test: re-add the not so useless tests for coverage

Author: franckgaga

test/2_test_state_estim.jl

@@ -864,10 +864,12 @@ end
 
 @testitem "MovingHorizonEstimator estimation and getinfo" setup=[SetupMPCtests] begin
     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
-    nonlinmodel = setop!(NonLinModel(f, h, Ts, 2, 4, 2, 1, solver=nothing), uop=[10,50], yop=[50,30], dop=[5])
+    linmodel1 = LinModel(sys,Ts,i_u=[1,2], i_d=[3])
+    linmodel1 = setop!(linmodel1, uop=[10,50], yop=[50,30], dop=[5])
+    f(x,u,d,model) = model.A*x + model.Bu*u + model.Bd*d
+    h(x,d,model)   = model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, Ts, 2, 4, 2, 1, solver=nothing, p=linmodel1)
+    nonlinmodel = setop!(nonlinmodel, uop=[10,50], yop=[50,30], dop=[5])
 
     mhe1 = MovingHorizonEstimator(nonlinmodel, He=2)
     preparestate!(mhe1, [50, 30], [5])
@@ -968,6 +970,10 @@ end
     x̂ = updatestate!(mhe3, [0], [0])
     @test x̂ ≈ [0, 0] atol=1e-3
     @test isa(x̂, Vector{Float32})
+    mhe4 = setconstraint!(MovingHorizonEstimator(nonlinmodel, He=1, nint_ym=0), v̂max=[50,50])
+    g_V̂max_end = mhe4.optim[:g_V̂max_2].func
+    # execute update_predictions! branch in `gfunc_i` for coverage:
+    @test_nowarn g_V̂max_end(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) ≤ 0.0 
 
     Q̂ = diagm([1/4, 1/4, 1/4, 1/4].^2) 
     R̂ = diagm([1, 1].^2)

test/3_test_predictive_control.jl

@@ -661,9 +661,9 @@ end
     u = moveinput!(nmpc)
     @test u ≈ [4] atol=5e-2
     linmodel2 = LinModel([tf(5, [2000, 1]) tf(7, [8000,1])], 3000.0, i_d=[2])
-    f = (x,u,d,_) -> linmodel2.A*x + linmodel2.Bu*u + linmodel2.Bd*d
-    h = (x,d,_)   -> linmodel2.C*x + linmodel2.Dd*d
-    nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing)
+    f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
+    h = (x,d,model)   -> model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
     nmpc2 = NonLinMPC(nonlinmodel, Nwt=[0], Hp=100, Hc=1)
     preparestate!(nmpc2, [0], [0])
     # if d=[0.1], the output will eventually reach 7*0.1=0.7, no action needed (u=0):
@@ -684,13 +684,22 @@ end
     u = moveinput!(nmpc4, [0], d, R̂u=fill(12, nmpc4.Hp))
     @test u ≈ [12] atol=5e-2
     linmodel3 = LinModel{Float32}(0.5*ones(1,1), ones(1,1), ones(1,1), 0, 0, 3000.0)
+    nmpc5 = NonLinMPC(nonlinmodel, Hp=1, Hc=1, Cwt=Inf, transcription=MultipleShooting())
+    nmpc5 = setconstraint!(nmpc5, ymin=[1])
+    # execute update_predictions! branch in `gfunc_i` for coverage:
+    g_Y0min_end = nmpc5.optim[:g_Y0min_1].func
+    println(nmpc5.Z̃)
+    @test_nowarn g_Y0min_end(10.0, 9.0, 8.0, 7.0)
+    # execute update_predictions! branch in `geqfunc_i` for coverage:
+    geq_end = nmpc5.optim[:geq_2].func
+    @test_nowarn geq_end(5.0, 4.0, 3.0, 2.0)
     nmpc6  = NonLinMPC(linmodel3, Hp=10)
     preparestate!(nmpc6, [0])
     @test moveinput!(nmpc6, [0]) ≈ [0.0]
     nonlinmodel2 = NonLinModel{Float32}(f, h, 3000.0, 1, 2, 1, 1, solver=nothing)
     nmpc7  = NonLinMPC(nonlinmodel2, Hp=10)
     y = similar(nonlinmodel2.yop)
-    nonlinmodel2.h!(y, Float32[0,0], Float32[0], Float32[])
+    nonlinmodel2.h!(y, Float32[0,0], Float32[0], nonlinmodel2.p)
     preparestate!(nmpc7, [0], [0])
     @test moveinput!(nmpc7, [0], [0]) ≈ [0.0]
     nmpc8 = NonLinMPC(nonlinmodel, Nwt=[0], Hp=100, Hc=1, transcription=MultipleShooting())