Merge pull request #93 from control-toolbox/92-updates

Updates

Author: ocots

.github/workflows/SpellCheck.yml

@@ -7,3 +7,5 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/spell-check.yml@main
+    with:
+      config-path: '.typos.toml'

.github/workflows/benchmark-reusable.yml

@@ -116,6 +116,18 @@ jobs:
         run: |
           echo "🚀 Starting benchmark execution..."
           
+          BENCH_FILENAME=$(basename "$SCRIPT_PATH")
+          BENCH_ID="${BENCH_FILENAME%.jl}"
+          OUTPUT_DIR="docs/src/assets/benchmarks/$BENCH_ID"
+          mkdir -p "$OUTPUT_DIR"
+          export BENCHMARK_OUTPUT_DIR="$OUTPUT_DIR"
+          export BENCHMARK_ID="$BENCH_ID"
+          echo "BENCHMARK_OUTPUT_DIR=$OUTPUT_DIR" >> $GITHUB_ENV
+          echo "BENCHMARK_ID=$BENCH_ID" >> $GITHUB_ENV
+
+          echo "🏷️  Benchmark ID: $BENCH_ID"
+          echo "📁 Output directory (pre-created): $OUTPUT_DIR"
+
           julia --color=yes -e '
             using Pkg
             
@@ -134,17 +146,34 @@ jobs:
             
             println("🔄 Loading CTBenchmarks package...")
             using CTBenchmarks
-            
+
             include(ENV["SCRIPT_PATH"])
-            out = main()
-            println("📄 Output file: ", out)
-            open(ENV["BENCHMARK_OUTPUT_FILE"], "w") do f
-              write(f, string(out))
+            if !isdefined(Main, :run)
+              error("Benchmark script must define a run() function that returns benchmark results")
+            end
+
+            println("▶️  Running benchmark script...")
+            results = run()
+
+            bench_id = ENV["BENCHMARK_ID"]
+            outpath = ENV["BENCHMARK_OUTPUT_DIR"]
+            figures_dir = joinpath(outpath, "figures")
+
+            println("📊 Generating solution plots...")
+            CTBenchmarks.plot_solutions(results, figures_dir)
+            
+            json_path = joinpath(outpath, string(bench_id, ".json"))
+            println("💾 Saving results to ", json_path)
+            CTBenchmarks.save_json(results, json_path)
+            println("📄 JSON file created: ", json_path)
+            open(ENV["GITHUB_ENV"], "a") do io
+              println(io, "BENCHMARK_JSON=$json_path")
             end
-            println("💾 Output path saved to ", ENV["BENCHMARK_OUTPUT_FILE"])
           '
           
           echo "✅ Benchmark execution completed"
+          echo "$OUTPUT_DIR" > "$BENCHMARK_OUTPUT_FILE"
+          echo "💾 Output path saved to $BENCHMARK_OUTPUT_FILE"
           echo "benchmark_success=true" >> $GITHUB_OUTPUT
 
       # ---------------------------
@@ -202,7 +231,8 @@ jobs:
             OUTPUT_DIR=$(cat "$BENCHMARK_OUTPUT_FILE")
             echo "✅ Benchmark output directory found: $OUTPUT_DIR"
             
-            DATA_JSON_PATH="$OUTPUT_DIR/data.json"
+            BENCH_ID="${BENCHMARK_ID:-$(basename "$OUTPUT_DIR") }"
+            DATA_JSON_PATH="$OUTPUT_DIR/$BENCH_ID.json"
             echo "📄 Resolved JSON path: $DATA_JSON_PATH"
             
             if [ -f "$DATA_JSON_PATH" ]; then
@@ -276,10 +306,11 @@ jobs:
           DIR_NAME=$(basename "$OUTPUT_DIR")
 
           ARTIFACTS=(
-            "$OUTPUT_DIR/data.json"
+            "$OUTPUT_DIR/$DIR_NAME.json"
             "$OUTPUT_DIR/Project.toml"
             "$OUTPUT_DIR/Manifest.toml"
             "$OUTPUT_DIR/$DIR_NAME.jl"
+            "$OUTPUT_DIR/figures"
           )
 
           # Add only benchmark artifacts
@@ -294,7 +325,7 @@ jobs:
 
           echo "📝 Committing $STAGED file(s) to branch $BRANCH_NAME..."
           git commit -m "📊 Add benchmark results (${DIR_NAME})" \
-                      -m "Results saved to ${OUTPUT_DIR}/data.json" \
+                      -m "Results saved to ${OUTPUT_DIR}/${DIR_NAME}.json" \
                       -m "Includes environment TOMLs and benchmark script" \
                       >/dev/null 2>&1 || {
             echo "❌ Commit failed"
@@ -333,9 +364,10 @@ jobs:
             exit 1
           fi
 
+          DIR_NAME=$(basename "$OUTPUT_DIR")
           echo "📊 Benchmark workflow summary:"
           echo "✅ Benchmark execution: SUCCESS"
-          echo "📁 Results saved to: $OUTPUT_DIR/data.json"
+          echo "📁 Results saved to: $OUTPUT_DIR/$DIR_NAME.json"
           echo "🌳 Results committed to: ${{ github.head_ref || github.ref_name }} branch"
           echo "📘 Ready for documentation generation"
           echo "🎉 Reusable benchmark workflow completed successfully!"

.github/workflows/benchmarks-orchestrator.yml

@@ -215,7 +215,21 @@ jobs:
           ignore-no-cache: true
 
       - name: Install dependencies for docs
-        run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
+        env:
+          JULIA_PKG_SERVER_REGISTRY_PREFERENCE: eager
+          JULIA_PKG_PRECOMPILE_DELAY: 0
+        run: |
+          julia --project=docs/ --startup-file=no -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
+        continue-on-error: true
+
+      - name: Retry install dependencies for docs (if failed)
+        if: failure()
+        env:
+          JULIA_PKG_SERVER_REGISTRY_PREFERENCE: eager
+          JULIA_PKG_PRECOMPILE_DELAY: 0
+        run: |
+          sleep 30
+          julia --project=docs/ --startup-file=no -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
 
       # ---------------------------
       # Build and deploy documentation
@@ -242,7 +256,7 @@ jobs:
           script: |
             console.log('🚨 Workflow failure detected - posting/updating comment...');
 
-            const marker = '<!-- ctbenchmarks-failure-comment -->';
+            const marker = '<!-- ctbenchmarks-status-comment -->';
             const prNumber = context.payload.pull_request.number;
             const failedJobs = [];
 
@@ -334,7 +348,7 @@ jobs:
           script: |
             console.log('🎉 Workflow success detected - posting/updating comment...');
 
-            const marker = '<!-- ctbenchmarks-success-comment -->';
+            const marker = '<!-- ctbenchmarks-status-comment -->';
             const prNumber = context.payload.pull_request.number;
             const previewUrl = `https://control-toolbox.org/CTBenchmarks.jl/previews/PR${prNumber}/index.html`;
             const benchmarksSummary = process.env.BENCHMARKS_SUMMARY;

.gitignore

@@ -356,4 +356,6 @@ Manifest.toml
 **/Manifest.toml
 # ...except the one inside docs/
 !docs/src/assets/**/Manifest.toml
-tmp/
+tmp/
+test/build
+reports

.markdownlint.json

@@ -0,0 +1,6 @@
+{
+  "MD025": false,
+  "MD013": false,
+  "MD041": false,
+  "MD024": false
+}

.typos.toml

@@ -0,0 +1,12 @@
+[default]
+locale = "en"
+
+[default.extend-identifiers]
+
+[files]
+extend-exclude = [
+  "*.json",
+  "*.toml",
+  "*.svg",
+  "docs/src/assets/plots/*",
+]

Project.toml

@@ -5,9 +5,11 @@ authors = ["Olivier Cots <olivier.cots@toulouse-inp.fr>"]
 
 [deps]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
 CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
 DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
+DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
@@ -18,15 +20,18 @@ NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 OptimalControl = "5f98b655-cc9a-415a-b60e-744165666948"
 OptimalControlProblems = "59046045-fb9c-4c23-964f-ff0a25704f96"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Sockets = "6462fe0b-24de-5631-8697-dd941f90decc"
 Tables = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
 
 [compat]
 BenchmarkTools = "1"
+CTBase = "0.16"
 CUDA = "5"
 DataFrames = "1"
 Dates = "1"
+DocStringExtensions = "0.9"
 InteractiveUtils = "1"
 Ipopt = "1"
 JSON = "1"
@@ -37,6 +42,7 @@ NLPModelsIpopt = "0.11"
 OptimalControl = "1"
 OptimalControlProblems = "0.3"
 Pkg = "1"
+Plots = "1.41"
 Printf = "1"
 Sockets = "1"
 Tables = "1"

benchmarks/benchmarks-config.json

@@ -11,21 +11,14 @@
       "id": "core-moonshot-cpu",
       "julia_version": "1.11",
       "julia_arch": "x64",
-      "runs_on": "[\"self-hosted\", \"Linux\", \"gpu\", \"cuda\", \"cuda12\"]",
+      "runs_on": "[\"moonshot\"]",
       "runner": "self-hosted"
     },
     {
       "id": "core-moonshot-gpu",
       "julia_version": "1.11",
       "julia_arch": "x64",
-      "runs_on": "[\"self-hosted\", \"Linux\", \"gpu\", \"cuda\", \"cuda12\"]",
-      "runner": "self-hosted"
-    },
-    {
-      "id": "core-mothra-gpu",
-      "julia_version": "1.11",
-      "julia_arch": "x64",
-      "runs_on": "[\"self-hosted\", \"Linux\", \"gpu\", \"cuda\", \"cuda13\"]",
+      "runs_on": "[\"moonshot\"]",
       "runner": "self-hosted"
     }
   ]

benchmarks/core-moonshot-cpu.jl

@@ -1,13 +1,8 @@
 # Benchmark script for core-moonshot-cpu
 # Setup (Pkg.activate, instantiate, update, using CTBenchmarks) is handled by the workflow
 
-function main()
-    project_dir = normpath(@__DIR__, "..")
-    outpath=joinpath(
-        project_dir, "docs", "src", "assets", "benchmarks", "core-moonshot-cpu"
-    )
-    CTBenchmarks.benchmark(;
-        outpath=outpath,
+function run()
+    results = CTBenchmarks.benchmark(;
         problems=[
             :beam,
             :chain,
@@ -24,15 +19,15 @@ function main()
             :steering,
             :vanderpol,
         ],
-        solver_models=[:ipopt => [:JuMP, :adnlp, :exa], :madnlp => [:JuMP, :adnlp, :exa]],
+        solver_models=[:ipopt => [:jump, :adnlp, :exa], :madnlp => [:jump, :adnlp, :exa]],
         grid_sizes=[200, 500, 1000, 2000, 5000],
         disc_methods=[:trapeze],
-        tol=1e-6,
+        tol=1e-8,
         ipopt_mu_strategy="adaptive",
         print_trace=false,
         max_iter=1000,
-        max_wall_time=200.0,
+        max_wall_time=400.0,
     )
     println("✅ Benchmark completed successfully!")
-    return outpath
+    return results
 end

benchmarks/core-moonshot-gpu.jl

@@ -1,16 +1,13 @@
-# Benchmark script for core-moonshot
+# Benchmark script for core-moonshot-gpu
 # Setup (Pkg.activate, instantiate, update, using CTBenchmarks) is handled by the workflow
 
-function main()
-    project_dir = normpath(@__DIR__, "..")
-    outpath = joinpath(project_dir, "docs", "src", "assets", "benchmarks", "core-moonshot-gpu")
-    CTBenchmarks.benchmark(;
-        outpath=outpath,
+function run()
+    results = CTBenchmarks.benchmark(;
         problems=[
             :beam,
             :chain,
             :double_oscillator,
-            :ducted_fan,
+            # :ducted_fan,
             :electric_vehicle,
             :glider,
             :insurance,
@@ -32,5 +29,5 @@ function main()
         max_wall_time=1000.0,
     )
     println("✅ Benchmark completed successfully!")
-    return outpath
+    return results
 end