Merge pull request #153 from JuliaControl/debug_log_CI

added: show @debug message in CI if debug logging is activated

.github/workflows/CI.yml

@@ -27,6 +27,9 @@ jobs:
         arch:
           - x64
     steps:
+      - name: Set JULIA_DEBUG environment variable
+        if: ${{ runner.debug == '1' }}
+        run: echo "JULIA_DEBUG=ModelPredictiveControl" >> $GITHUB_ENV
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
         with:
@@ -39,4 +42,4 @@ jobs:
       - uses: codecov/codecov-action@v4
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
-          fail_ci_if_error: false 
+          fail_ci_if_error: false 

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.3.0"
+version = "1.3.1"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"

src/controller/execute.jl

@@ -531,10 +531,7 @@ function optim_objective!(mpc::PredictiveController{NT}) where {NT<:Real}
                 status
             )
         end
-        @debug(
-            "calling getinfo (use logger with show_limited=false if values are truncated)", 
-            getinfo(mpc)
-        )
+        @debug info2debugstr(getinfo(mpc))
     end
     if iserror(optim)
         mpc.ΔŨ .= ΔŨ0

src/estimator/mhe/execute.jl

@@ -418,10 +418,7 @@ function optim_objective!(estim::MovingHorizonEstimator{NT}) where NT<:Real
                 status
             )
         end
-        @debug(
-            "calling getinfo (use logger with show_limited=false if values are truncated)", 
-            getinfo(estim)
-        )
+        @debug info2debugstr(getinfo(estim))
     end
     if iserror(optim)
         estim.Z̃ .= Z̃_0

src/general.jl

@@ -25,6 +25,21 @@ function iserror(optim::JuMP.GenericModel)
     return any(errstatus->isequal(status, errstatus), ERROR_STATUSES)
 end
 
+"Convert getinfo dictionary to a debug string (without any truncation)."
+function info2debugstr(info)
+    mystr = "Content of getinfo dictionary:\n"
+    for (key, value) in info
+        (key == :sol) && continue
+        mystr *= "  :$key => $value\n"
+    end
+    if haskey(info, :sol)
+        split_sol = split(string(info[:sol]), "\n")
+        solstr = join((lpad(line, length(line) + 2) for line in split_sol), "\n", "")
+        mystr *= "  :sol => \n"*solstr
+    end
+    return mystr
+end
+
 "Evaluate the quadratic programming objective function `0.5x'*H*x + q'*x` at `x`."
 obj_quadprog(x, H, q) = 0.5*dot(x, H, x) + q'*x  # dot(x, H, x) is faster than x'*H*x
 

test/runtests.jl

@@ -15,14 +15,19 @@ include("test_state_estim.jl")
 include("test_predictive_control.jl")
 include("test_plot_sim.jl")
 
+old_debug_level = get(ENV, "JULIA_DEBUG", "")
 DocMeta.setdocmeta!(
     ModelPredictiveControl, 
     :DocTestSetup, 
-    :(using ModelPredictiveControl, ControlSystemsBase); 
+    :(
+        using ModelPredictiveControl, ControlSystemsBase;
+        ENV["JULIA_DEBUG"] = ""; # temporarily disable @debug logging for the doctests
+    ); 
     recursive=true,
     warn=false
 )
 doctest(ModelPredictiveControl, testset="DocTest")
+ENV["JULIA_DEBUG"] = old_debug_level
 
 end;
 

test/test_predictive_control.jl

@@ -82,6 +82,7 @@ end
     mpc4  = LinMPC(model2)
     preparestate!(mpc4, [0])
     moveinput!(mpc4, [0]) ≈ [0.0]
+    @test_nowarn ModelPredictiveControl.info2debugstr(info)
 
     @test_throws DimensionMismatch moveinput!(mpc1, [0,0,0])
     @test_throws DimensionMismatch moveinput!(mpc1, [0], [0,0])
@@ -407,6 +408,7 @@ end
     mpc4  = ExplicitMPC(model2)
     preparestate!(mpc4, [0])
     moveinput!(mpc4, [0]) ≈ [0.0]
+    @test_nowarn ModelPredictiveControl.info2debugstr(info)
 end
 
 
@@ -633,6 +635,7 @@ end
     nonlinmodel2.h!(y, Float32[0,0], Float32[0], Float32[])
     preparestate!(nmpc7, [0], [0])
     @test moveinput!(nmpc7, [0], [0]) ≈ [0.0]
+    @test_nowarn ModelPredictiveControl.info2debugstr(info)
 end
 
 @testset "NonLinMPC step disturbance rejection" begin

test/test_state_estim.jl

@@ -973,6 +973,7 @@ end
     info = getinfo(mhe5)
     @test info[:x̂] ≈ x̂ atol=1e-9
     @test info[:Ŷ][end-1:end] ≈ [50, 30] atol=1e-9
+    @test_nowarn ModelPredictiveControl.info2debugstr(info)
 end
 
 @testset "MovingHorizonEstimator fallbacks for arrival covariance estimation" begin