Merge pull request #260 from JuliaControl/no_progress

add: `progress` keyword argument in `sim!` to disable progress logs

Author: franckgaga

src/ModelPredictiveControl.jl

@@ -5,7 +5,6 @@ using LinearAlgebra, SparseArrays
 using Random: randn
 
 using RecipesBase
-using ProgressLogging
 
 using DifferentiationInterface: ADTypes.AbstractADType, AutoForwardDiff, AutoSparse
 using DifferentiationInterface: gradient!, jacobian!, prepare_gradient, prepare_jacobian
@@ -14,6 +13,8 @@ using DifferentiationInterface: Constant, Cache
 using SparseConnectivityTracer: TracerSparsityDetector
 using SparseMatrixColorings: GreedyColoringAlgorithm, sparsity_pattern
 
+import ProgressLogging
+
 import ForwardDiff
 
 import ControlSystemsBase

src/controller/transcription.jl

@@ -1169,8 +1169,8 @@ The method mutates `Ŷ0`, `x̂0end`, `X̂0`, `Û0` and `K0` arguments. The aug
 [`f̂!`](@ref) and [`ĥ!`](@ref) functions is called recursively in a `for` loop:
 ```math
 \begin{aligned}
-\mathbf{x̂_0}(k+1) &= \mathbf{f̂}\Big(\mathbf{x̂_0}(k), \mathbf{u_0}(k), \mathbf{d_0}(k) \Big) \\
-\mathbf{ŷ_0}(k)   &= \mathbf{ĥ}\Big(\mathbf{x̂_0}(k), \mathbf{d_0}(k) \Big)
+\mathbf{x̂_0}(k+1) &= \mathbf{f̂}\Big(\mathbf{x̂_0}(k), \mathbf{u_0}(k), \mathbf{d̂_0}(k) \Big) \\
+\mathbf{ŷ_0}(k)   &= \mathbf{ĥ}\Big(\mathbf{x̂_0}(k), \mathbf{d̂_0}(k) \Big)
 \end{aligned}
 ```
 """
@@ -1211,7 +1211,7 @@ Compute vectors if `model` is a [`NonLinModel`](@ref) and other [`TranscriptionM
 The method mutates `Ŷ0` and `x̂0end` arguments. The augmented output function [`ĥ!`](@ref) 
 is called multiple times in a `for` loop:
 ```math
-\mathbf{ŷ_0}(k) = \mathbf{ĥ}\Big(\mathbf{x̂_0}(k), \mathbf{d_0}(k) \Big)
+\mathbf{ŷ_0}(k) = \mathbf{ĥ}\Big(\mathbf{x̂_0}(k), \mathbf{d̂_0}(k) \Big)
 ```
 in which ``\mathbf{x̂_0}`` is the augmented state extracted from the decision variable `Z̃`.
 """
@@ -1332,7 +1332,7 @@ Nonlinear equality constrains for [`NonLinModel`](@ref) and [`MultipleShooting`]
 The method mutates the `geq`, `X̂0`, `Û0` and `K0` vectors in argument. The nonlinear 
 equality constraints `geq` only includes the augmented state defects, computed with:
 ```math
-\mathbf{ŝ}(k+1) = \mathbf{f̂}\Big(\mathbf{x̂_0}(k), \mathbf{u_0}(k), \mathbf{d_0}(k)\Big) 
+\mathbf{ŝ}(k+1) = \mathbf{f̂}\Big(\mathbf{x̂_0}(k), \mathbf{u_0}(k), \mathbf{d̂_0}(k)\Big) 
                     - \mathbf{x̂_0}(k+1)
 ```
 in which the augmented state ``\mathbf{x̂_0}`` are extracted from the decision variables 
@@ -1395,8 +1395,8 @@ extracted from the decision variables `Z̃`. The ``\mathbf{k}`` coefficients are
 evaluated from the continuous-time function `model.f!` and:
 ```math
 \begin{aligned}
-\mathbf{k}_1 &= \mathbf{f}\Big(\mathbf{x_0}(k),   \mathbf{û_0}(k),   \mathbf{d_0}(k)  \Big) \\
-\mathbf{k}_2 &= \mathbf{f}\Big(\mathbf{x_0}(k+1), \mathbf{û_0}(k+h), \mathbf{d_0}(k+1)\Big) 
+\mathbf{k}_1 &= \mathbf{f}\Big(\mathbf{x_0}(k),   \mathbf{û_0}(k),   \mathbf{d̂_0}(k)  \Big) \\
+\mathbf{k}_2 &= \mathbf{f}\Big(\mathbf{x_0}(k+1), \mathbf{û_0}(k+h), \mathbf{d̂_0}(k+1)\Big) 
 \end{aligned}
 ```
 in which ``h`` is the hold order `transcription.h` and the disturbed input is:
@@ -1419,7 +1419,6 @@ function con_nonlinprogeq!(
     nk = get_nk(model, transcription)
     D̂0 = mpc.D̂0
     X̂0_Z̃ = @views Z̃[(nΔU+1):(nΔU+nX̂)]
-    #TODO: allow parallel for loop or threads? 
     @threadsif f_threads for j=1:Hp
         if j < 2
             x̂0 = @views mpc.estim.x̂0[1:nx̂]

src/general.jl

@@ -133,4 +133,15 @@ macro threadsif(flag, expr)
             $expr
         end
     end |> esc
+end
+
+"Add `ProgressLogging.@progress` with the name `name`  to a `for` loop if `flag==true`"
+macro progressif(flag, name, expr)
+    quote
+        if $(flag)
+            ProgressLogging.@progress $name $expr
+        else
+            $expr
+        end
+    end |> esc
 end

src/plot_sim.jl

@@ -106,13 +106,16 @@ end
 
 
 @doc raw"""
-    sim!(plant::SimModel, N::Int, u=plant.uop.+1, d=plant.dop; x_0=plant.xop) -> res
+    sim!(
+        plant::SimModel, N::Int, u=plant.uop.+1, d=plant.dop; x_0=plant.xop, progress=true
+    ) -> res
 
 Open-loop simulation of `plant` for `N` time steps, default to unit bump test on all inputs.
 
 The manipulated inputs ``\mathbf{u}`` and measured disturbances ``\mathbf{d}`` are held
 constant at `u` and `d` values, respectively. The plant initial state ``\mathbf{x}(0)`` is
-specified by `x_0` keyword arguments. The function returns [`SimResult`](@ref) instances 
+specified by `x_0` keyword arguments. If `progress` is `true`, VS Code will display a
+progress percentage of the simulation. The function returns [`SimResult`](@ref) instances
 that can be visualized by calling `plot` on them. Note that the method mutates `plant`
 internal states.
 
@@ -129,15 +132,16 @@ function sim!(
     N::Int,
     u::Vector = plant.uop.+1,
     d::Vector = plant.dop;
-    x_0 = plant.xop
+    x_0 = plant.xop,
+    progress = true
 ) where {NT<:Real}
     T_data  = collect(plant.Ts*(0:(N-1)))
     Y_data  = Matrix{NT}(undef, plant.ny, N)
     U_data  = Matrix{NT}(undef, plant.nu, N)
     D_data  = Matrix{NT}(undef, plant.nd, N)
     X_data  = Matrix{NT}(undef, plant.nx, N)
     setstate!(plant, x_0)
-    @progress name="$(nameof(typeof(plant))) simulation" for i=1:N
+    @progressif progress name="$(nameof(typeof(plant))) simulation" for i=1:N
         y = evaloutput(plant, d) 
         Y_data[:, i] .= y
         U_data[:, i] .= u
@@ -187,6 +191,7 @@ vectors. The simulated sensor and process noises of `plant` are specified by `y_
 - `x̂_0 = nothing` or *`xhat_0`* : initial estimate ``\mathbf{x̂}(0)``, [`initstate!`](@ref)
    is used if `nothing`
 - `lastu = plant.uop` : last plant input ``\mathbf{u}`` for ``\mathbf{x̂}`` initialization
+- `progress = true` : display a progress percentage in VS Code if `true`
 
 # Examples
 ```jldoctest
@@ -263,6 +268,7 @@ function sim_closedloop!(
     x_0    = plant.xop,
     xhat_0 = nothing,
     lastu  = plant.uop,
+    progress = true,
     x̂_0 = xhat_0
 ) where {NT<:Real}
     model = estim.model
@@ -282,7 +288,7 @@ function sim_closedloop!(
     lastd, lasty = d, evaloutput(plant, d)
     initstate!(est_mpc, lastu, lasty[estim.i_ym], lastd)
     isnothing(x̂_0) || setstate!(est_mpc, x̂_0)
-    @progress name="$(nameof(typeof(est_mpc))) simulation" for i=1:N
+    @progressif progress name="$(nameof(typeof(est_mpc))) simulation" for i=1:N
         d = lastd + d_step + d_noise.*randn(plant.nd)
         y = evaloutput(plant, d) + y_step + y_noise.*randn(plant.ny)
         ym = y[estim.i_ym]

test/4_test_plot_sim.jl

@@ -10,6 +10,8 @@
     @test res.D_data[:, 1] ≈ model.dop
     @test res.X_data[:, 1] ≈ zeros(model.nx)
 
+    @test_nowarn sim!(model, 15, progress=false)
+
     res_man = SimResult(model, res.U_data, res.Y_data, res.D_data; X_data=res.X_data)
     @test res_man.U_data ≈ res.U_data
     @test res_man.Y_data ≈ res.Y_data
@@ -56,6 +58,8 @@ end
     @test res.X_data[:, 1]  ≈ zeros(estim.model.nx)
     @test res.X̂_data[:, 1]  ≈ zeros(estim.nx̂)
 
+    @test_nowarn sim!(estim, 15, progress=false)
+
     res_man = SimResult(
         estim, res.U_data, res.Y_data, res.D_data; 
         X_data=res.X_data, X̂_data=res.X̂_data
@@ -140,6 +144,8 @@ end
     @test res.X_data[:, 1]  ≈ zeros(mpc1.estim.model.nx)
     @test res.X̂_data[:, 1]  ≈ zeros(mpc1.estim.nx̂)
 
+    @test_nowarn sim!(mpc1, 15, progress=false)
+
     mpc2 = ExplicitMPC(LinModel(sys, Ts, i_d=[3]))
     res = sim!(mpc2, 15)
     @test isa(res.obj, ExplicitMPC)