD_SHA: ${{ needs.resolve.outputs.head_sha }}
+          RENDERS_URL: ${{ steps.renders.outputs.url }}
+        run: |
+          node scripts/bench-report.mjs \
+            --pr merged/tp-pr --base merged/tp-base \
+            --pr-reports merged/out-pr --base-reports merged/out-base \
+            --artifact-url "$ARTIFACT_URL" \
+            ${RENDERS_URL:+--renders-url "$RENDERS_URL"} \
+            --commit "${HEAD_SHA:0:7}" \
+            --out report.md
+          cat report.md
+
+      - name: Upload consolidated bench artifact
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: bench-output-${{ github.run_id }}
+          path: |
+            merged/out-pr/**
+            merged/out-base/**
+            merged/tp-pr/**/*.svg
+            merged/tp-base/**/*.svg
+            report.md
+          if-no-files-found: warn
+
+      - name: Post benchmark comment on PR
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          issue-number: ${{ github.event.issue.number }}
+          body-path: report.md

.gitignore

@@ -54,3 +54,6 @@ CMakeUserPresets.json
 build/
 cli/
 test-tmp*/
+
+# Local PR-benchmark output (scripts/bench-local.sh)
+bench-local/