Merge pull request #315 from control-toolbox/314-juliaformatter

formatter

.github/workflows/Formatter.yml

@@ -0,0 +1,33 @@
+name: Formatter
+
+# Modified from https://github.com/julia-actions/julia-format
+on:
+    schedule:
+      - cron: '0 0 * * *'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: julia-actions/cache@v2
+      - name: Install JuliaFormatter and format
+        run: |
+          julia  -e 'import Pkg; Pkg.add("JuliaFormatter")'
+          julia  -e 'using JuliaFormatter; format(".")'
+      # https://github.com/marketplace/actions/create-pull-request
+      # https://github.com/peter-evans/create-pull-request#reference-example
+      - name: Create Pull Request
+        id: cpr
+        uses: peter-evans/create-pull-request@v3
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: ":robot: Format .jl files"
+          title: '[AUTO] JuliaFormatter.jl run'
+          branch: auto-juliaformatter-pr
+          delete-branch: true
+          labels: formatting, automated pr, no changelog
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.cpr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.cpr.outputs.pull-request-url }}"

docs/make.jl

@@ -8,8 +8,8 @@ using CTDirect
 # to add docstrings from external packages
 Modules = [CTBase, CTFlows, CTDirect, OptimalControl]
 for Module ∈ Modules
-    isnothing( DocMeta.getdocmeta(Module, :DocTestSetup) ) && 
-    DocMeta.setdocmeta!(Module, :DocTestSetup, :(using $Module); recursive = true)
+    isnothing(DocMeta.getdocmeta(Module, :DocTestSetup)) &&
+        DocMeta.setdocmeta!(Module, :DocTestSetup, :(using $Module); recursive = true)
 end
 
 #
@@ -18,10 +18,7 @@ makedocs(
     sitename = "OptimalControl.jl",
     format = Documenter.HTML(
         prettyurls = false,
-        size_threshold_ignore = [
-            "api-ctbase/types.md",
-            "tutorial-plot.md",
-        ],
+        size_threshold_ignore = ["api-ctbase/types.md", "tutorial-plot.md"],
         assets = [
             asset("https://control-toolbox.org/assets/css/documentation.css"),
             asset("https://control-toolbox.org/assets/js/documentation.js"),
@@ -30,47 +27,40 @@ makedocs(
     pages = [
         "Introduction" => "index.md",
         "Basic examples" => [
-            "Energy minimisation" => "tutorial-basic-example.md", 
+            "Energy minimisation" => "tutorial-basic-example.md",
             "Time mininimisation" => "tutorial-double-integrator.md",
         ],
         "Manual" => [
-            "Abstract syntax"       => "tutorial-abstract.md",
-            "Initial guess"         => "tutorial-initial-guess.md",
-            "Solve"                 => "tutorial-solve.md",
-            "Plot a solution"       => "tutorial-plot.md",
-            "Flow"                  => "tutorial-flow.md",
-            "Functional syntax"     => "tutorial-functional.md",
-            "Control-toolbox REPL"  => "tutorial-repl.md",
+            "Abstract syntax" => "tutorial-abstract.md",
+            "Initial guess" => "tutorial-initial-guess.md",
+            "Solve" => "tutorial-solve.md",
+            "Plot a solution" => "tutorial-plot.md",
+            "Flow" => "tutorial-flow.md",
+            "Functional syntax" => "tutorial-functional.md",
+            "Control-toolbox REPL" => "tutorial-repl.md",
         ],
         "Tutorials" => [
             "tutorial-continuation.md",
-            "Goddard: direct, indirect"  => "tutorial-goddard.md",
+            "Goddard: direct, indirect" => "tutorial-goddard.md",
             "tutorial-iss.md",
             "Linear–quadratic regulator" => "tutorial-lqr-basic.md",
             "tutorial-nlp.md",
         ],
         "API" => [
             "api-optimalcontrol.md",
-            "Subpackages" => [
-                "api-ctbase.md",
-                "api-ctdirect.md",
-                "api-ctflows.md",
-            ],
+            "Subpackages" => ["api-ctbase.md", "api-ctdirect.md", "api-ctflows.md"],
         ],
         "Developers" => [
             "OptimalControl.jl" => "dev-optimalcontrol.md",
             "Subpackages" => [
-                "CTBase.jl"   => "dev-ctbase.md",
+                "CTBase.jl" => "dev-ctbase.md",
                 "CTDirect.jl" => "dev-ctdirect.md",
-                "CTFlows.jl"  => "dev-ctflows.md",
+                "CTFlows.jl" => "dev-ctflows.md",
             ],
         ],
-        "JuliaCon 2024"=> "juliacon2024.md",
-    ]
+        "JuliaCon 2024" => "juliacon2024.md",
+    ],
 )
 
 #
-deploydocs(
-    repo = "github.com/control-toolbox/OptimalControl.jl.git",
-    devbranch = "main"
-)
+deploydocs(repo = "github.com/control-toolbox/OptimalControl.jl.git", devbranch = "main")

src/OptimalControl.jl

@@ -23,7 +23,7 @@ using CTFlows
 import CommonSolve: solve, CommonSolve
 
 # declarations
-const __display  = CTBase.__display
+const __display = CTBase.__display
 const __ocp_init = CTBase.__ocp_init
 
 include("solve.jl")
@@ -53,7 +53,15 @@ export OptimalControlModel, OptimalControlSolution
 export Autonomous, NonAutonomous
 export NonFixed, Fixed
 export Model, __OCPModel
-export variable!, time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, constraint
+export variable!,
+    time!,
+    constraint!,
+    dynamics!,
+    objective!,
+    state!,
+    control!,
+    remove_constraint!,
+    constraint
 #export is_time_independent, is_time_dependent, is_min, is_max, is_variable_dependent, is_variable_independent
 export Lie, @Lie, Poisson, Lift, ⋅, ∂ₜ
 export @def

src/solve.jl

@@ -19,7 +19,7 @@ Remove from the description, the Symbol that are specific to [OptimalControl.jl]
 be passed.
 """
 function clean(d::Description)
-    return remove(d, (:direct, ))
+    return remove(d, (:direct,))
 end
 
 """
@@ -52,15 +52,12 @@ julia> sol = solve(ocp, init=(state=t->[-1+t, t*(t-1)], control=0.5))
 julia> sol = solve(ocp, init=(state=t->[-1+t, t*(t-1)], control=t->6-12*t))
 ```
 """
-function CommonSolve.solve(
-    ocp::OptimalControlModel, 
-    description::Symbol...;
-    kwargs...)
+function CommonSolve.solve(ocp::OptimalControlModel, description::Symbol...; kwargs...)
 
     # get the full description
     method = getFullDescription(description, available_methods())
 
     # solve the problem
-    :direct ∈ method && return CTDirect.direct_solve(ocp, clean(description)...; kwargs...)    
+    :direct ∈ method && return CTDirect.direct_solve(ocp, clean(description)...; kwargs...)
 
-end
+end

test/Goddard.jl

@@ -11,7 +11,7 @@ function Goddard()
     vmax = 0.1
     m0 = 1
     mf = 0.6
-    x0 = [ r0, v0, m0 ]
+    x0 = [r0, v0, m0]
 
     # the model    
     @def ocp begin
@@ -26,26 +26,26 @@ function Goddard()
         vmax = 0.1
         m0 = 1
         mf = 0.6
-        x0 = [ r0, v0, m0 ]
+        x0 = [r0, v0, m0]
 
         # variables
         tf ∈ R, variable
-        t ∈ [ t0, tf ], time
+        t ∈ [t0, tf], time
         x ∈ R³, state
         u ∈ R, control
         r = x₁
         v = x₂
         m = x₃
 
         # constraints
-        0 ≤ u(t) ≤ 1,          (u_con)
-            r(t) ≥ r0,         (x_con_rmin)
-        0 ≤ v(t) ≤ vmax,       (x_con_vmax)
-        x(t0) == x0,           (initial_con) 
-        m(tf) == mf,           (final_con)
+        0 ≤ u(t) ≤ 1, (u_con)
+        r(t) ≥ r0, (x_con_rmin)
+        0 ≤ v(t) ≤ vmax, (x_con_vmax)
+        x(t0) == x0, (initial_con)
+        m(tf) == mf, (final_con)
 
         # dynamics
-        ẋ(t) == F0(x(t)) + u(t)*F1(x(t))
+        ẋ(t) == F0(x(t)) + u(t) * F1(x(t))
 
         # objective
         r(tf) → max
@@ -54,17 +54,17 @@ function Goddard()
     # dynamics
     function F0(x)
         r, v, m = x
-        D = Cd * v^2 * exp(-β*(r - 1))
-        return [ v, -D/m - 1/r^2, 0 ]
+        D = Cd * v^2 * exp(-β * (r - 1))
+        return [v, -D / m - 1 / r^2, 0]
     end
     function F1(x)
         r, v, m = x
-        return [ 0, Tmax/m, -b*Tmax ]
+        return [0, Tmax / m, -b * Tmax]
     end
 
     #
     objective = 1.0125762700748699
 
     return ocp, objective
 
-end
+end

test/problems/beam.jl

@@ -3,16 +3,16 @@
 function beam()
 
     @def beam begin
-        t ∈ [ 0, 1 ], time
+        t ∈ [0, 1], time
         x ∈ R², state
         u ∈ R, control
-        x(0) == [0,1]
-        x(1) == [0,-1]
+        x(0) == [0, 1]
+        x(1) == [0, -1]
         ẋ(t) == [x₂(t), u(t)]
-        0 ≤ x₁(t) ≤ 0.1    
+        0 ≤ x₁(t) ≤ 0.1
         -10 ≤ u(t) ≤ 10
         ∫(u(t)^2) → min
     end
 
-    return ((ocp=beam, obj=8.898598, name="beam", init=nothing))
-end
+    return ((ocp = beam, obj = 8.898598, name = "beam", init = nothing))
+end

test/problems/bioreactor.jl

@@ -7,16 +7,16 @@
 
 # growth model MONOD
 function growth(s, mu2m, Ks)
-    return mu2m * s / (s+Ks)
+    return mu2m * s / (s + Ks)
 end
 
 # light model: max^2 (0,sin) * mubar
 # DAY/NIGHT CYCLE: [0,2 halfperiod] rescaled to [0,2pi]
 function light(time, halfperiod)
     pi = 3.141592653589793
-    days = time / (halfperiod*2)
-    tau = (days - floor(days)) * 2*pi
-    return max(0,sin(tau))^2
+    days = time / (halfperiod * 2)
+    tau = (days - floor(days)) * 2 * pi
+    return max(0, sin(tau))^2
 end
 
 # 1 day periodic problem
@@ -34,26 +34,33 @@ function bioreactor_1day_periodic()
         T = halfperiod * 2
 
         # ocp
-        t ∈ [ 0, T ], time
+        t ∈ [0, T], time
         x ∈ R³, state
         u ∈ R, control
         y = x[1]
         s = x[2]
         b = x[3]
         mu = light(t, halfperiod) * mubar
         mu2 = growth(s(t), mu2m, Ks)
-        [0,0,0.001] ≤ x(t) ≤ [Inf, Inf, Inf]
+        [0, 0, 0.001] ≤ x(t) ≤ [Inf, Inf, Inf]
         0 ≤ u(t) ≤ 1
         1 ≤ y(0) ≤ Inf
         1 ≤ b(0) ≤ Inf
-        x(0)- x(T) == [0,0,0]
-        ẋ(t) == [mu*y(t)/(1+y(t))-(r+u(t))*y(t),
-                -mu2*b(t) + u(t)*beta*(gamma*y(t)-s(t)),
-                (mu2-u(t)*beta)*b(t)]
-        ∫(mu2*b(t)/(beta+c)) → max
+        x(0) - x(T) == [0, 0, 0]
+        ẋ(t) == [
+            mu * y(t) / (1 + y(t)) - (r + u(t)) * y(t),
+            -mu2 * b(t) + u(t) * beta * (gamma * y(t) - s(t)),
+            (mu2 - u(t) * beta) * b(t),
+        ]
+        ∫(mu2 * b(t) / (beta + c)) → max
     end
 
-    return ((ocp=bioreactor_1, obj=0.614134, name="bioreactor_1day_periodic", init=nothing))
+    return ((
+        ocp = bioreactor_1,
+        obj = 0.614134,
+        name = "bioreactor_1day_periodic",
+        init = nothing,
+    ))
 end
 
 
@@ -73,24 +80,31 @@ function bioreactor_Ndays()
         T = 10 * N
 
         # ocp
-        t ∈ [ 0, T ], time
+        t ∈ [0, T], time
         x ∈ R³, state
         u ∈ R, control
         y = x[1]
         s = x[2]
         b = x[3]
         mu = light(t, halfperiod) * mubar
         mu2 = growth(s(t), mu2m, Ks)
-        [0,0,0.001] ≤ x(t) ≤ [Inf, Inf, Inf]
+        [0, 0, 0.001] ≤ x(t) ≤ [Inf, Inf, Inf]
         0 ≤ u(t) ≤ 1
         0.05 ≤ y(0) ≤ 0.25
         0.5 ≤ s(0) ≤ 5
         0.5 ≤ b(0) ≤ 3
-        ẋ(t) == [mu*y(t)/(1+y(t))-(r+u(t))*y(t),
-                -mu2*b(t) + u(t)*beta*(gamma*y(t)-s(t)),
-                (mu2-u(t)*beta)*b(t)]
-        ∫(mu2*b(t)/(beta+c)) → max
+        ẋ(t) == [
+            mu * y(t) / (1 + y(t)) - (r + u(t)) * y(t),
+            -mu2 * b(t) + u(t) * beta * (gamma * y(t) - s(t)),
+            (mu2 - u(t) * beta) * b(t),
+        ]
+        ∫(mu2 * b(t) / (beta + c)) → max
     end
 
-    return ((ocp=bioreactor_N, obj=19.0745, init=(state=[50,50,50],), name="bioreactor_Ndays"))
-end
+    return ((
+        ocp = bioreactor_N,
+        obj = 19.0745,
+        init = (state = [50, 50, 50],),
+        name = "bioreactor_Ndays",
+    ))
+end

test/problems/fuller.jl

@@ -2,15 +2,15 @@
 function fuller()
 
     @def fuller begin
-        t ∈ [ 0, 3.5 ], time
+        t ∈ [0, 3.5], time
         x ∈ R², state
         u ∈ R, control
         -1 ≤ u(t) ≤ 1
-        x(0) == [ 0, 1 ]
-        x(3.5) == [ 0, 0 ]
-        ẋ(t) == [ x₂(t), u(t) ] 
+        x(0) == [0, 1]
+        x(3.5) == [0, 0]
+        ẋ(t) == [x₂(t), u(t)]
         ∫(x₁(t)^2) → min
     end
 
-    return((ocp=fuller, obj=2.683944e-1, name="fuller", init=nothing))
-end
+    return ((ocp = fuller, obj = 2.683944e-1, name = "fuller", init = nothing))
+end