Merge pull request #135 from control-toolbox/print

foo
control-toolbox · May 20, 2024 · 9c156ad · 9c156ad
2 parents 32d0905 + d856b1c
commit 9c156ad
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Showing 2 changed files with 49 additions and 32 deletions.
diff --git a/src/print.jl b/src/print.jl
@@ -29,17 +29,23 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
         @assert hasproperty(ocp.model_expression, :head)
 
         #
-        #println(io)
+        println(io)
+        printstyled(io, "The ", bold=true)
+        is_time_dependent(ocp) ? printstyled(io, "(non autonomous) ", bold=true) : printstyled(io, "(autonomous) ", bold=true)
+        printstyled(io, "optimal control problem is given by:\n", bold=true)
+        println(io)
 
         # print the code
-        tab  = 0
+        tab  = 4
         code = striplines(ocp.model_expression)
         @match code.head begin
             :block => [__print(code.args[i], io, tab) for i ∈ eachindex(code.args)]
             _      => __print(code, io, tab)
         end
-
-    elseif __is_complete(ocp) # print the model if is is complete
+
+    end
+
+    if __is_complete(ocp) # print the model if is is complete
 
         # dimensions
         x_dim = ocp.state_dimension
@@ -68,8 +74,11 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
         control_args_names = t_ * u_name * "(" * t_name * ")" * _v
 
         #
-        printstyled(io, "Optimal control problem of the form:\n")
-        println(io, "")
+        println(io)
+        printstyled(io, "The ", bold=true)
+        is_time_dependent(ocp) ? printstyled(io, "(non autonomous) ", bold=true) : printstyled(io, "(autonomous) ", bold=true)
+        printstyled(io, "optimal control problem is of the form:\n", bold=true)
+        println(io)
 
         # J
         printstyled(io, "    minimize  ", color=:blue); print(io, "J(" * x_name * ", " * u_name * _v * ") = ")
@@ -178,14 +187,22 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
 
     end
 
+    #
+    println(io)
+    printstyled(io, "Declarations ", bold=true)
+    printstyled(io, "(* required):\n", bold=false)
+    #println(io)
+
     # print table of settings
-    header = [ "times", "state", "control"]
-    is_variable_dependent(ocp) && push!(header, "variable")
-    push!(header, "dynamics", "objective", "constraints")
+    header = [ "times*", "state*", "control*"]
+    #is_variable_dependent(ocp) && push!(header, "variable")
+    push!(header, "variable")
+    push!(header, "dynamics*", "objective*", "constraints")
     data = hcat(__is_time_not_set(ocp) ? "❌" : "✅",
         __is_state_not_set(ocp) ? "❌" : "✅", 
         __is_control_not_set(ocp) ? "❌" : "✅")
-    is_variable_dependent(ocp) && begin
+    #is_variable_dependent(ocp) && 
+    begin
         (data = hcat(data, 
         __is_variable_not_set(ocp) ? "❌" : "✅")) 
     end

diff --git a/test/test_model.jl b/test/test_model.jl
@@ -7,8 +7,8 @@ function test_model() # 30 55 185
     @test_throws UnauthorizedCall variable!(ocp, 1)
     @test_throws UnauthorizedCall constraint!(ocp, :variable, 2:3, [ 0, 3 ])
     @test_throws UnauthorizedCall constraint!(ocp, :variable, 0, 1) # the variable here is of dimension 1
-    @test_throws UnauthorizedCall constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ])
-    @test_throws UnauthorizedCall constraint!(ocp, :variable, [ 3, 0, 1 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :variable, [ 3, 0, 1 ])
 
     ocp = Model(variable=true)
     variable!(ocp, 1)
@@ -59,26 +59,26 @@ end
     i == 7 && begin state!(ocp, 2); control!(ocp, 1) end
 
     # constraint! 1
-    @test_throws UnauthorizedCall constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ])
-    @test_throws UnauthorizedCall constraint!(ocp, :initial, 2:3, [ 0, 0 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :initial, 2:3, [ 0, 0 ])
     @test_throws UnauthorizedCall constraint!(ocp, :final, Index(2), 0)
 
     # constraint! 2
-    @test_throws UnauthorizedCall constraint!(ocp, :initial, [ 0, 0 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :initial, [ 0, 0 ])
     @test_throws UnauthorizedCall constraint!(ocp, :final, 2) # if the state is of dimension 1
 
     # constraint! 3
-    @test_throws UnauthorizedCall constraint!(ocp, :initial, 2:3, [ 0, 0 ], [ 1, 2 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :initial, 2:3, [ 0, 0 ], [ 1, 2 ])
     @test_throws UnauthorizedCall constraint!(ocp, :final, Index(1), 0, 2)
     @test_throws UnauthorizedCall constraint!(ocp, :control, Index(1), 0, 2)
-    @test_throws UnauthorizedCall constraint!(ocp, :state, 2:3, [ 0, 0 ], [ 1, 2 ])
-    @test_throws UnauthorizedCall constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :state, 2:3, [ 0, 0 ], [ 1, 2 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ], [ 1, 2, 1 ])
 
     # constraint! 4
-    @test_throws UnauthorizedCall constraint!(ocp, :initial, [ 0, 0, 0 ], [ 1, 2, 1 ])
-    @test_throws UnauthorizedCall constraint!(ocp, :final, [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :initial, [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :final, [ 0, 0, 0 ], [ 1, 2, 1 ])
     @test_throws UnauthorizedCall constraint!(ocp, :control, [ 0, 0 ], [ 2, 3 ])
-    @test_throws UnauthorizedCall constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
 
     # constraint! 5
     # variable independent ocp
@@ -89,22 +89,22 @@ end
 
     # time independent and variable independent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, u -> 2u, 0, 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ], [ 1, 2, 1 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (x, u) -> x[1]-u, 0, 1)
 
     # time dependent and variable independent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, (t, u) -> 2u, 0, 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ], [ 1, 2, 1 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (t, x, u) -> x[1]-u, 0, 1)
 
     # time independent and variable dependent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, (u, v) -> 2u*v[1], 0, 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, (x, v) -> x-v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, (x, v) -> x-v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (x, u, v) -> x[1]-v[2]*u, 0, 1)
 
     # time dependent and variable dependent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, (t, u, v) -> 2u+v[2], 0, 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x, v) -> x-t*v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x, v) -> x-t*v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (t, x, u, v) -> x[1]*v[2]-u, 0, 1)
 
     # constraint! 6
@@ -116,22 +116,22 @@ end
 
     # time independent and variable independent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, u -> 2u, 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (x, u) -> x[1]-u, 0)
 
     # time dependent and variable independent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, (t, u) -> 2u, 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (t, x, u) -> x[1]-u, 0)
 
     # time independent and variable dependent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, (u, v) -> 2u*v[1], 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, (x, v) -> x-v[2], [ 0, 0, 0 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, (x, v) -> x-v[2], [ 0, 0, 0 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (x, u) -> x[1]-u+v[1], 0)
 
     # time dependent and variable dependent ocp
     @test_throws UnauthorizedCall  constraint!(ocp, :control, (t, u, v) -> 2u-t*v[2], 1)
-    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x, v) -> x-t+v[1], [ 0, 0, 0 ])
+    @test_throws UnauthorizedCall  constraint!(ocp, :state, (t, x, v) -> x-t+v[1], [ 0, 0, 0 ])
     @test_throws UnauthorizedCall  constraint!(ocp, :mixed, (t, x, u, v) -> x[1]-u*v[1], 0)
 
     end
@@ -716,7 +716,7 @@ end
     variable!(ocp, 4)
     state!(ocp, 1)
     control!(ocp, 1)
-    constraint!(ocp, :variable, [ 0, 0, 0, 0 ], [ 1, 1, 1, 1 ], :eq1)
+    constraint!(ocp, :variable, [ 0, 0, 0, 0 ], [ 1, 1, 1, 1 ], :eq1)
     constraint!(ocp, :variable, Index(1), 0, 1, :eq2)
     constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ], :eq3)
     constraint!(ocp, :variable, 1:2:4, [ 0, 0 ], [ -1, 1 ], :eq4)
@@ -745,7 +745,7 @@ end
     constraint!(ocp, :control, (u, v) -> u + v[1], 0, 1, :cu)
     constraint!(ocp, :state, (x, v) -> x + v[1], 0, 1, :cs)
     constraint!(ocp, :mixed, (x, u, v) -> x + u + v[1], 1, 1, :cm)
-    constraint!(ocp, :variable, [ 0, 0, 0, 0 ], :eq1)
+    constraint!(ocp, :variable, [ 0, 0, 0, 0 ], :eq1)
     constraint!(ocp, :variable, Index(1), 0, :eq2)
     constraint!(ocp, :variable, 1:2, [ 0, 0 ], :eq3)
     constraint!(ocp, :variable, 1:2:4, [ 0, 0 ], :eq4)
@@ -912,7 +912,7 @@ end
     constraint!(ocp, :control, (u, v) -> u+v[2], 0, 1, :cuu)
     constraint!(ocp, :state, (x, v) -> x+v[1:2], [0, 1], [1, 2], :css)
     constraint!(ocp, :mixed, (x, u, v) -> x[1]+u+v[2], 1, 1, :cm)
-    constraint!(ocp, :variable, [ 0, 0, 0, 0 ], [ 5, 5, 5, 5 ], :cv1)
+    constraint!(ocp, :variable, [ 0, 0, 0, 0 ], [ 5, 5, 5, 5 ], :cv1)
     constraint!(ocp, :variable, 1:2, [ 1, 2 ], [ 3, 4 ], :cv2)
     constraint!(ocp, :variable, Index(3), 2, 3, :cv3)
     constraint!(ocp, :variable, v -> v[3]^2, 0, 1, :cv4)