Merge pull request #158 from JuliaControl/vd_code_tests

update test for new VS code test framework

Project.toml

@@ -28,13 +28,15 @@ PrecompileTools = "1"
 ProgressLogging = "0.1"
 Random = "1.6"
 RecipesBase = "1"
+TestItemRunner = "1.1"
 julia = "1.10"
 
 [extras]
 DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+TestItemRunner = "f8b46487-2199-4994-9208-9a1283c18c0a"
 
 [targets]
-test = ["Test", "Documenter", "Plots", "DAQP"]
+test = ["Test", "TestItemRunner", "Documenter", "Plots", "DAQP"]

test/runtests.jl

@@ -7,9 +7,26 @@ using LinearAlgebra
 using Random: randn
 using JuMP, OSQP, Ipopt, DAQP, ForwardDiff
 using Plots
-using Test
+using Test, TestItemRunner
+
+@run_package_tests 
+
+#@testitem "ModelPredictiveControl.jl" begin
+
+@testsnippet SetupMPCtests begin
+    using ControlSystemsBase, LinearAlgebra
+    using Random: randn
+    using JuMP, OSQP, Ipopt, DAQP, ForwardDiff
+    using Plots
+    Ts = 400.0
+    sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
+            tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ] 
+    sys_ss = minreal(ss(sys))
+    Gss = c2d(sys_ss[:,1:2], Ts, :zoh)
+    Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
+end
+
 
-@testset "ModelPredictiveControl.jl" begin
 include("test_sim_model.jl")
 include("test_state_estim.jl")
 include("test_predictive_control.jl")
@@ -29,6 +46,6 @@ DocMeta.setdocmeta!(
 doctest(ModelPredictiveControl, testset="DocTest")
 ENV["JULIA_DEBUG"] = old_debug_level
 
-end;
+#end;
 
 nothing

test/test_plot_sim.jl

@@ -1,8 +1,4 @@
-Ts = 400.0
-sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
-        tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ]
-
-@testset "SimModel quick simulation" begin
+@testitem "SimModel quick simulation" setup=[SetupMPCtests] begin
     model = LinModel(sys, Ts, i_d=[3])
     res = sim!(model, 15)
     display(res)
@@ -21,7 +17,7 @@ sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
     @test_throws ArgumentError SimResult(model, [res.U_data model.uop], res.Y_data, res.D_data)
 end
 
-@testset "SimModel Plots" begin
+@testitem "SimModel Plots" setup=[SetupMPCtests] begin
     model = LinModel(sys, Ts, i_d=[3])
     res = sim!(model, 15, [1, 3], [-10])
     p = plot(res, plotx=true)
@@ -45,7 +41,7 @@ end
     @test p[3][1][:y] ≈ res.X_data[4, :]
 end
 
-@testset "StateEstimator quick simulation" begin
+@testitem "StateEstimator quick simulation" setup=[SetupMPCtests] begin
     estim = SteadyKalmanFilter(LinModel(sys, Ts, i_d=[3]))
     res = sim!(estim, 15)
     @test isa(res.obj, SteadyKalmanFilter)
@@ -67,7 +63,7 @@ end
     @test res_man.X̂_data ≈ res.X̂_data
 end
 
-@testset "StateEstimator Plots" begin
+@testitem "StateEstimator Plots" setup=[SetupMPCtests] begin
     estim = MovingHorizonEstimator(LinModel(sys, Ts, i_d=[3]), He=5)
     estim = setconstraint!(estim, x̂min=[-100,-101,-102,-103,-Inf,-Inf])
     estim = setconstraint!(estim, x̂max=[+100,+101,+102,+103,+Inf,+Inf])
@@ -124,7 +120,7 @@ end
     @test all(p7[end-2][3][:y] .≈ +103)
 end
 
-@testset "PredictiveController quick simulation" begin
+@testitem "PredictiveController quick simulation" setup=[SetupMPCtests] begin
     mpc1 = LinMPC(LinModel(sys, Ts, i_d=[3]))
     res = sim!(mpc1, 15)
     @test isa(res.obj, LinMPC)
@@ -158,7 +154,7 @@ end
     @test res_man.Ry_data ≈ res.Ry_data
 end
 
-@testset "PredictiveController Plots" begin
+@testitem "PredictiveController Plots" setup=[SetupMPCtests] begin
     estim = MovingHorizonEstimator(LinModel(sys, Ts, i_d=[3]), He=5)
     estim = setconstraint!(estim, x̂min=[-100,-101,-102,-103,-104,-105])
     estim = setconstraint!(estim, x̂max=[+100,+101,+102,+103,+104,+105])