debug: add busywait arg to periodsleep for StateEstimator and PredictiveController

Also : restructure test files

Author: franckgaga

src/controller/execute.jl

@@ -585,11 +585,11 @@ Call `savetime!(mpc.estim.model)` and return the time `t`.
 savetime!(mpc::PredictiveController) = savetime!(mpc.estim.model)
 
 """
-    periodsleep(mpc::PredictiveController) -> nothing
+    periodsleep(mpc::PredictiveController, busywait=false) -> nothing
 
 Call `periodsleep(mpc.estim.model)`.
 """
-periodsleep(mpc::PredictiveController) = periodsleep(mpc.estim.model)
+periodsleep(mpc::PredictiveController, busywait=false) = periodsleep(mpc.estim.model, busywait)
 
 """
     setstate!(mpc::PredictiveController, x̂) -> mpc

src/estimator/execute.jl

@@ -291,11 +291,11 @@ Call `savetime!(estim.model)` and return the time `t`.
 savetime!(estim::StateEstimator) = savetime!(estim.model)
 
 """
-    periodsleep(estim::StateEstimator) -> nothing
+    periodsleep(estim::StateEstimator, busywait=false) -> nothing
 
 Call `periodsleep(estim.model)`.
 """
-periodsleep(estim::StateEstimator) = periodsleep(estim.model)
+periodsleep(estim::StateEstimator, busywait=false) = periodsleep(estim.model, busywait)
 
 
 """

test/0_test_module.jl

@@ -0,0 +1,10 @@
+@testmodule SetupMPCtests begin
+    using ControlSystemsBase
+    Ts = 400.0
+    sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
+            tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ] 
+    sys_ss = minreal(ss(sys))
+    Gss = c2d(sys_ss[:,1:2], Ts, :zoh)
+    Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
+    export Ts, sys, sys_ss, Gss, Gss2
+end

test/test_sim_model.jl renamed to test/1_test_sim_model.jl

@@ -120,22 +120,22 @@ end
 
 @testitem "LinModel real time simulations" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
-    linmodel1 = LinModel(tf(2, [10, 1]), 0.1)
+    linmodel1 = LinModel(tf(2, [10, 1]), 0.25)
     times1 = zeros(5)
     for i=1:5
         times1[i] = savetime!(linmodel1)
         updatestate!(linmodel1, [1])
         periodsleep(linmodel1)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.1, atol=0.01))
-    linmodel2 = LinModel(tf(2, [0.1, 1]), 0.001)
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.01))
+    linmodel2 = LinModel(tf(2, [0.1, 1]), 0.25)
     times2 = zeros(5)
     for i=1:5
         times2[i] = savetime!(linmodel2)
         updatestate!(linmodel2, [1])
         periodsleep(linmodel2, true)
     end
-    @test all(isapprox.(diff(times2[2:end]), 0.001, atol=0.0001))
+    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.0001))
 end
 
 @testitem "NonLinModel construction" setup=[SetupMPCtests] begin

test/test_state_estim.jl renamed to test/2_test_state_estim.jl

@@ -133,9 +133,8 @@ end
         times1[i] = savetime!(skalmanfilter1)
         preparestate!(skalmanfilter1, [1])
         updatestate!(skalmanfilter1, [1], [1])
-        periodsleep(skalmanfilter1)
+        periodsleep(skalmanfilter1, true)
     end
-    println(diff(times1))
     @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.01))
 end
 
@@ -864,7 +863,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator estimation and getinfo" setup=[SetupMPCtests] begin
-    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt, ForwardDiff
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2], i_d=[3]), uop=[10,50], yop=[50,30], dop=[5])
     f(x,u,d,_) = linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
     h(x,d,_)   = linmodel1.C*x + linmodel1.Dd*d

test/test_predictive_control.jl renamed to test/3_test_predictive_control.jl

@@ -356,7 +356,7 @@ end
         times1[i] = savetime!(mpc1)
         preparestate!(mpc1, [1])
         updatestate!(mpc1, [1], [1])
-        periodsleep(mpc1)
+        periodsleep(mpc1, true)
     end
     @test all(isapprox.(diff(times1[2:end]), 0.1, atol=0.01))
 end
@@ -580,7 +580,7 @@ end
 end
 
 @testitem "NonLinMPC moves and getinfo" setup=[SetupMPCtests] begin
-    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     linmodel = setop!(LinModel(tf(5, [2000, 1]), 3000.0), yop=[10])
     Hp = 1000
     nmpc_lin = NonLinMPC(linmodel, Nwt=[0], Hp=Hp, Hc=1)

test/test_plot_sim.jl renamed to test/4_test_plot_sim.jl

@@ -11,23 +11,11 @@ using Test, TestItemRunner
 
 @run_package_tests 
 
-@testset "ModelPredictiveControl.jl" begin
-
-@testmodule SetupMPCtests begin
-    using ControlSystemsBase
-    Ts = 400.0
-    sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
-            tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ] 
-    sys_ss = minreal(ss(sys))
-    Gss = c2d(sys_ss[:,1:2], Ts, :zoh)
-    Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
-    export Ts, sys, sys_ss, Gss, Gss2
-end
-
-include("test_sim_model.jl")
-include("test_state_estim.jl")
-include("test_predictive_control.jl")
-include("test_plot_sim.jl")
+include("0_test_module.jl")
+include("1_test_sim_model.jl")
+include("2_test_state_estim.jl")
+include("3_test_predictive_control.jl")
+include("4_test_plot_sim.jl")
 
 old_debug_level = get(ENV, "JULIA_DEBUG", "")
 DocMeta.setdocmeta!(
@@ -43,6 +31,4 @@ DocMeta.setdocmeta!(
 doctest(ModelPredictiveControl, testset="DocTest")
 ENV["JULIA_DEBUG"] = old_debug_level
 
-end;
-
 nothing