bench: ExplicitMPC no-allocation test

Author: franckgaga

benchmark/benchmarks.jl

@@ -127,4 +127,15 @@ SUITE["StateEstimator"]["allocation"]["ExtendedKalmanFilter_updatestate!"] = @be
     updatestate!($ekf, $u, $y, $d),
     setup=preparestate!($ekf, $y, $d),
     samples=1
+)
+
+## ==================================================================================
+## ================== PredictiveController benchmarks ===============================
+## ==================================================================================
+empc = ExplicitMPC(linmodel)
+SUITE["PredictiveController"]["allocation"] = BenchmarkGroup(["allocation"])
+SUITE["PredictiveController"]["allocation"]["ExplicitMPC_moveinput!"] = @benchmarkable(
+    moveinput!($empc, $d),
+    setup=preparestate!($empc, $y, $d),
+    samples=1
 )

test/2_test_state_estim.jl

@@ -202,12 +202,9 @@ end
     preparestate!(kalmanfilter1, y)
     @test updatestate!(kalmanfilter1, u, y, d) ≈ zeros(4)
     @test kalmanfilter1.x̂0 ≈ zeros(4)
-    @test_skip @allocations(preparestate!(kalmanfilter1, y)) == 0
-    @test_skip @allocations(updatestate!(kalmanfilter1, u, y)) == 0
     preparestate!(kalmanfilter1, y)
     @test evaloutput(kalmanfilter1) ≈ kalmanfilter1() ≈ [50, 30]
     @test evaloutput(kalmanfilter1, d) ≈ kalmanfilter1(d) ≈ [50, 30]
-    @test_skip @allocations(evaloutput(kalmanfilter1, d)) == 0
     @test initstate!(kalmanfilter1, [10, 50], [50, 30+1]) ≈ [zeros(3); [1]]
     setstate!(kalmanfilter1, [1,2,3,4], diagm(.1:.1:.4))
     @test kalmanfilter1.x̂0 ≈ [1,2,3,4]
@@ -323,12 +320,9 @@ end
     preparestate!(lo1, y)
     @test updatestate!(lo1, u, y, d) ≈ zeros(4)
     @test lo1.x̂0 ≈ zeros(4)
-    @test_skip @allocations(preparestate!(lo1, y)) == 0
-    @test_skip @allocations(updatestate!(lo1, u, y)) == 0
     preparestate!(lo1, y)
     @test evaloutput(lo1) ≈ lo1() ≈ [50, 30]
     @test evaloutput(lo1, d) ≈ lo1(d) ≈ [50, 30]
-    @test_skip @allocations(evaloutput(lo1, d)) == 0
     @test initstate!(lo1, [10, 50], [50, 30+1]) ≈ [zeros(3); [1]]
     setstate!(lo1, [1,2,3,4])
     @test lo1.x̂0 ≈ [1,2,3,4]
@@ -454,11 +448,8 @@ end
     @test updatestate!(internalmodel1, u, y, d) ≈ zeros(2)
     @test internalmodel1.x̂d ≈ internalmodel1.x̂0 ≈ zeros(2)
     @test internalmodel1.x̂s ≈ ones(2)
-    @test_skip @allocations(preparestate!(internalmodel1, y)) == 0
-    @test_skip @allocations(updatestate!(internalmodel1, u, y)) == 0
     preparestate!(internalmodel1, y)
     @test evaloutput(internalmodel1, d) ≈ [51,31]
-    @test_skip @allocations(evaloutput(internalmodel1, d)) == 0
     @test initstate!(internalmodel1, [10, 50], [50, 30]) ≈ zeros(2)
     @test internalmodel1.x̂s ≈ zeros(2)
     setstate!(internalmodel1, [1,2])
@@ -590,12 +581,9 @@ end
     preparestate!(ukf1, y)
     @test updatestate!(ukf1, u, y, d) ≈ zeros(4) atol=1e-9
     @test ukf1.x̂0 ≈ zeros(4) atol=1e-9
-    @test_skip @allocations(preparestate!(ukf1, y)) == 0
-    @test_skip @allocations(updatestate!(ukf1, u, y)) == 0
     preparestate!(ukf1, y)
     @test evaloutput(ukf1) ≈ ukf1() ≈ [50, 30]
     @test evaloutput(ukf1, d) ≈ ukf1(d) ≈ [50, 30]
-    @test_skip @allocations(evaloutput(ukf1, d)) == 0
     @test initstate!(ukf1, [10, 50], [50, 30+1]) ≈ zeros(4) atol=1e-9
     setstate!(ukf1, [1,2,3,4], diagm(.1:.1:.4))
     @test ukf1.x̂0 ≈ [1,2,3,4]
@@ -749,12 +737,9 @@ end
     preparestate!(ekf1, y)
     @test updatestate!(ekf1, u, y, d) ≈ zeros(4) atol=1e-9
     @test ekf1.x̂0 ≈ zeros(4) atol=1e-9
-    @test_skip @allocations(preparestate!(ekf1, y)) == 0
-    @test_skip @allocations(updatestate!(ekf1, u, y)) == 0
     preparestate!(ekf1, y)
     @test evaloutput(ekf1) ≈ ekf1() ≈ [50, 30]
     @test evaloutput(ekf1, d) ≈ ekf1(d) ≈ [50, 30]
-    @test_skip @allocations(evaloutput(ekf1, d)) == 0
     @test initstate!(ekf1, [10, 50], [50, 30+1]) ≈ zeros(4);
     setstate!(ekf1, [1,2,3,4], diagm(.1:.1:.4))
     @test ekf1.x̂0 ≈ [1,2,3,4]

test/3_test_predictive_control.jl

@@ -496,7 +496,6 @@ end
     @test u ≈ [1] atol=1e-2
     u = mpc1(r)
     @test u ≈ [1] atol=1e-2
-    @test_skip @allocations(moveinput!(mpc1, r)) == 0
     info = getinfo(mpc1)
     @test info[:u] ≈ u
     @test info[:Ŷ][end] ≈ r[1] atol=1e-2