Merge branch 'main' into optim

.github/workflows/Breakage.yml

@@ -8,133 +8,13 @@ on:
 
 jobs:
   break:
-    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        pkg: [
-          "control-toolbox/CTDirect.jl",
-          "control-toolbox/CTFlows.jl",
-          "control-toolbox/OptimalControl.jl"
-        ]
+        pkg: ["control-toolbox/CTDirect.jl", "control-toolbox/CTFlows.jl", "control-toolbox/OptimalControl.jl"]
         pkgversion: [latest, stable]
+    uses: control-toolbox/CTActions/.github/workflows/breakage.yml@main
+    with:
+      pkg: ${{ matrix.pkg }}
+      pkgversion: ${{ matrix.pkgversion }}
 
-    steps:
-      - uses: actions/checkout@v4
-
-      # Install Julia
-      - uses: julia-actions/setup-julia@latest
-        with:
-          version: 1
-          arch: x64
-      - uses: actions/cache@v4
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - uses: julia-actions/julia-buildpkg@v1
-
-      # Breakage test
-      - name: 'Breakage of ${{ matrix.pkg }}, ${{ matrix.pkgversion }} version'
-        env:
-          URL: ${{ matrix.pkg }}
-          VERSION: ${{ matrix.pkgversion }}
-        run: |
-          set -v
-          mkdir -p ./pr
-          echo "${{ github.event.number }}" > ./pr/NR
-          #
-          PKG_SRC_PATH=`pwd`
-          PKG_SRC_NAME=`basename -s ".jl" $PKG_SRC_PATH`
-          #
-          git clone https://github.com/$URL
-          export PKG=$(echo $URL | cut -f2 -d/)
-          cd $PKG
-          if [ $VERSION == "stable" ]; then
-            TAG=$(git tag -l "v*" --sort=-creatordate | head -n1)
-            if [ -z "$TAG" ]; then
-              TAG="no_tag"
-            else
-              git checkout $TAG
-            fi
-          else
-            TAG=$VERSION
-          fi
-          export TAG
-          #
-          PKG_SRC_VERSION=$(julia --project=@. -e 'using Pkg, Logging; with_logger(NullLogger()) do; Pkg.instantiate(); Pkg.installed()["'$PKG_SRC_NAME'"] |> println; end')
-          export PKG_SRC_VERSION
-          #
-          julia -e 'using Pkg;
-            PKG, TAG, VERSION, PKG_SRC_VERSION = ENV["PKG"], ENV["TAG"], ENV["VERSION"], ENV["PKG_SRC_VERSION"]
-            joburl = joinpath(ENV["GITHUB_SERVER_URL"], ENV["GITHUB_REPOSITORY"], "actions/runs", ENV["GITHUB_RUN_ID"])
-            open("../pr/$PKG-$VERSION", "w") do io
-              try
-                TAG == "no_tag" && error("Not tag for $VERSION")
-                pkg"activate .";
-                pkg"instantiate";
-                pkg"status";
-                pkg"dev ../";
-                pkg"build";
-                pkg"test";
-
-                print(io, "[![](https://img.shields.io/badge/$TAG-Pass-green)]($joburl) compat: v", PKG_SRC_VERSION);
-              catch e
-                @error e;
-                print(io, "[![](https://img.shields.io/badge/$TAG-Fail-red)]($joburl) compat: v", PKG_SRC_VERSION);
-              end;
-            end'
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: pr
-          path: pr/
-
-  upload:
-    needs: break
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: actions/download-artifact@v3
-        with:
-          name: pr
-          path: pr/
-
-      - run: ls
-      - run: |
-          cd pr
-          echo "Breakage test results" > MSG
-          echo "Date: $(TZ=UTC-2 date '+%Y-%m-%d %H:%M:%S')" >> MSG
-          echo "| Package name | latest | stable |" >> MSG
-          echo "|--|--|--|" >> MSG
-          count=0
-          for file in *
-          do
-            [ "$file" == "NR" ] && continue
-            [ "$file" == "MSG" ] && continue
-            if [ $count == "0" ]; then
-              name=$(echo $file | cut -f1 -d-)
-              echo -n "| $name | "
-            else
-              echo -n "| "
-            fi
-            cat $file
-            if [ $count == "0" ]; then
-              echo -n " "
-              count=1
-            else
-              echo " |"
-              count=0
-            fi
-          done >> MSG
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: pr
-          path: pr/

.github/workflows/Coverage.yml

@@ -7,13 +7,4 @@ on:
     tags: '*'
 jobs:
   test:
-    name: coverage
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: julia-actions/setup-julia@latest
-      - uses: julia-actions/julia-runtest@latest
-      - uses: julia-actions/julia-processcoverage@latest
-      - uses: codecov/codecov-action@v4
-        env:
-          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+    uses: control-toolbox/CTActions/.github/workflows/coverage.yml@main

Project.toml

@@ -1,7 +1,7 @@
 name = "CTBase"
 uuid = "54762871-cc72-4466-b8e8-f6c8b58076cd"
 authors = ["Olivier Cots <[email protected]>", "Jean-Baptiste Caillau <[email protected]>"]
-version = "0.14.0"
+version = "0.14.1"
 
 [deps]
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
@@ -22,9 +22,12 @@ StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Unicode = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [weakdeps]
+JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
+JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [extensions]
+CTBaseLoadSave = ["JLD2", "JSON3"]
 CTBasePlots = "Plots"
 
 [compat]
@@ -33,6 +36,8 @@ DifferentiationInterface = "0.6"
 DocStringExtensions = "0.9"
 ForwardDiff = "0.10"
 Interpolations = "0.15"
+JLD2 = "0.5"
+JSON3 = "1"
 MLStyle = "0.4"
 MacroTools = "0.5"
 Parameters = "0.12"

ext/CTBaseLoadSave.jl

@@ -0,0 +1,64 @@
+module CTBaseLoadSave
+
+using CTBase
+using DocStringExtensions
+
+using JLD2
+using JSON3
+
+"""
+$(TYPEDSIGNATURES)
+  
+Export OCP solution in JLD / JSON format
+"""
+function CTBase.export_ocp_solution(sol::OptimalControlSolution; filename_prefix = "solution", format = :JLD)
+    if format == :JLD
+        save_object(filename_prefix * ".jld2", sol)
+    elseif format == :JSON
+        blob = Dict(
+            "objective" => sol.objective,
+            "time_grid" => sol.time_grid,
+            "state" => state_discretized(sol),
+            "control" => control_discretized(sol),
+            "costate" => costate_discretized(sol)[1:(end - 1), :],
+            "variable" => sol.variable,
+        )
+        open(filename_prefix * ".json", "w") do io
+            JSON3.pretty(io, blob)
+        end
+    else
+        error("Export_ocp_solution: unknow format (should be :JLD or :JSON): ", format)
+    end
+    return nothing
+end
+
+"""
+$(TYPEDSIGNATURES)
+  
+Read OCP solution in JLD / JSON format
+"""
+function CTBase.import_ocp_solution(ocp::OptimalControlModel; filename_prefix = "solution", format = :JLD)
+
+    if format == :JLD
+        return load_object(filename_prefix * ".jld2")
+    elseif format == :JSON 
+        json_string = read(filename_prefix * ".json", String)
+        blob = JSON3.read(json_string)
+
+        # NB. convert vect{vect} to matrix
+        return OptimalControlSolution(
+            ocp,
+            blob.time_grid,
+            stack(blob.state, dims = 1),
+            stack(blob.control, dims = 1),
+            blob.variable,
+            stack(blob.costate, dims = 1);
+            objective = blob.objective,
+        )
+    else
+        error("Export_ocp_solution: unknow format (should be :JLD or :JSON): ", format)
+    end        
+end
+
+
+end

src/CTBase.jl

@@ -326,4 +326,8 @@ export @def
 export ct_repl, ct_repl_update_model
 isdefined(Base, :active_repl) && ct_repl()
 
+# load and save solution
+export export_ocp_solution
+export import_ocp_solution
+
 end