fix json

Author: ocots

Project.toml

@@ -1,7 +1,7 @@
 name = "CTModels"
 uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
 authors = ["Olivier Cots <[email protected]>"]
-version = "0.3.4"
+version = "0.3.5"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
@@ -39,4 +39,4 @@ Parameters = "0.12"
 Plots = "1.40"
 PrettyTables = "2.4"
 RecipesBase = "1.3"
-julia = "1.10"
+julia = "1.10"

ext/CTModelsJSON.jl

@@ -64,18 +64,24 @@ function CTModels.import_ocp_solution(
     X = stack(blob["state"]; dims=1)
     if X isa Vector # if X is a Vector, convert it to a Matrix
         X = Matrix{Float64}(reduce(hcat, X)')
+    else
+        X = Matrix{Float64}(X)
     end
 
     # get control
     U = stack(blob["control"]; dims=1)
     if U isa Vector # if U is a Vector, convert it to a Matrix
         U = Matrix{Float64}(reduce(hcat, U)')
+    else
+        U = Matrix{Float64}(U)
     end
 
     # get costate
     P = stack(blob["costate"]; dims=1)
     if P isa Vector # if P is a Vector, convert it to a Matrix
         P = Matrix{Float64}(reduce(hcat, P)')
+    else
+        P = Matrix{Float64}(P)
     end
 
     # get dual path constraints: convert to matrix
@@ -86,6 +92,8 @@ function CTModels.import_ocp_solution(
     end
     if path_constraints_dual isa Vector # if path_constraints_dual is a Vector, convert it to a Matrix
         path_constraints_dual = Matrix{Float64}(reduce(hcat, path_constraints_dual)')
+    elseif !isnothing(path_constraints_dual)
+        path_constraints_dual = Matrix{Float64}(path_constraints_dual)
     end
 
     # get state constraints (and dual): convert to matrix
@@ -98,6 +106,8 @@ function CTModels.import_ocp_solution(
         state_constraints_lb_dual = Matrix{Float64}(
             reduce(hcat, state_constraints_lb_dual)'
         )
+    elseif !isnothing(state_constraints_lb_dual)
+        state_constraints_lb_dual = Matrix{Float64}(state_constraints_lb_dual)
     end
     state_constraints_ub_dual = if isnothing(blob["state_constraints_ub_dual"])
         nothing
@@ -108,6 +118,8 @@ function CTModels.import_ocp_solution(
         state_constraints_ub_dual = Matrix{Float64}(
             reduce(hcat, state_constraints_ub_dual)'
         )
+    elseif !isnothing(state_constraints_ub_dual)
+        state_constraints_ub_dual = Matrix{Float64}(state_constraints_ub_dual)
     end
 
     # get control constraints (and dual): convert to matrix
@@ -120,6 +132,8 @@ function CTModels.import_ocp_solution(
         control_constraints_lb_dual = Matrix{Float64}(
             reduce(hcat, control_constraints_lb_dual)'
         )
+    elseif !isnothing(control_constraints_lb_dual)
+        control_constraints_lb_dual = Matrix{Float64}(control_constraints_lb_dual)
     end
     control_constraints_ub_dual = if isnothing(blob["control_constraints_ub_dual"])
         nothing
@@ -130,14 +144,25 @@ function CTModels.import_ocp_solution(
         control_constraints_ub_dual = Matrix{Float64}(
             reduce(hcat, control_constraints_ub_dual)'
         )
+    elseif !isnothing(control_constraints_ub_dual)
+        control_constraints_ub_dual = Matrix{Float64}(control_constraints_ub_dual)
     end
 
     # get dual of boundary constraints: no conversion needed
     boundary_constraints_dual = blob["boundary_constraints_dual"]
+    if !isnothing(boundary_constraints_dual)
+        boundary_constraints_dual = Vector{Float64}(boundary_constraints_dual)
+    end
 
     # get variable constraints dual: no conversion needed
     variable_constraints_lb_dual = blob["variable_constraints_lb_dual"]
+    if !isnothing(variable_constraints_lb_dual)
+        variable_constraints_lb_dual = Vector{Float64}(blob["variable_constraints_lb_dual"])
+    end
     variable_constraints_ub_dual = blob["variable_constraints_ub_dual"]
+    if !isnothing(variable_constraints_ub_dual)
+        variable_constraints_ub_dual = Vector{Float64}(blob["variable_constraints_ub_dual"])
+    end
 
     # NB. convert vect{vect} to matrix
     return CTModels.build_solution(

src/solution.jl

@@ -140,7 +140,7 @@ function build_solution(
     fscbd = if isnothing(state_constraints_lb_dual)
         nothing
     else
-        if (dim_state_constraints_box(ocp) == 1)
+        if (dim_x == 1)
             deepcopy(t -> state_constraints_lb_dual_fun(t)[1])
         else
             deepcopy(t -> state_constraints_lb_dual_fun(t))
@@ -157,7 +157,7 @@ function build_solution(
     fscud = if isnothing(state_constraints_ub_dual)
         nothing
     else
-        if (dim_state_constraints_box(ocp) == 1)
+        if (dim_x == 1)
             deepcopy(t -> state_constraints_ub_dual_fun(t)[1])
         else
             deepcopy(t -> state_constraints_ub_dual_fun(t))
@@ -174,7 +174,7 @@ function build_solution(
     fccbd = if isnothing(control_constraints_lb_dual)
         nothing
     else
-        if (dim_control_constraints_box(ocp) == 1)
+        if (dim_u == 1)
             deepcopy(t -> control_constraints_lb_dual_fun(t)[1])
         else
             deepcopy(t -> control_constraints_lb_dual_fun(t))
@@ -191,7 +191,7 @@ function build_solution(
     fccud = if isnothing(control_constraints_ub_dual)
         nothing
     else
-        if (dim_control_constraints_box(ocp) == 1)
+        if (dim_u == 1)
             deepcopy(t -> control_constraints_ub_dual_fun(t)[1])
         else
             deepcopy(t -> control_constraints_ub_dual_fun(t))

test/Project.toml

@@ -1,16 +1,22 @@
 [deps]
 Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
+CTDirect = "790bbbee-bee9-49ee-8912-a9de031322d5"
 CTParser = "32681960-a1b1-40db-9bff-a1ca817385d1"
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
+NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Aqua = "0.8"
 CTBase = "0.16"
+CTDirect = "0.14"
 CTParser = "0.2"
 JLD2 = "0.5"
 JSON3 = "1"
+NLPModelsIpopt = "0.10"
 Plots = "1.40"
+Test = "1"
+julia = "1.10"

test/extras/export_import.jl

@@ -0,0 +1,43 @@
+using Pkg
+Pkg.add("JSON3")
+Pkg.add("JLD2")
+using NLPModelsIpopt
+using CTModels
+using CTDirect
+import CTParser: CTParser, @def
+CTParser.set_prefix(:CTModels); # code generated by @def is prefixed by CTModels (not by OptimalControl - the default)
+
+ocp = @def begin
+
+    t ∈ [0, 1], time
+    x ∈ R², state
+    u ∈ R, control
+
+    x₂(t) ≤ 1.2
+
+    x(0) == [-1, 0]
+    x(1) == [0, 0]
+
+    ẋ(t) == [x₂(t), u(t)]
+
+    ∫( 0.5u(t)^2 ) → min
+
+end;
+
+sol = CTDirect.solve(ocp)
+
+using JLD2
+CTModels.export_ocp_solution(sol; filename="my_solution")
+sol_jld = CTModels.import_ocp_solution(ocp; filename="my_solution")
+println("Objective from computed solution: ", CTModels.objective(sol))
+println("Objective from imported solution: ", CTModels.objective(sol_jld))
+
+using JSON3
+CTModels.export_ocp_solution(sol; filename="my_solution", format=:JSON)
+sol_json = CTModels.import_ocp_solution(ocp; filename="my_solution", format=:JSON)
+println("Objective from computed solution: ", CTModels.objective(sol))
+println("Objective from imported solution: ", CTModels.objective(sol_json))
+
+# Clean up
+Pkg.rm("JLD2")
+Pkg.rm("JSON3")

test/runtests.jl

@@ -1,7 +1,9 @@
 using Test
 using Aqua
 using CTBase
+using CTDirect
 using CTModels
+using NLPModelsIpopt
 
 import CTParser: CTParser, @def
 CTParser.set_prefix(:CTModels); # code generated by @def is prefixed by CTModels (not by OptimalControl - the default)

test/solution_example_path_constraints.jl

@@ -15,7 +15,7 @@ function solution_example_path_constraints()
             [-3, 1] ≤ [x(t) + 1, u(t) + 1] ≤ [1, 2.5], (2)
             ẋ(t) == u(t)
             ∫(-u(t)) → min
-        end true;
+        end;
 
         return ocp
     end