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added: call getinfo when debug logging is activated and not solved #152

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Merged
merged 6 commits into from
Jan 23, 2025
Merged

added: call getinfo when debug logging is activated and not solved #152

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eeccd9d
changed: `getinfo` dictionnary value type is now `Any`
franckgaga Jan 23, 2025
3721d8c
added: call `getinfo` when debug logging is activated and not solved
franckgaga Jan 23, 2025
d0ae483
doc: mention the debug log dictionary in the docstrings
franckgaga Jan 23, 2025
0739151
changed: better formatting for debug log
franckgaga Jan 23, 2025
22cc35a
changed: suggesting `show_limited=false` in debug message
franckgaga Jan 23, 2025
371a150
debug: the debug message (debug-ception XD)
franckgaga Jan 23, 2025
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24 changes: 17 additions & 7 deletions src/controller/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ julia> round.(getinfo(mpc)[:Ŷ], digits=3)
function getinfo(mpc::PredictiveController{NT}) where NT<:Real
model = mpc.estim.model
nŶe, nUe = (mpc.Hp+1)*model.ny, (mpc.Hp+1)*model.nu
info = Dict{Symbol, Union{JuMP._SolutionSummary, Vector{NT}, NT}}()
info = Dict{Symbol, Any}()
Ŷ0, u0, û0 = similar(mpc.Yop), similar(model.uop), similar(model.uop)
Ŷs = similar(mpc.Yop)
x̂0, x̂0next = similar(mpc.estim.x̂0), similar(mpc.estim.x̂0)
Expand Down Expand Up @@ -491,7 +491,8 @@ If supported by `mpc.optim`, it warm-starts the solver at:
where ``\mathbf{Δu}_{k-1}(k+j)`` is the input increment for time ``k+j`` computed at the
last control period ``k-1``. It then calls `JuMP.optimize!(mpc.optim)` and extract the
solution. A failed optimization prints an `@error` log in the REPL and returns the
warm-start value.
warm-start value. A failed optimization also prints [`getinfo`](@ref) results in
the debug log [if activated](https://docs.julialang.org/en/v1/stdlib/Logging/#Example:-Enable-debug-level-messages).
"""
function optim_objective!(mpc::PredictiveController{NT}) where {NT<:Real}
model, optim = mpc.estim.model, mpc.optim
Expand All @@ -518,13 +519,22 @@ function optim_objective!(mpc::PredictiveController{NT}) where {NT<:Real}
if !issolved(optim)
status = JuMP.termination_status(optim)
if iserror(optim)
@error("MPC terminated without solution: returning last solution shifted",
status)
@error(
"MPC terminated without solution: estimation in open-loop "*
"(more info in debug log)",
status
)
else
@warn("MPC termination status not OPTIMAL or LOCALLY_SOLVED: keeping "*
"solution anyway", status)
@warn(
"MPC termination status not OPTIMAL or LOCALLY_SOLVED: keeping solution "*
"anyway (more info in debug log)",
status
)
end
@debug JuMP.solution_summary(optim, verbose=true)
@debug(
"calling getinfo (use logger with show_limited=false if values are truncated)",
getinfo(mpc)
)
end
if iserror(optim)
mpc.ΔŨ .= ΔŨ0
Expand Down
25 changes: 17 additions & 8 deletions src/estimator/mhe/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -108,8 +108,7 @@ function getinfo(estim::MovingHorizonEstimator{NT}) where NT<:Real
nu, ny, nd = model.nu, model.ny, model.nd
nx̂, nym, nŵ, nϵ = estim.nx̂, estim.nym, estim.nx̂, estim.nϵ
nx̃ = nϵ + nx̂
MyTypes = Union{JuMP._SolutionSummary, Hermitian{NT, Matrix{NT}}, Vector{NT}, NT}
info = Dict{Symbol, MyTypes}()
info = Dict{Symbol, Any}()
V̂, X̂0 = similar(estim.Y0m[1:nym*Nk]), similar(estim.X̂0[1:nx̂*Nk])
û0, ŷ0 = similar(model.uop), similar(model.yop)
V̂, X̂0 = predict!(V̂, X̂0, û0, ŷ0, estim, model, estim.Z̃)
Expand Down Expand Up @@ -370,7 +369,8 @@ If supported by `estim.optim`, it warm-starts the solver at:
where ``\mathbf{ŵ}_{k-1}(k-j)`` is the input increment for time ``k-j`` computed at the
last time step ``k-1``. It then calls `JuMP.optimize!(estim.optim)` and extract the
solution. A failed optimization prints an `@error` log in the REPL and returns the
warm-start value.
warm-start value. A failed optimization also prints [`getinfo`](@ref) results in
the debug log [if activated](https://docs.julialang.org/en/v1/stdlib/Logging/#Example:-Enable-debug-level-messages).
"""
function optim_objective!(estim::MovingHorizonEstimator{NT}) where NT<:Real
model, optim = estim.model, estim.optim
Expand Down Expand Up @@ -406,13 +406,22 @@ function optim_objective!(estim::MovingHorizonEstimator{NT}) where NT<:Real
if !issolved(optim)
status = JuMP.termination_status(optim)
if iserror(optim)
@error("MHE terminated without solution: estimation in open-loop",
status)
@error(
"MHE terminated without solution: estimation in open-loop "*
"(more info in debug log)",
status
)
else
@warn("MHE termination status not OPTIMAL or LOCALLY_SOLVED: keeping "*
"solution anyway", status)
@warn(
"MHE termination status not OPTIMAL or LOCALLY_SOLVED: keeping solution "*
"anyway (more info in debug log)",
status
)
end
@debug JuMP.solution_summary(optim, verbose=true)
@debug(
"calling getinfo (use logger with show_limited=false if values are truncated)",
getinfo(estim)
)
end
if iserror(optim)
estim.Z̃ .= Z̃_0
Expand Down
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