Merge branch 'main' into onepass

Author: jbcaillau

src/onepass.jl

@@ -1,6 +1,5 @@
 # onepass
 # todo:
-# - for all p_... functions, write: code = quote ... end; __wrap(code, p.lnum, p.line)
 # - cannot call solve if problem not fully defined (dynamics not defined...)
 # - doc: explain projections wrt to t0, tf, t; (...x1...x2...)(t) -> ...gensym1...gensym2... (most internal first)
 # - test non autonomous cases
@@ -37,14 +36,14 @@ __init_aliases() = begin
     al
 end
 
-__throw(ex, n, line) = begin
-    quote
-        info = string("\nLine ", $n, ": ", $line)
-        throw(ParsingError(info * "\n" * $ex))
-    end
+__throw(ex, n, line) = quote
+    local info
+    info = string("\nLine ", $n, ": ", $line)
+    throw(ParsingError(info * "\n" * $ex))
 end
 
 __wrap(e, n, line) = quote
+    local ex
     try
         $e
     catch ex

src/print.jl

@@ -29,17 +29,23 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
         @assert hasproperty(ocp.model_expression, :head)
 
         #
-        #println(io)
+        println(io)
+        printstyled(io, "The ", bold=true)
+        is_time_dependent(ocp) ? printstyled(io, "(non autonomous) ", bold=true) : printstyled(io, "(autonomous) ", bold=true)
+        printstyled(io, "optimal control problem is given by:\n", bold=true)
+        println(io)
 
         # print the code
-        tab  = 0
+        tab  = 4
         code = striplines(ocp.model_expression)
         @match code.head begin
             :block => [__print(code.args[i], io, tab) for i ∈ eachindex(code.args)]
             _      => __print(code, io, tab)
         end
-        
-    elseif __is_complete(ocp) # print the model if is is complete
+    
+    end
+    
+    if __is_complete(ocp) # print the model if is is complete
 
         # dimensions
         x_dim = ocp.state_dimension
@@ -68,8 +74,11 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
         control_args_names = t_ * u_name * "(" * t_name * ")" * _v
 
         #
-        printstyled(io, "Optimal control problem of the form:\n")
-        println(io, "")
+        println(io)
+        printstyled(io, "The ", bold=true)
+        is_time_dependent(ocp) ? printstyled(io, "(non autonomous) ", bold=true) : printstyled(io, "(autonomous) ", bold=true)
+        printstyled(io, "optimal control problem is of the form:\n", bold=true)
+        println(io)
 
         # J
         printstyled(io, "    minimize  ", color=:blue); print(io, "J(" * x_name * ", " * u_name * _v * ") = ")
@@ -178,14 +187,22 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
 
     end
 
+    #
+    println(io)
+    printstyled(io, "Declarations ", bold=true)
+    printstyled(io, "(* required):\n", bold=false)
+    #println(io)
+    
     # print table of settings
-    header = [ "times", "state", "control"]
-    is_variable_dependent(ocp) && push!(header, "variable")
-    push!(header, "dynamics", "objective", "constraints")
+    header = [ "times*", "state*", "control*"]
+    #is_variable_dependent(ocp) && push!(header, "variable")
+    push!(header, "variable")
+    push!(header, "dynamics*", "objective*", "constraints")
     data = hcat(__is_time_not_set(ocp) ? "❌" : "✅",
         __is_state_not_set(ocp) ? "❌" : "✅", 
         __is_control_not_set(ocp) ? "❌" : "✅")
-    is_variable_dependent(ocp) && begin
+    #is_variable_dependent(ocp) && 
+    begin
         (data = hcat(data, 
         __is_variable_not_set(ocp) ? "❌" : "✅")) 
     end