check tests working

Author: vyudu

ext/MTKCasADiDynamicOptExt.jl

@@ -115,7 +115,7 @@ function init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t = false)
     V = CasADi.variable!(opti, length(ctrls), steps)
     set_initial!(opti, U, DM(repeat(u0, 1, steps)))
     c0 = MTK.value.([pmap[c] for c in ctrls])
-    set_initial!(opti, V, DM(repeat(c0, 1, steps)))
+    !isempty(c0) && set_initial!(opti, V, DM(repeat(c0, 1, steps)))
 
     U_interp = MXLinearInterpolation(U, tsteps, tsteps[2]-tsteps[1])
     V_interp = MXLinearInterpolation(V, tsteps, tsteps[2]-tsteps[1])
@@ -337,6 +337,7 @@ function DiffEqBase.solve(prob::CasADiDynamicOptProblem, solver::Union{String, S
     @unpack opti, U, V, tₛ = model
 
     opti = add_solve_constraints(prob, tableau)
+    silent && solver_options["print_level"] = 0
     solver!(opti, "$solver", plugin_options, solver_options)
 
     failed = false

ext/MTKInfiniteOptExt.jl

@@ -173,7 +173,6 @@ function add_jump_cost_function!(model::InfiniteModel, sys, tspan, pmap; is_free
         return
     end
     jcosts = substitute_jump_vars(model, sys, pmap, jcosts; is_free_t)
-    @show jcosts
     tₛ = is_free_t ? model[:tf] : 1
 
     # Substitute integral
@@ -338,7 +337,7 @@ Solve JuMPDynamicOptProblem. Arguments:
 Returns a DynamicOptSolution, which contains both the model and the ODE solution.
 """
 function DiffEqBase.solve(
-        prob::JuMPDynamicOptProblem, jump_solver, tableau_getter = constructDefault; silent = false)
+        prob::JuMPDynamicOptProblem, jump_solver, tableau_getter = MTK.constructDefault; silent = false)
     model = prob.model
     tableau = tableau_getter()
     silent && set_silent(model)

test/downstream/dynamic_optimization.jl

@@ -9,16 +9,6 @@ using CasADi
 
 const M = ModelingToolkit
 
-probtypes = [JuMPDynamicOptProblem, InfiniteOptDynamicOptProblem, CasADiDynamicOptProblem]
-solvers = [Ipopt.Optimizer, Ipopt.Optimizer, "opti"]
-
-function test_dynamic_opt_probs(tableaus, true_sol, args...; kwargs...)
-    for (probtype, solver, tableau) in zip(probtypes, solvers tableaus)
-        prob = probtype(args...; kwargs...)
-        sol = solve(prob, solver, tableau, silent = true)
-    end
-end
-
 @testset "ODE Solution, no cost" begin
     # Test solving without anything attached.
     @parameters α=1.5 β=1.0 γ=3.0 δ=1.0
@@ -41,7 +31,7 @@ end
     oprob = ODEProblem(sys, u0map, tspan, parammap)
     osol = solve(oprob, SimpleRK4(), dt = 0.01)
     cprob = CasADiDynamicOptProblem(sys, u0map, tspan, parammap, dt = 0.01)
-    csol = solve(oprob, "ipopt", constructRK4)
+    csol = solve(cprob, "ipopt", constructRK4)
     @test jsol.sol.u ≈ osol.u
     @test csol.sol.u ≈ osol.u
 
@@ -54,7 +44,7 @@ end
     isol = solve(iprob, Ipopt.Optimizer,
         derivative_method = InfiniteOpt.FiniteDifference(InfiniteOpt.Backward()),
         silent = true) # 11.540 ms, 4.00 MiB
-    @test ≈(isol2.sol.u, osol2.u, rtol = 0.001)
+    @test ≈(isol.sol.u, osol2.u, rtol = 0.001)
     csol2 = solve(cprob, "ipopt", constructImplicitEuler, silent = true)
     @test ≈(csol2.sol.u, osol2.u, rtol = 0.001)