Merge pull request #341 from JuliaControl/aqua

test: add `Aqua.jl` to the test suite

Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "2.2.0"
+version = "2.2.1"
 authors = ["Francis Gagnon"]
 
 [deps]
@@ -30,6 +30,7 @@ LinearMPC = "82e1c212-e1a2-49d2-b26a-a31d6968e3bd"
 LinearMPCext = "LinearMPC"
 
 [compat]
+Aqua = "0.8"
 ControlSystemsBase = "1.18.2"
 DAQP = "0.6, 0.7.1"
 DifferentiationInterface = "0.7.11"
@@ -53,11 +54,13 @@ SparseArrays = "1.10"
 SparseConnectivityTracer = "0.6.13, 1"
 SparseMatrixColorings = "0.4.14"
 StableRNGs = "1.0.4"
+Test = "1.10"
 TestItemRunner = "1"
 TestItems = "1"
 julia = "1.10"
 
 [extras]
+Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
 DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
@@ -68,4 +71,4 @@ TestItemRunner = "f8b46487-2199-4994-9208-9a1283c18c0a"
 TestItems = "1c621080-faea-4a02-84b6-bbd5e436b8fe"
 
 [targets]
-test = ["Test", "TestItems", "TestItemRunner", "Documenter", "Plots", "DAQP", "FiniteDiff", "LinearMPC"]
+test = ["Test", "TestItems", "TestItemRunner", "Documenter", "Plots", "DAQP", "FiniteDiff", "LinearMPC", "Aqua"]

README.md

@@ -2,6 +2,7 @@
 
 [![Build Status](https://github.com/JuliaControl/ModelPredictiveControl.jl/actions/workflows/CI.yml/badge.svg?branch=main)](https://github.com/JuliaControl/ModelPredictiveControl.jl/actions/workflows/CI.yml?query=branch%3Amain)
 [![codecov](https://codecov.io/gh/JuliaControl/ModelPredictiveControl.jl/branch/main/graph/badge.svg?token=K4V0L113M4)](https://codecov.io/gh/JuliaControl/ModelPredictiveControl.jl)
+[![Aqua QA](https://juliatesting.github.io/Aqua.jl/dev/assets/badge.svg)](https://github.com/JuliaTesting/Aqua.jl)
 [![doc-stable](https://img.shields.io/badge/docs-stable-blue.svg)](https://JuliaControl.github.io/ModelPredictiveControl.jl/stable)
 [![doc-dev](https://img.shields.io/badge/docs-dev-blue.svg)](https://JuliaControl.github.io/ModelPredictiveControl.jl/dev)
 [![arXiv](https://img.shields.io/badge/arXiv-2411.09764-b31b1b.svg)](https://arxiv.org/abs/2411.09764)
@@ -92,7 +93,7 @@ for more detailed examples.
 - 📝 **Transcription**: Direct single/multiple shooting and trapezoidal/orthogonal collocation.
 - 🩺 **Troubleshooting**: Detailed diagnostic information about optimum.
 - ⏱️ **Real-Time**: Optimized for low memory allocations with soft real-time utilities.
-- 📟️ **Embedded**: Lightweight C code generation via `LinearMPC.jl`
+- 📟️ **Embedded**: Lightweight C code generation via `LinearMPC.jl`.
 
 ### 🔭 State Estimation Features
 

src/controller/transcription.jl

@@ -709,7 +709,7 @@ end
 
 @doc raw"""
     init_defectmat(
-        model::SimModel, ::StateEstimator, ::TranscriptionMethod, Hp, Hc, _
+        model::SimModel, estim::StateEstimator, ::TranscriptionMethod, Hp, Hc, _
     ) -> ES, GS, JS, KS, VS, BS
 
 Init the matrices for computing the defects of the stochastic states only.
@@ -751,7 +751,8 @@ The matrices ``\mathbf{E_S}`` and ``\mathbf{K_S}`` are defined in the Extended H
     - else ``\mathbf{E_S} = [\begin{smallmatrix} \mathbf{E_{S}^{Δu}} & \mathbf{E_{S}^{x̂}} \end{smallmatrix}]``
 """
 function init_defectmat(
-    model::SimModel, estim::StateEstimator{NT}, transcription::TranscriptionMethod, Hp, Hc, _
+    model::SimModel, estim::StateEstimator{NT}, transcription::TranscriptionMethod, 
+    Hp, Hc, _
 ) where {NT<:Real}
     nu, nx, nd, nx̂, nxs = model.nu, model.nx, model.nd, estim.nx̂, estim.nxs
     nZ = get_nZ(estim, transcription, Hp, Hc)
@@ -780,20 +781,20 @@ end
 
 """
     init_defectmat(
-        model::SimModel, estim::InternalModel, ::TranscriptionMethod, Hp, Hc, _
+        model::NonLinModel, estim::InternalModel, ::TranscriptionMethod, Hp, Hc, _
     ) -> ES, GS, JS, KS, VS, BS
 
 Return empty matrices for [`InternalModel`](@ref) (the state vector is not augmented).
 """
 function init_defectmat(
-    ::SimModel, estim::InternalModel, transcription::TranscriptionMethod, Hp, Hc, _
+    ::NonLinModel, estim::InternalModel, transcription::TranscriptionMethod, Hp, Hc, _
 )
     return init_defectmat_empty(estim, transcription, Hp, Hc)
 end
 
 """
     init_defectmat(
-        model::SimModel, estim::StateEstimator, ::TranscriptionMethod, Hp, Hc, nb
+        model::SimModel, estim::StateEstimator, transcription::SingleShooting, Hp, Hc, _
     ) -> ES, GS, JS, KS, VS, BS
 
 Return empty matrices for [`SingleShooting`](@ref) transcription (N/A).
@@ -805,11 +806,12 @@ function init_defectmat(
 end
 
 function init_defectmat(
-    ::SimModel, estim::InternalModel, transcription::SingleShooting, Hp, Hc, _
+    ::NonLinModel, estim::InternalModel, transcription::SingleShooting, Hp, Hc, _
 )
     return init_defectmat_empty(estim, transcription, Hp, Hc)
 end
 
+
 function init_defectmat_empty(
     estim::StateEstimator{NT}, transcription::TranscriptionMethod, Hp, Hc
 ) where {NT<:Real}
@@ -1067,10 +1069,10 @@ function linconstrainteq!(
     return nothing
 end
 "No linear equality constraints for [`InternalModel`](@ref) (state is not augmented)."
-linconstrainteq!(::PredictiveController, ::SimModel, ::InternalModel, ::TranscriptionMethod) = nothing
+linconstrainteq!(::PredictiveController, ::NonLinModel, ::InternalModel, ::TranscriptionMethod) = nothing
 "No linear equality constraints for [`SingleShooting`(@ref) (N/A).]"
-linconstrainteq!(::PredictiveController, ::SimModel, ::StateEstimator, ::SingleShooting)     = nothing
-linconstrainteq!(::PredictiveController, ::SimModel, ::InternalModel,  ::SingleShooting)     = nothing
+linconstrainteq!(::PredictiveController, ::SimModel,    ::StateEstimator, ::SingleShooting)  = nothing
+linconstrainteq!(::PredictiveController, ::NonLinModel, ::InternalModel,  ::SingleShooting)  = nothing
 
 @doc raw"""
     set_warmstart!(mpc::PredictiveController, ::SingleShooting, Z̃var) -> Z̃s

test/7_test_aqua.jl

@@ -0,0 +1,9 @@
+@testitem "Aqua" begin
+    using Aqua
+    # All the functions defined inside `ModelPredictiveControl.get_nonlinobj_op` with the 
+    # `Vararg`s have unbound type parameters. This is necessary for the splatting syntax of
+    # `JuMP.@operator`, and JuMP will never call these functions with 0 argument, so
+    # defining zero-argument methods would be useless, so I disable this check here.
+    unbound_args = false
+    Aqua.test_all(ModelPredictiveControl; unbound_args)
+end

test/runtests.jl

@@ -10,5 +10,6 @@ include("3_test_predictive_control.jl")
 include("4_test_plot_sim.jl")
 include("5_test_extensions.jl")
 include("6_test_doctest.jl")
+include("7_test_aqua.jl")
 
 nothing