Merge pull request #51 from control-toolbox/47-dev-examodels

dev-examodels

Author: jbcaillau

src/onepass.jl

@@ -1,4 +1,5 @@
 # utils
+# todo: check todo's in source
 
 """
 $(TYPEDSIGNATURES)
@@ -63,6 +64,93 @@ end
 """
 $(TYPEDSIGNATURES)
 
+Substitute x[i] by y[i, j], whatever i, in e.
+
+# Examples
+```@example
+julia> e = :(x0[1] * 2xf[3] - cos(xf[2]) * 2x0[2])
+:(x0[1] * (2 * xf[3]) - cos(xf[2]) * (2 * x0[2]))
+
+julia> subs2(subs2(e, :x0, :x, 0), :xf, :x, :N)
+:(x[1, 0] * (2 * x[3, N]) - cos(x[2, N]) * (2 * x[2, 0]))
+
+julia> e = :(x0 * 2xf[3] - cos(xf) * 2x0[2])
+:(x0 * (2 * xf[3]) - cos(xf) * (2 * x0[2]))
+
+julia> subs2(subs2(e, :x0, :x, 0), :xf, :x, :N)
+:(x0 * (2 * x[3, N]) - cos(xf) * (2 * x[2, 0]))
+```
+"""
+function subs2(e, x, y, j)
+    foo(x, y, j) = (h, args...) -> begin
+        f = Expr(h, args...)
+        @match f begin
+            :($xx[$i]) && if (xx == x) end => :($y[$i, $j])
+            _ => f
+        end
+    end
+    expr_it(e, foo(x, y, j), x -> x)
+end    
+
+"""
+$(TYPEDSIGNATURES)
+
+Substitute x[rg] by y[i, j], whatever rg, in e.
+
+# Examples
+```@example
+julia> e = :(x0[1:2:d] * 2xf[1:3])
+:(x0[1:2:d] * (2 * xf[1:3]))
+
+julia> subs3(e, :x0, :x, :i, 0)
+:(x[i, 0] * (2 * xf[1:3]))
+
+julia> subs3(e, :xf, :x, 1, :N)
+:(x0[1:2:d] * (2 * x[1, N]))
+```
+"""
+function subs3(e, x, y, i, j)
+    foo(x, y, i, j) = (h, args...) -> begin
+        f = Expr(h, args...)
+        @match f begin
+            :($xx[$rg]) && if (xx == x) end => :($y[$i, $j])
+            _ => f
+        end
+    end
+    expr_it(e, foo(x, y, i, j), x -> x)
+end    
+
+"""
+$(TYPEDSIGNATURES)
+
+Substitute x[rg] by y[i], whatever rg, in e.
+
+# Examples
+```@example
+julia> e = :(v[1:2:d] * 2xf[1:3])
+:(v[1:2:d] * (2 * xf[1:3]))
+
+julia> subs4(e, :v, :v, :i)
+:(v[i] * (2 * xf[1:3]))
+
+julia> subs4(e, :xf, :xf, 1)
+:(v[1:2:d] * (2 * xf[1]))
+```
+"""
+function subs4(e, x, y, i) # todo: remove since unused (check)
+    foo(x, y, i) = (h, args...) -> begin
+        f = Expr(h, args...)
+        @match f begin
+            :($xx[$rg]) && if (xx == x) end => :($y[$i])
+            _ => f
+        end
+    end
+    expr_it(e, foo(x, y, i), x -> x)
+end    
+
+"""
+$(TYPEDSIGNATURES)
+
 Replace calls in e of the form `(...x...)(t)` by `(...y...)`.
 
 # Example

src/utils.jl

@@ -1,11 +1,25 @@
 [deps]
 Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
 CTModels = "34c4fa32-2049-4079-8329-de33c2a22e2d"
+CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
+ExaModels = "1037b233-b668-4ce9-9b63-f9f681f55dd2"
+Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
+KernelAbstractions = "63c18a36-062a-441e-b654-da1e3ab1ce7c"
+MadNLP = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6"
+MadNLPGPU = "d72a61cc-809d-412f-99be-fd81f4b8a598"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Aqua = "0.8"
+BenchmarkTools = "1.6"
 CTBase = "0.16"
 CTModels = "0.3"
+CUDA = "5.7"
+ExaModels = "0.8"
+Interpolations = "0.15"
+KernelAbstractions = "0.9"
+MadNLP = "0.8"
+MadNLPGPU = "0.7"
 Test = "1"

test/Project.toml

@@ -1,17 +1,23 @@
 using Test
 using Aqua
-import CTParser: CTParser, subs, replace_call, has, constraint_type, set_prefix, set_e_prefix, @def
+import CTParser: CTParser, subs, subs2, subs3, subs4, replace_call, has, constraint_type, parsing_backend!, prefix!, e_prefix!, @def
 import CTBase: CTBase, ParsingError
 import CTModels: CTModels, initial_time, final_time, time_name, variable_dimension, variable_components, variable_name, state_dimension, state_components, state_name, control_dimension, control_components, control_name, constraint, dynamics, mayer, lagrange, criterion, Model
+import ExaModels
+using MadNLP
+using MadNLPGPU
+using CUDA
+using KernelAbstractions
+using BenchmarkTools
+using Interpolations
 
-#
 @testset verbose = true showtiming = true "CTParser tests" begin
-	for name in (:aqua, :utils, :onepass)
-	#for name in (:utils,)
+    for name ∈ (:aqua, :utils, :onepass_fun, :onepass_exa)
+	#for name ∈ (:aqua, :utils, :onepass_exa)
         @testset "$(name)" begin
             test_name = Symbol(:test_, name)
             include("$(test_name).jl")
             @eval $test_name()
         end
     end
-end
+end