232 preparing for inplace nlp #271

jbcaillau · 2024-08-29T18:44:24Z

No description provided.

github-actions · 2024-08-29T19:02:08Z

Package name	latest	stable
CTDirect.jl	compat: v0.13.1	compat: v0.13.1
CTFlows.jl	compat: v0.13.1	compat: v0.13.1
OptimalControl.jl	compat: v0.13.1	compat: v0.13.1

…d li = ξs[i] in out of place version to test

amontoison · 2024-09-02T22:50:27Z

src/optimal_control_model-getters.jl

+        j = 1
+        for i ∈ 1:length(ψf)
+            li = ψs[i]
+            ψf[i](val[j:(j + li - 1)], t, x, u, v)


I thing that val[j:(j + li - 1)] will allocate a new vector.
You probably need view(val, j:(j + li - 1)).

@amontoison this is subtle... any doc / reference on this? Apart from
https://docs.julialang.org/en/v1/manual/performance-tips/#tools

@amontoison thanks, as it is even worse than I thought (check g1 😬):

julia> f!(x) = begin x[1] = 7.; x[2] = 8. end f! (generic function with 2 methods) julia> g1() = begin x = zeros(Float64, 10) for i ∈ 1:1000 f!(x[3:4]) end println("x =", x) end g1 (generic function with 1 method) julia> g2() = begin x = zeros(Float64, 10) f!(view(x, 3:4)) println("x =", x) end g2 (generic function with 1 method) julia> g3() = begin x = zeros(Float64, 10) for i ∈ 1:1000 f!(view(x, 3:4)) end println("x =", x) end g3 (generic function with 1 method) julia> @allocated g1() x =[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 85728 julia> @allocated g2() x =[0.0, 0.0, 7.0, 8.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 5728 julia> @allocated g3() x =[0.0, 0.0, 7.0, 8.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 6032 julia> @allocated g3() x =[0.0, 0.0, 7.0, 8.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 5728

NB. The syntax with @view is supposed to generate the same code (and allows begin / end indexing):

julia> g4() = begin x = zeros(Float64, 10) for i ∈ 1:1000 f!(@view x[3:4]) end println("x =", x) end g4 (generic function with 1 method) julia> @allocated g4() x =[0.0, 0.0, 7.0, 8.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 5728

@amontoison this is subtle... any doc / reference on this? Apart from https://docs.julialang.org/en/v1/manual/performance-tips/#tools

@jbcaillau
https://docs.julialang.org/en/v1/manual/performance-tips/#man-performance-views

So even in this case, cases 1 and 2 below make a copy y[3:4]?

julia> let x = zeros(4) y = ones(4) println(@allocated x[1:2] = y[3:4]) x end 80 4-element Vector{Float64}: 1.0 1.0 0.0 0.0 julia> let x = zeros(4) y = ones(4) println(@allocated x[1:2] .= y[3:4]) x end 80 4-element Vector{Float64}: 1.0 1.0 0.0 0.0 julia> let x = zeros(4) y = ones(4) println(@allocated x[1:2] = @view y[3:4]) x end 0 4-element Vector{Float64}: 1.0 1.0 0.0 0.0

Yes, they do a copy in both cases

@PierreMartinon check above: slices in the rhs of an affectation x[...] = y[...] are copied unless a view is used, x[...] = view(y, ...)

Yes I know... Julia compiler right now is not great at optimizations. See also: https://discourse.julialang.org/t/common-allocation-mistakes/66127

https://m3g.github.io/JuliaNotes.jl/stable/memory

amontoison · 2024-09-02T22:54:59Z

@jbcaillau For in-place code, I suggest adding unit tests with @allocated.
It's so easy to miss some allocations...
I recommend this kind of test: https://github.com/JuliaSmoothOptimizers/Krylov.jl/blob/main/test/test_allocations.jl#L37-L51
It guarantees that your code is in-place and that you won't introduce extra allocations in the future with new modifications.

jbcaillau · 2024-09-05T16:36:09Z

@ocots more or less trivial changes to types / functions to include in_place definitions (constraints, dynamics, cost). everything kept for out_of_place to be still OK (ongoing test). please review the diff and tell me what you think.

p) ? ... in constraint\!

amontoison · 2024-09-05T17:30:49Z

src/types.jl

+struct BoundaryConstraint!{variable_dependence}
+    f!::Function
+end


@jbcaillau f!::Function will not be efficient because Function is a generic type.
You need a parametric structure like this:

struct BoundaryConstraint!{F} f!::F end

@jbcaillau f!::Function will not be efficient because Function is a generic type. You need a parametric structure like this:

struct BoundaryConstraint!{F} f!::F end

@amontoison Instead of

struct CallableType f::Function end (F::CallableType)(n::Int) = F.f(n) F = CallableType(n->2n)

Do you recommend this?

struct CallableType{T} f::T end (F::CallableType)(n::Int) = F.f(n) f = n->2n F = CallableType{typeof(f)}(f)

Yes, and you can avoid to specify typeof(f), Julia will do that automatically for you:

struct CallableType{T} f::T end (F::CallableType)(n::Int) = F.f(n) f = n->2n F = CallableType(f)

By having a parametric structure CallableType, Julia doesn't need to re-infer the type of F.f at every call. After the first call, a compiled version is available, and future calls to CallableType are faster.
f::Function just restricts f to be a function but doesn't help the internal compiler.

And if we have to types. How does it work?

struct CallableType{T, U} f::T end f = n->2n F = CallableType{SomeType}(f)

Is this better?

struct CallableType{T <: Function} f::T end

What is the goal of U? It is for dispatch like a symbol :inplace :not_inplace?
If you don't have any attribute of type U, it should not be used in practice.
The second structure is the best one

struct CallableType{T <: Function} f::T end

But I'm wondering if what you want is not just a "functor": https://docs.julialang.org/en/v1/manual/methods/#Function-like-objects

You want to keep variable_dependence as the first parametric type because you do the dispatch on it and not the other one.

So dispatch processes the arguments starting from the first until it can determine a match ?

Yes, and if you are not doing anything special for the last arguments, you can avoid parametrizing your functions with all arguments and only parametrize with the first one. This will avoid compiling a method for each combination if it's not needed. I think it's explained somewhere in Julia's documentation (over-parametrization).

@amontoison a simple example/illustration somewhere?

https://gensoft.pasteur.fr/docs/julia/1.4.1/manual/performance-tips.html#The-dangers-of-abusing-multiple-dispatch-(aka,-more-on-types-with-values-as-parameters)-1

Catching up on this today, this is exactly what we discussed yesterday @ocots

jbcaillau · 2024-09-05T17:58:18Z

@ocots more or less trivial changes to types / functions to include in_place definitions (constraints, dynamics, cost). everything kept for out_of_place to be still OK (ongoing test). please review the diff and tell me what you think.

@jbcaillau need to check scalar case on in place with views (see 232 preparing for inplace nlp #271 (comment))

jbcaillau · 2024-09-05T20:32:15Z

src/optimal_control_model-getters.jl

@ocots 👍🏽 missed that one

jbcaillau · 2024-09-05T20:33:39Z

src/optimal_control_model-setters.jl

@ocots well done! definitions in the wrong @match branch. actually I wanted them to be a the very beginning (before @match). moving them.

jbcaillau · 2024-09-05T21:22:52Z

@amontoison another question about treating as uniformly as possible vectors and scalars, related to #271 (comment): up to now we use .= to treat uniformly (length one) vectors and scalar, like in

julia> x = [0.]
1-element Vector{Float64}:
 0.0

julia> y = [1.]
1-element Vector{Float64}:
 1.0

julia> z = 2.
2.0

julia> x[:] .= y[1]
1-element view(::Vector{Float64}, :) with eltype Float64:
 1.0

julia> x[:] .= z[1]
1-element view(::Vector{Float64}, :) with eltype Float64:
 2.0

Introducing views to avoid copying the rhs is still OK with vectors, not with scalars:

julia> x[:] .= view(y, 1)
1-element view(::Vector{Float64}, :) with eltype Float64:
 1.0

julia> x[:] .= view(z, 1)
ERROR: MethodError: no method matching view(::Float64, ::Int64)

Of course, we can do sth like

julia> __view(x, rg) = (rg isa Integer) ? x[rg] : view(x, rg)
__view (generic function with 1 method)

julia> x[:] .= __view(y, 1)
1-element view(::Vector{Float64}, :) with eltype Float64:
 1.0

julia> x[:] .= __view(z, 1)
1-element view(::Vector{Float64}, :) with eltype Float64:
 2.0

but is it the best way?

amontoison · 2024-09-05T21:51:53Z

@jbcaillau
I will probably use multiple dispatch so that the compiler knows the output type for each combination:

__view(x::Number, rg) = x 
__view(x::AbstractVector, rg::Integer) = x[rg]
__view(x::AbstractVector, rg::UnitRange) = view(x, rg)

But it's quite cheap to use an array of length 1 instead of a scalar rhs, so it could be more efficient to use a vector in all-cases such that the compiler can infer the type of each parameter and variable.

Instead of view, you could also use the 5-arguments version of copyto!:

A = zeros(10)
B = [i for i = 1:10]
start_A = 5
start_B = 3
N = 4
copyto!(A, start_A, B, start_B, N)

10-element Vector{Float64}:
 0.0
 0.0
 0.0
 0.0
 3.0
 4.0
 5.0
 6.0
 0.0
 0.0

amontoison · 2024-09-05T21:55:37Z

@ocots @jbcaillau Before that I forgot, you are using quite often a foo::Union{Nothing, ...} inside your structures for the type of the attributes. The compiler doesn't like that and it leads to additional allocations because it needs to check at runtime that it's a Nothing or not.
You can change that for foo::T and at the top of your structure T <: Union{Nothing, ...}.

amontoison · 2024-09-05T21:57:14Z

For all these kinds of stuff I used JET in the past and kept an example here.

using CTBase, JET
report_package(CTBase)

═════ 93 possible errors found ═════
┌ getFullDescription(desc::Tuple{Vararg{Symbol}}, desc_list::Tuple{Vararg{Tuple{Vararg{Symbol}}}}) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/description.jl:117
│┌ intersect(itr::Tuple{Vararg{Symbol}}, itrs::Tuple{Vararg{Symbol}}) @ Base ./array.jl:2859
││┌ _shrink(shrinker!::typeof(intersect!), itr::Tuple{Vararg{Symbol}}, itrs::Tuple{Tuple{Vararg{Symbol}}}) @ Base ./array.jl:2855
│││┌ intersect!(s::Set, itr::Tuple{Vararg{Symbol}}) @ Base ./abstractset.jl:197
││││┌ union!(s::Set{Union{}}, itr::Tuple{Vararg{Symbol}}) @ Base ./abstractset.jl:104
│││││┌ sizehint!(s::Set{Union{}}, newsz::Int64) @ Base ./set.jl:120
││││││┌ sizehint!(d::Dict{Union{}, Nothing}, newsz::Int64) @ Base ./dict.jl:225
│││││││┌ rehash!(h::Dict{Union{}, Nothing}, newsz::Int64) @ Base ./dict.jl:192
││││││││┌ getindex(A::Vector{Union{}}, i1::Int64) @ Base ./essentials.jl:13
│││││││││ invalid builtin function call: Base.arrayref($(Expr(:boundscheck)), A::Vector{Union{}}, i1::Int64)
││││││││└────────────────────
┌ CTBase.BoundaryConstraint(f::Function, dependencies::Vararg{DataType}) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/functions.jl:34
│┌ __check_dependencies(dependencies::Tuple{Vararg{DataType}}) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-type.jl:230
││┌ filter(f::CTBase.var"#35#38", t::Tuple{Vararg{DataType}}) @ Base ./tuple.jl:464
│││┌ filter(f::CTBase.var"#35#38", a::Vector{Union{}}) @ Base ./array.jl:2673
││││┌ iterate(A::Vector{Union{}}) @ Base ./array.jl:945
│││││┌ iterate(A::Vector{Union{}}, i::Int64) @ Base ./array.jl:945
││││││┌ getindex(A::Vector{Union{}}, i1::Int64) @ Base ./essentials.jl:13
│││││││ invalid builtin function call: Base.arrayref($(Expr(:boundscheck)), A::Vector{Union{}}, i1::Int64)
││││││└────────────────────
┌ ctupperscript(i::Integer) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/utils.jl:51
│ no matching method found `convert(::Type{Char}, ::Nothing)`: convert(CTBase.Char, _8::Nothing)
└────────────────────
┌ __ctjacobian(f::Function, x::Real) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/utils.jl:121
│┌ jacobian(f::CTBase.var"#28#29"{<:Function}, x::Vector{T} where T<:Real) @ ForwardDiff /home/alexis/.julia/packages/ForwardDiff/PcZ48/src/jacobian.jl:19
││┌ jacobian(f::CTBase.var"#28#29"{…}, x::Vector{…} where T<:Real, cfg::ForwardDiff.JacobianConfig{…} where {…}) @ ForwardDiff /home/alexis/.julia/packages/ForwardDiff/PcZ48/src/jacobian.jl:19
│││┌ jacobian(f::CTBase.var"#28#29"{…}, x::Vector{…} where T<:Real, cfg::ForwardDiff.JacobianConfig{…} where {…}, ::Val{…}) @ ForwardDiff /home/alexis/.julia/packages/ForwardDiff/PcZ48/src/jacobian.jl:23
││││┌ chunk_mode_jacobian(f::CTBase.var"#28#29"{…}, x::Vector{…} where T<:Real, cfg::ForwardDiff.JacobianConfig{…} where {…}) @ ForwardDiff /home/alexis/.julia/packages/ForwardDiff/PcZ48/src/jacobian.jl:213
│││││┌ seed!(duals::Array{…}, x::Vector{…} where T<:Real) where {…} @ ForwardDiff /home/alexis/.julia/packages/ForwardDiff/PcZ48/src/apiutils.jl:45
││││││┌ seed!(duals::Array{…}, x::Vector{…} where T<:Real, seed::ForwardDiff.Partials{…}) where {…} @ ForwardDiff /home/alexis/.julia/packages/ForwardDiff/PcZ48/src/apiutils.jl:45
│││││││┌ materialize!(dest::Array{…} where {…}, bc::Base.Broadcast.Broadcasted{…} where T) @ Base.Broadcast ./broadcast.jl:911
││││││││┌ materialize!(::Base.Broadcast.DefaultArrayStyle{…}, dest::Array{…} where {…}, bc::Base.Broadcast.Broadcasted{…} where T) @ Base.Broadcast ./broadcast.jl:914
│││││││││┌ copyto!(dest::Array{…} where {…}, bc::Base.Broadcast.Broadcasted{…} where T) @ Base.Broadcast ./broadcast.jl:956
││││││││││┌ copyto!(dest::Array{…} where {…}, bc::Base.Broadcast.Broadcasted{…} where F<:Type) @ Base.Broadcast ./broadcast.jl:1004
│││││││││││┌ getindex(bc::Base.Broadcast.Broadcasted{Nothing, Tuple{…}, Type{…}, <:Tuple{…}} where T, I::Int64) @ Base.Broadcast ./broadcast.jl:636
││││││││││││┌ _broadcast_getindex(bc::Base.Broadcast.Broadcasted{Nothing, Tuple{Base.OneTo{…}}, Type{T}, Union{}} where T, I::Int64) @ Base.Broadcast ./broadcast.jl:700
│││││││││││││┌ getproperty(x::Base.Broadcast.Broadcasted{Nothing, Tuple{Base.OneTo{Int64}}, Type{T}, Union{}} where T, f::Symbol) @ Base ./Base.jl:37
││││││││││││││ invalid builtin function call: Base.getfield(x::Base.Broadcast.Broadcasted{Nothing, Tuple{Base.OneTo{Int64}}, Type{T}, Union{}} where T, f::Symbol)
│││││││││││││└────────────────────
┌ CTBase.OptimalControlModel() @ CTBase /home/alexis/.julia/packages/Parameters/MK0O4/src/Parameters.jl:545
│┌ CTBase.OptimalControlModel(; model_expression::Nothing, initial_time::Nothing, initial_time_name::Nothing, final_time::Nothing, final_time_name::Nothing, time_name::Nothing, control_dimension::Nothing, control_components_names::Nothing, control_name::Nothing, state_dimension::Nothing, state_components_names::Nothing, state_name::Nothing, variable_dimension::Nothing, variable_components_names::Nothing, variable_name::Nothing, lagrange::Nothing, mayer::Nothing, criterion::Nothing, dynamics::Nothing, constraints::Dict{…}, dim_control_constraints::Nothing, dim_state_constraints::Nothing, dim_mixed_constraints::Nothing, dim_boundary_constraints::Nothing, dim_variable_constraints::Nothing, dim_control_range::Nothing, dim_state_range::Nothing, dim_variable_range::Nothing) @ CTBase /home/alexis/.julia/packages/Parameters/MK0O4/src/Parameters.jl:545
││ no matching method found `CTBase.OptimalControlModel(::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Dict{Symbol, Tuple}, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing, ::Nothing)`: OptimalControlModel(model_expression::Nothing, initial_time::Nothing, initial_time_name::Nothing, final_time::Nothing, final_time_name::Nothing, time_name::Nothing, control_dimension::Nothing, control_components_names::Nothing, control_name::Nothing, state_dimension::Nothing, state_components_names::Nothing, state_name::Nothing, variable_dimension::Nothing, variable_components_names::Nothing, variable_name::Nothing, lagrange::Nothing, mayer::Nothing, criterion::Nothing, dynamics::Nothing, constraints::Dict{Symbol, Tuple}, dim_control_constraints::Nothing, dim_state_constraints::Nothing, dim_mixed_constraints::Nothing, dim_boundary_constraints::Nothing, dim_variable_constraints::Nothing, dim_control_range::Nothing, dim_state_range::Nothing, dim_variable_range::Nothing)
│└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:366
│ no matching method found `kwcall(::@NamedTuple{digits::Int64}, ::typeof(round), ::Nothing)` (1/2 union split): Core.kwcall(NamedTuple{(:digits,)}(tuple(2)::Tuple{Int64})::@NamedTuple{digits::Int64}, CTBase.round, t0::Union{Nothing, Real})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:367
│ no matching method found `kwcall(::@NamedTuple{digits::Int64}, ::typeof(round), ::Nothing)` (1/2 union split): Core.kwcall(NamedTuple{(:digits,)}(tuple(2)::Tuple{Int64})::@NamedTuple{digits::Int64}, CTBase.round, tf::Union{Nothing, Real})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:370
│ no matching method found `CTBase.Index(::Nothing)` (1/2 union split): Index(ind0::Union{Nothing, Integer})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:373
│ no matching method found `getindex(::Nothing, ::Nothing)`, `getindex(::Nothing, ::Integer)` (2/4 union split): ((ocp::CTBase.OptimalControlModel).variable_components_names::Union{Nothing, Vector{String}})[ind0::Union{Nothing, Integer}]
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:374
│ no matching method found `kwcall(::@NamedTuple{digits::Int64}, ::typeof(round), ::Nothing)` (1/2 union split): Core.kwcall(NamedTuple{(:digits,)}(tuple(2)::Tuple{Int64})::@NamedTuple{digits::Int64}, CTBase.round, tf::Union{Nothing, Real})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:378
│ no matching method found `CTBase.Index(::Nothing)` (1/2 union split): Index(indf::Union{Nothing, Integer})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:380
│ no matching method found `kwcall(::@NamedTuple{digits::Int64}, ::typeof(round), ::Nothing)` (1/2 union split): Core.kwcall(NamedTuple{(:digits,)}(tuple(2)::Tuple{Int64})::@NamedTuple{digits::Int64}, CTBase.round, t0::Union{Nothing, Real})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:381
│ no matching method found `getindex(::Nothing, ::Nothing)`, `getindex(::Nothing, ::Integer)` (2/4 union split): ((ocp::CTBase.OptimalControlModel).variable_components_names::Union{Nothing, Vector{String}})[indf::Union{Nothing, Integer}]
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:384
│ no matching method found `CTBase.Index(::Nothing)` (1/2 union split): Index(ind0::Union{Nothing, Integer})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:385
│ no matching method found `CTBase.Index(::Nothing)` (1/2 union split): Index(indf::Union{Nothing, Integer})
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:387
│ no matching method found `getindex(::Nothing, ::Nothing)`, `getindex(::Nothing, ::Integer)` (2/4 union split): ((ocp::CTBase.OptimalControlModel).variable_components_names::Union{Nothing, Vector{String}})[ind0::Union{Nothing, Integer}]
└────────────────────
┌ time!(ocp::CTBase.OptimalControlModel{…}; t0::Union{…}, tf::Union{…}, ind0::Union{…}, indf::Union{…}, name::Union{…}) where VT @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:388
│ no matching method found `getindex(::Nothing, ::Nothing)`, `getindex(::Nothing, ::Integer)` (2/4 union split): ((ocp::CTBase.OptimalControlModel).variable_components_names::Union{Nothing, Vector{String}})[indf::Union{Nothing, Integer}]
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:507
│ no matching method found `(::Colon)(::Int64, ::Nothing)` (1/2 union split): @_63 = (1 CTBase.:(:) n::Union{Nothing, Integer})
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:510
│ no matching method found `(::Colon)(::Int64, ::Nothing)` (1/2 union split): @_64 = (1 CTBase.:(:) m::Union{Nothing, Integer})
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:513
│ no matching method found `(::Colon)(::Int64, ::Nothing)` (1/2 union split): @_65 = (1 CTBase.:(:) q::Union{Nothing, Integer})
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:552
│ no matching method found `CTBase.BoundaryConstraint(::Nothing, ::Type{V} where V<:CTBase.VariableDependence)` (1/2 union split): BoundaryConstraint(f::Union{Nothing, Function}, V::Type{V} where V<:CTBase.VariableDependence)
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:554
│ no matching method found `CTBase.ControlConstraint(::Nothing, ::Type{T} where T<:CTBase.TimeDependence, ::Type{V} where V<:CTBase.VariableDependence)` (1/2 union split): ControlConstraint(f::Union{Nothing, Function}, T::Type{T} where T<:CTBase.TimeDependence, V::Type{V} where V<:CTBase.VariableDependence)
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:556
│ no matching method found `CTBase.StateConstraint(::Nothing, ::Type{T} where T<:CTBase.TimeDependence, ::Type{V} where V<:CTBase.VariableDependence)` (1/2 union split): StateConstraint(f::Union{Nothing, Function}, T::Type{T} where T<:CTBase.TimeDependence, V::Type{V} where V<:CTBase.VariableDependence)
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:558
│ no matching method found `CTBase.MixedConstraint(::Nothing, ::Type{T} where T<:CTBase.TimeDependence, ::Type{V} where V<:CTBase.VariableDependence)` (1/2 union split): MixedConstraint(f::Union{Nothing, Function}, T::Type{T} where T<:CTBase.TimeDependence, V::Type{V} where V<:CTBase.VariableDependence)
└────────────────────
┌ constraint!(ocp::CTBase.OptimalControlModel{…}, type::Symbol; rg::Union{…}, f::Union{…}, lb::Union{…}, ub::Union{…}, val::Union{…}, label::Symbol) where {…} @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:560
│┌ CTBase.VariableConstraint(f::Nothing) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/types.jl:849
││ no matching method found `convert(::Type{Function}, ::Nothing)`: @_3 = convert(fieldtype(VariableConstraint, 1)::Type{Function}, _3::Nothing)
│└────────────────────
┌  @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:644
│ no matching method found `String(::typeof(CTBase.objective))`: CTBase.String(objective)
└────────────────────
┌  @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_model-setters.jl:688
│ no matching method found `String(::typeof(CTBase.objective))`: CTBase.String(objective)
└────────────────────
┌ time_grid(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:7
│ no matching method found `convert(::Type{Union{StepRangeLen, AbstractVector{<:Real}}}, ::Nothing)`: convert(TimesDisc, _3::Nothing)
└────────────────────
┌ initial_time_name(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:15
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ final_time_name(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:23
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ time_name(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:31
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ control_dimension(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:39
│ no matching method found `convert(::Type{Integer}, ::Nothing)`: convert(Dimension, _3::Nothing)
└────────────────────
┌ control_components_names(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:47
│ no matching method found `convert(::Type{String}, ::Nothing)`, `convert(::Type{String}, ::Vector{String})` (2/2 union split): convert(CTBase.String, _3::Union{Nothing, Vector{String}})
└────────────────────
┌ control_name(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:55
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ control(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:68
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ state_dimension(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:88
│ no matching method found `convert(::Type{Integer}, ::Nothing)`: convert(Dimension, _3::Nothing)
└────────────────────
┌ state_components_names(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:96
│ no matching method found `convert(::Type{String}, ::Nothing)`, `convert(::Type{String}, ::Vector{String})` (2/2 union split): convert(CTBase.String, _3::Union{Nothing, Vector{String}})
└────────────────────
┌ state_name(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:104
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ state(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:117
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ variable_dimension(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:137
│ no matching method found `convert(::Type{Integer}, ::Nothing)`: convert(Dimension, _3::Nothing)
└────────────────────
┌ variable_components_names(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:145
│ no matching method found `convert(::Type{String}, ::Nothing)`, `convert(::Type{String}, ::Vector{String})` (2/2 union split): convert(CTBase.String, _3::Union{Nothing, Vector{String}})
└────────────────────
┌ variable_name(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:153
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ variable(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:164
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(Variable, _3::Nothing)
└────────────────────
┌ costate(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:177
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ objective(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:197
│ no matching method found `convert(::Type{Real}, ::Nothing)`: convert(ctNumber, _3::Nothing)
└────────────────────
┌ iterations(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:205
│ no matching method found `convert(::Type{Int64}, ::Nothing)`: convert(CTBase.Int, _3::Nothing)
└────────────────────
┌ stopping(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:213
│ no matching method found `convert(::Type{Symbol}, ::Nothing)`: convert(CTBase.Symbol, _3::Nothing)
└────────────────────
┌ message(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:221
│ no matching method found `convert(::Type{String}, ::Nothing)`: convert(CTBase.String, _3::Nothing)
└────────────────────
┌ success(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:229
│ no matching method found `convert(::Type{Bool}, ::Nothing)`: convert(CTBase.Bool, _3::Nothing)
└────────────────────
┌ boundary_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:247
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(ctVector, _3::Nothing)
└────────────────────
┌ mult_boundary_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:255
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(ctVector, _3::Nothing)
└────────────────────
┌ variable_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:263
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(ctVector, _3::Nothing)
└────────────────────
┌ mult_variable_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:271
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(ctVector, _3::Nothing)
└────────────────────
┌ mult_variable_box_lower(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:279
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(ctVector, _3::Nothing)
└────────────────────
┌ mult_variable_box_upper(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:287
│ no matching method found `convert(::Type{Union{Real, AbstractVector{<:Real}}}, ::Nothing)`: convert(ctVector, _3::Nothing)
└────────────────────
┌ control_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:295
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_control_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:303
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ state_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:311
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_state_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:319
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mixed_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:327
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_mixed_constraints(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:335
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_state_box_lower(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:343
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_state_box_upper(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:351
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_control_box_lower(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:359
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ mult_control_box_upper(sol::CTBase.OptimalControlSolution) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/optimal_control_solution-getters.jl:367
│ no matching method found `convert(::Type{Function}, ::Nothing)`: convert(CTBase.Function, _3::Nothing)
└────────────────────
┌ (::CTBase.var"#145#148")(h::Any, args::Vararg{Any}) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/ctparser_utils.jl:57
│┌ Expr(node::Base.JuliaSyntax.SyntaxNode) @ Base.JuliaSyntax /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/base/JuliaSyntax/src/expr.jl:507
││┌ _to_expr(node::Base.JuliaSyntax.SyntaxNode) @ Base.JuliaSyntax /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/base/JuliaSyntax/src/expr.jl:499
│││┌ head(node::Base.JuliaSyntax.SyntaxNode) @ Base.JuliaSyntax /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/base/JuliaSyntax/src/syntax_tree.jl:108
││││┌ getproperty(node::Base.JuliaSyntax.SyntaxNode, name::Symbol) @ Base.JuliaSyntax /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/base/JuliaSyntax/src/syntax_tree.jl:27
│││││┌ getproperty(x::Nothing, f::Symbol) @ Base ./Base.jl:37
││││││ type Nothing has no field raw: Base.getfield(x::Nothing, f::Symbol)
│││││└────────────────────
││┌ _to_expr(node::Base.JuliaSyntax.SyntaxNode) @ Base.JuliaSyntax /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/base/JuliaSyntax/src/expr.jl:503
│││┌ _internal_node_to_Expr(source::Base.JuliaSyntax.SourceFile, srcrange::UnitRange{…}, head::Base.JuliaSyntax.SyntaxHead, childranges::Tuple{}, childheads::Tuple{}, args::Vector{…}) @ Base.JuliaSyntax /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/base/JuliaSyntax/src/expr.jl:266
││││┌ getindex(t::Tuple{}, i::Int64) @ Base ./tuple.jl:31
│││││ BoundsError: attempt to access Tuple{} at index [1]: Base.getfield(t::Tuple{}, i::Int64, $(Expr(:boundscheck)))
││││└────────────────────
┌ parse!(p::Any, ocp::Any, e::Any) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:75
│┌ parse!(p::Any, ocp::Any, e::Any; log::Bool) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:164
││┌ map(f::CTBase.var"#170#171"{Bool}, A::Vector{Any}) @ Base ./abstractarray.jl:3285
│││┌ collect_similar(cont::Vector{…}, itr::Base.Generator{…} where F<:(CTBase.var"#170#171"{…})) @ Base ./array.jl:763
││││┌ _collect(c::Vector{…}, itr::Base.Generator{…} where F<:(CTBase.var"#170#171"{…}), ::Base.EltypeUnknown, isz::Base.HasShape{…}) @ Base ./array.jl:864
│││││┌ collect_to_with_first!(dest::Vector{…}, v1::Expr, itr::Base.Generator{…} where F<:(CTBase.var"#170#171"{…}), st::Int64) @ Base ./array.jl:869
││││││┌ setindex!(A::Vector{LineNumberNode}, x::Expr, i1::Int64) @ Base ./array.jl:1021
│││││││ no matching method found `convert(::Type{LineNumberNode}, ::Expr)`: convert(T::Type{LineNumberNode}, x::Expr)
││││││└────────────────────
│││││┌ collect_to_with_first!(dest::Vector{…}, v1::LineNumberNode, itr::Base.Generator{…} where F<:(CTBase.var"#170#171"{…}), st::Int64) @ Base ./array.jl:869
││││││┌ setindex!(A::Vector{Expr}, x::LineNumberNode, i1::Int64) @ Base ./array.jl:1021
│││││││ no matching method found `convert(::Type{Expr}, ::LineNumberNode)`: convert(T::Type{Expr}, x::LineNumberNode)
││││││└────────────────────
┌ var"@def"(__source__::LineNumberNode, __module__::Module, ocp::Any, e::Any) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:514
│┌ var"@def"(__source__::LineNumberNode, __module__::Module, ocp::Any, e::Any, log::Bool) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:518
││┌ kwcall(::@NamedTuple{…}, ::typeof(CTBase.parse!), p::CTBase.ParsingInfo, ocp::Any, e::Any) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:75
│││┌ parse!(p::CTBase.ParsingInfo, ocp::Any, e::Any; log::Bool) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:114
││││┌ kwcall(::@NamedTuple{…}, ::typeof(CTBase.p_constraint!), p::CTBase.ParsingInfo, ocp::Any, e1::Nothing, e2::Any, e3::Any) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:274
│││││┌ kwcall(::@NamedTuple{…}, ::typeof(CTBase.p_constraint!), p::CTBase.ParsingInfo, ocp::Any, e1::Nothing, e2::Any, e3::Any, label::Symbol) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:274
││││││┌  @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/onepass.jl:289
│││││││┌ push!(a::Vector{Symbol}, item::Nothing) @ Base ./array.jl:1118
││││││││ no matching method found `convert(::Type{Symbol}, ::Nothing)`: convert(T::Type{Symbol}, item::Nothing)
│││││││└────────────────────
┌ (::CTBase.var"#parse_to_expr#190")(s::AbstractString) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/repl.jl:77
│┌ strip(s::AbstractString) @ Base ./strings/util.jl:433
││┌ rstrip(s::AbstractString) @ Base ./strings/util.jl:404
│││┌ rstrip(f::typeof(isspace), s::AbstractString) @ Base ./strings/util.jl:399
││││┌ iterate(::Base.Generator{…} where I<:(Base.Iterators.Zip{…} where Is<:Tuple{…})) @ Base ./generator.jl:44
│││││┌ iterate(z::Base.Iterators.Zip{…} where Is<:Tuple{…}) @ Base.Iterators ./iterators.jl:410
││││││┌ _zip_iterate_all(is::Tuple{…}, ss::Tuple{…}) @ Base.Iterators ./iterators.jl:418
│││││││┌ _zip_isdone(is::Tuple{…}, ss::Tuple{…}) @ Base.Iterators ./iterators.jl:449
││││││││┌ isdone(r::Base.Iterators.Reverse{Union{}}) @ Base ./io.jl:1187
│││││││││┌ getproperty(x::Base.Iterators.Reverse{Union{}}, f::Symbol) @ Base ./Base.jl:37
││││││││││ invalid builtin function call: Base.getfield(x::Base.Iterators.Reverse{Union{}}, f::Symbol)
│││││││││└────────────────────
┌ ct_repl(; debug::Any, verbose::Any) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/repl.jl:159
│┌ kwcall(::@NamedTuple{…}, ::typeof(ReplMaker.initrepl), parser::CTBase.var"#parse_to_expr#190"{…}) @ ReplMaker /home/alexis/.julia/packages/ReplMaker/ViCwA/src/ReplMaker.jl:42
││┌ initrepl(parser::CTBase.var"#parse_to_expr#190"{…}; prompt_text::String, prompt_color::Symbol, start_key::Char, repl::Any, mode_name::String, show_function::Nothing, show_function_io::IO, valid_input_checker::typeof(ReplMaker.complete_julia), keymap::Dict{…}, completion_provider::REPL.REPLCompletionProvider, sticky_mode::Bool, startup_text::Bool) @ ReplMaker /home/alexis/.julia/packages/ReplMaker/ViCwA/src/ReplMaker.jl:64
│││┌ setup_interface(repl::REPL.LineEditREPL) @ REPL /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/REPL.jl:971
││││┌ setup_interface(repl::REPL.LineEditREPL; hascolor::Bool, extra_repl_keymap::Dict) @ REPL /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/REPL.jl:971
│││││┌ setup_interface(repl::REPL.LineEditREPL, hascolor::Bool, extra_repl_keymap::Dict) @ REPL /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/REPL.jl:1053
││││││┌ REPL.REPLHistoryProvider(mode_mapping::Dict{Symbol, REPL.LineEdit.Prompt}) @ REPL /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/REPL.jl:588
│││││││┌ REPL.REPLHistoryProvider(history::Vector{…}, file_path::String, history_file::Nothing, start_idx::Int64, cur_idx::Int64, last_idx::Int64, last_buffer::IOBuffer, last_mode::Nothing, mode_mapping::Dict{…}, modes::Vector{…}) @ REPL /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/REPL.jl:577
││││││││┌ convert(::Type{Vector{Symbol}}, a::Vector{UInt8}) @ Base ./array.jl:665
│││││││││┌ Vector{Symbol}(x::Vector{UInt8}) @ Base ./array.jl:673
││││││││││┌ copyto_axcheck!(dest::Vector{Symbol}, src::Vector{UInt8}) @ Base ./abstractarray.jl:1177
│││││││││││┌ copyto!(dest::Vector{Symbol}, src::Vector{UInt8}) @ Base ./array.jl:385
││││││││││││┌ copyto!(dest::Vector{Symbol}, doffs::Int64, src::Vector{UInt8}, soffs::Int64, n::Int64) @ Base ./array.jl:363
│││││││││││││┌ _copyto_impl!(dest::Vector{Symbol}, doffs::Int64, src::Vector{UInt8}, soffs::Int64, n::Int64) @ Base ./array.jl:376
││││││││││││││┌ unsafe_copyto!(dest::Vector{Symbol}, doffs::Int64, src::Vector{UInt8}, soffs::Int64, n::Int64) @ Base ./array.jl:353
│││││││││││││││┌ _unsafe_copyto!(dest::Vector{Symbol}, doffs::Int64, src::Vector{UInt8}, soffs::Int64, n::Int64) @ Base ./array.jl:299
││││││││││││││││┌ setindex!(A::Vector{Symbol}, x::UInt8, i1::Int64) @ Base ./array.jl:1021
│││││││││││││││││ no matching method found `convert(::Type{Symbol}, ::UInt8)`: convert(T::Type{Symbol}, x::UInt8)
││││││││││││││││└────────────────────
│││││┌ setup_interface(repl::REPL.LineEditREPL, hascolor::Bool, extra_repl_keymap::Dict) @ REPL /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/REPL.jl:1082
││││││┌ setup_search_keymap(hp::REPL.REPLHistoryProvider) @ REPL.LineEdit /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/LineEdit.jl:2208
│││││││┌ keymap(keymaps::Vector{Dict{Any, Any}}) @ REPL.LineEdit /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/LineEdit.jl:1817
││││││││┌ keymap_unify(keymaps::Vector{Dict{Any, Any}}) @ REPL.LineEdit /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/LineEdit.jl:1795
│││││││││┌ keymap_merge(target::Dict{Char, Any}, source::Dict{Any, Any}) @ REPL.LineEdit /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/LineEdit.jl:1765
││││││││││┌ normalize_key(key::String) @ REPL.LineEdit /cache/build/builder-amdci4-4/julialang/julia-release-1-dot-10/usr/share/julia/stdlib/v1.10/REPL/src/LineEdit.jl:1541
│││││││││││┌ indexed_iterate(I::Nothing, i::Int64) @ Base ./tuple.jl:95
││││││││││││ no matching method found `iterate(::Nothing)`: x = iterate(I::Nothing)
│││││││││││└────────────────────
│││││││││││┌ indexed_iterate(I::Nothing, i::Int64, state::Int64) @ Base ./tuple.jl:100
││││││││││││ no matching method found `iterate(::Nothing, ::Int64)`: x = iterate(I::Nothing, state::Int64)
│││││││││││└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:50
│ no matching method found `__print(::Nothing, ::IO, ::Int64)` (1/2 union split): return#1250 = CTBase.__print(code::Union{Nothing, Expr}, io::IO, tab::Int64)
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:76
│ no matching method found `*(::Nothing, ::String)` (1/2 union split): @_79 = (t_name::Union{Nothing, String} CTBase.:* ", ")
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:77
│ no matching method found `*(::String, ::Nothing)` (1/2 union split): @_80 = (", " CTBase.:* v_name::Union{Nothing, String})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:80
│┌ *(::Union{…}, ::String, ::Union{…}, ::String, ::Union{…}, ::String, ::Union{…}, ::String, ::String) @ Base ./operators.jl:587
││┌ afoldl(::typeof(*), ::String, ::String, ::Nothing, ::String, ::Nothing, ::String, ::String) @ Base ./operators.jl:545
│││ no matching method found `*(::String, ::Nothing)`: y = op::typeof(*)(y::String, (bs::Tuple{String, Nothing, String, Nothing, String, String})[i::Int64]::Nothing)
││└────────────────────
││┌ afoldl(::typeof(*), ::String, ::String, ::String, ::String, ::Nothing, ::String, ::String) @ Base ./operators.jl:547
│││ no matching method found `*(::String, ::Nothing)`: y = op::typeof(*)(y::String, (bs::Tuple{String, String, String, Nothing, String, String})[i::Int64]::Nothing)
││└────────────────────
││┌ afoldl(::typeof(*), ::String, ::String, ::Nothing, ::String, ::String, ::String, ::String) @ Base ./operators.jl:545
│││ no matching method found `*(::String, ::Nothing)`: y = op::typeof(*)(y::String, (bs::Tuple{String, Nothing, Vararg{String, 4}})[i::Int64]::Nothing)
││└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:82
│┌ *(::String, ::Nothing, ::String, ::Nothing, ::String, ::String) @ Base ./operators.jl:587
││ no matching method found `*(::String, ::Nothing)`: (a::String * b::Nothing)
│└────────────────────
│┌ *(::String, ::String, ::String, ::Nothing, ::String, ::String) @ Base ./operators.jl:587
││┌ afoldl(::typeof(*), ::String, ::Nothing, ::String, ::String) @ Base ./operators.jl:544
│││ no matching method found `*(::String, ::Nothing)`: y = op::typeof(*)(y::String, (bs::Tuple{Nothing, String, String})[i::Int64]::Nothing)
││└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:112
│ no matching method found `*(::String, ::Nothing)` (1/2 union split): ("        " CTBase.:* x_name::Union{Nothing, String})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:137
│ no matching method found `ctupperscripts(::Nothing)` (1/2 union split): @_81 = ctupperscripts(x_dim::Union{Nothing, Integer})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:138
│ no matching method found `ctupperscripts(::Nothing)` (1/2 union split): @_82 = ctupperscripts(u_dim::Union{Nothing, Integer})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:142
│┌ *(a::Nothing, b::String, c::Nothing, xs::String) @ Base ./operators.jl:587
││ no matching method found `*(::Nothing, ::String)`: (a::Nothing * b::String)
│└────────────────────
│┌ *(a::String, b::String, c::Nothing, xs::String) @ Base ./operators.jl:587
││ no matching method found `*(::String, ::Nothing)`: ((a::String * b::String)::String * c::Nothing)
│└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:147
│ no matching method found `(::Colon)(::Int64, ::Nothing)` (1/2 union split): (1 CTBase.:(:) x_dim::Union{Nothing, Integer})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:163
│ no matching method found `(::Colon)(::Int64, ::Nothing)` (1/2 union split): (1 CTBase.:(:) u_dim::Union{Nothing, Integer})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:174
│ no matching method found `ctupperscripts(::Nothing)` (1/2 union split): @_83 = ctupperscripts(v_dim::Union{Nothing, Integer})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:181
│ no matching method found `*(::Nothing, ::String)` (1/2 union split): v_name_space = (v_name_space::Union{Nothing, String} CTBase.:* " = (")
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:182
│ no matching method found `(::Colon)(::Int64, ::Nothing)` (1/2 union split): (1 CTBase.:(:) v_dim::Union{Nothing, Integer})
└────────────────────
┌ show(io::IO, ::MIME{Symbol("text/plain")}, ocp::CTBase.OptimalControlModel) @ CTBase /home/alexis/.julia/packages/CTBase/H6Hw7/src/print.jl:233
│┌ kwcall(::@NamedTuple{…}, ::typeof(PrettyTables.pretty_table), io::IO, data::Matrix{…}) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/print.jl:794
││┌ pretty_table(io::IO, data::Matrix{…}; header::Vector{…}, kwargs::@Kwargs{…}) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/print.jl:825
│││┌ kwcall(::@NamedTuple{…}, ::typeof(PrettyTables._print_table), io::IO, data::Matrix{…}) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/print.jl:934
││││┌ _print_table(io::IO, data::Matrix{…}; alignment::Symbol, backend::Val{…}, cell_alignment::Nothing, cell_first_line_only::Bool, compact_printing::Bool, formatters::Nothing, header::Tuple{…}, header_alignment::Symbol, header_cell_alignment::Nothing, limit_printing::Bool, max_num_of_columns::Int64, max_num_of_rows::Int64, renderer::Symbol, row_labels::Nothing, row_label_alignment::Symbol, row_label_column_title::String, row_number_alignment::Symbol, row_number_column_title::String, show_header::Bool, show_row_number::Bool, show_subheader::Bool, title::String, title_alignment::Symbol, kwargs::@Kwargs{…}) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/print.jl:1059
│││││┌ kwcall(::@NamedTuple{…}, ::typeof(PrettyTables._print_table_with_text_back_end), pinfo::PrettyTables.PrintInfo) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/backends/text/text_backend.jl:8
││││││┌ _print_table_with_text_back_end(pinfo::PrettyTables.PrintInfo; alignment_anchor_fallback::Symbol, alignment_anchor_fallback_override::Dict{…}, alignment_anchor_regex::Dict{…}, autowrap::Bool, body_hlines::Vector{…}, body_hlines_format::Nothing, continuation_row_alignment::Symbol, crop::Symbol, crop_subheader::Bool, columns_width::Int64, display_size::Tuple{…}, equal_columns_width::Bool, ellipsis_line_skip::Int64, highlighters::Tuple{…}, hlines::Nothing, linebreaks::Bool, maximum_columns_width::Int64, minimum_columns_width::Int64, newline_at_end::Bool, overwrite::Bool, reserved_display_lines::Int64, show_omitted_cell_summary::Bool, sortkeys::Bool, tf::PrettyTables.TextFormat, title_autowrap::Bool, title_same_width_as_table::Bool, vcrop_mode::Symbol, vlines::Nothing, border_crayon::Crayons.Crayon, header_crayon::Crayons.Crayon, omitted_cell_summary_crayon::Crayons.Crayon, row_label_crayon::Crayons.Crayon, row_label_header_crayon::Crayons.Crayon, row_number_header_crayon::Crayons.Crayon, subheader_crayon::Crayons.Crayon, text_crayon::Crayons.Crayon, title_crayon::Crayons.Crayon) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/backends/text/text_backend.jl:145
│││││││┌ _process_hlines(ptable::PrettyTables.ProcessedTable, hlines::Vector{Symbol}) @ PrettyTables /home/alexis/.julia/packages/PrettyTables/f6dXb/src/misc.jl:319
││││││││┌ replace(::Vector{Symbol}, ::Pair{Symbol, Int64}, ::Pair{Symbol, Int64}, ::Pair{Symbol, Int64}) @ Base ./set.jl:686
│││││││││┌ replace(::Vector{Symbol}, ::Pair{Symbol, Int64}, ::Pair{Symbol, Int64}, ::Pair{Symbol, Int64}; count::Nothing) @ Base ./set.jl:690
││││││││││┌ replace_pairs!(res::Vector, A::Vector{Symbol}, count::Int64, old_new::Tuple{Pair{…}, Pair{…}, Pair{…}}) @ Base ./set.jl:616
│││││││││││┌ _replace!(new::Base.var"#new#395"{Tuple{Pair{…}, Pair{…}, Pair{…}}}, res::Vector, A::Vector{Symbol}, count::Int64) @ Base ./set.jl:798
││││││││││││┌ setindex!(A::Vector{Symbol}, x::Int64, i1::Int64) @ Base ./array.jl:1021
│││││││││││││ no matching method found `convert(::Type{Symbol}, ::Int64)`: convert(T::Type{Symbol}, x::Int64)
││││││││││││└────────────────────

jbcaillau · 2024-09-05T22:12:58Z

@jbcaillau I will probably use multiple dispatch so that the compiler knows the output type for each combination:
__view(x::Number, rg) = x 
__view(x::AbstractVector, rg::Integer) = x[rg]
__view(x::AbstractVector, rg::UnitRange) = view(x, rg)

Good point for multiple dispatch (instead of runtime if).

But it's quite cheap to use an array of length 1 instead of a scalar rhs, so it could be more efficient to a vector in all-cases such that the compiler can infer the type of each parameter and variable.

Sure. Actually, we want to allow the user to be able to use a scalar instead of a length one vector, as being compelled to write x[1] instead of x for a scalar would not be so nice.

Instead of view, you could also use the 5-arguments version of copyto!:

A = zeros(10)
B = [i for i = 1:10]
start_A = 5
start_B = 3
N = 4
copyto!(A, start_A, B, start_B, N)

10-element Vector{Float64}:
0.0
0.0
0.0
0.0
3.0
4.0
5.0
6.0
0.0
0.0

👍🏽 nice. I see it also works for scalar rhs. one con, though: in a high level language such as Julia, should be the compiler task to translate sth like x[…] = y[…] into an efficient copy.

jbcaillau · 2024-09-05T22:18:38Z

@ocots @jbcaillau Before that I forgot, you are using quite often a foo::Union{Nothing, ...} inside your structures for the type of the attributes. The compiler doesn't like that and it leads to additional allocations because it needs to check at runtime that it's a Nothing or not. You can change that for foo::T and at the top of your structure T <: Union{Nothing, ...}.

@amontoison

these unions are with Nothing and various types (not a single one)
some fields might be nothing, some not

does your remark still apply?

amontoison · 2024-09-06T00:12:39Z

@ocots @jbcaillau Before that I forgot, you are using quite often a foo::Union{Nothing, ...} inside your structures for the type of the attributes. The compiler doesn't like that and it leads to additional allocations because it needs to check at runtime that it's a Nothing or not. You can change that for foo::T and at the top of your structure T <: Union{Nothing, ...}.

@amontoison
* these unions are with `Nothing` and various types (not a single one)

* some fields might be `nothing`, some not
does your remark still apply?

Yes, you just need to parameterize your structures with the types

struct OptControl{T1, T2, ..., TN}
field1::T1,
field2::Int64,
field3::T2,
field4::Float64,
...
fieldM::TN
end

You can still add restriction on Ti with Ti <: Union{...}.

amontoison · 2024-09-06T13:08:09Z

It's blascopy!.

stride provided but no more starting index to cover general slices i:j:k. bref

julia> let x = zeros(2)
       y = ones(2)
       println(@allocated blascopy!(2, y, 1, x, 1))
       println(x)
       end
0
[1.0, 1.0]

julia> let x = zeros(4)
       y = ones(2)
       println(@allocated blascopy!(2, y, 1, view(x, 2), 1))
       println(x)
       end
48
[0.0, 1.0, 1.0, 0.0]

Because technically you can give the pointer of the coefficient x[i] to blascopy! Instead of x[1]. It will call a Fortran routine so x and y are passed by pointer and it can start at any position.

…nctional and oop (= out of place)

…enerates an is_in_place(ocp)

…in test_onepass

jbcaillau · 2024-09-06T23:38:51Z

@amontoison

check Base.maybeview (https://bkamins.github.io/julialang/2022/06/10/view.html)
that is involved in @views

julia> let x = zeros(4)
                     println(@allocated x[1:2] = cos.(x[3:4].^2) .+ x[1])
                     end
176

julia> let x = zeros(4)
                     println(@allocated @views x[1:2] = cos.(x[3:4].^2) .+ x[1])
                     end
96

julia> let x = zeros(4)
                     println(@allocated x[1:2] .= cos.(x[3:4].^2) .+ x[1])
                     end
80

julia> let x = zeros(4)
                     println(@allocated @views x[1:2] .= cos.(x[3:4].^2) .+ x[1])
                     end
0

let x = zeros(4)
                     println(@allocated @views x[1:2] .= cos.(x[2:3].^2) .+ x[1]) # Overlap
                     end
80

julia> let x = zeros(4)
                     println(@allocated copyto!(x, 1, cos.(x[3:4].^2) .+ x[1], 1, 2))
                     end
176

julia> let x = zeros(4)
                     println(@allocated copyto!(x, 1, cos.(x[2:3].^2) .+ x[1], 1, 2)) # Overlap
                     end
176

julia> let x = zeros(4)
                     println(@allocated @views copyto!(x, 1, cos.(x[3:4].^2) .+ x[1], 1, 2))
                     end
96

julia> let x = zeros(4)
                     println(@allocated @views copyto!(x, 1, cos.(x[2:3].^2) .+ x[1], 1, 2)) # Overlap
                     end
96

jbcaillau · 2024-09-06T23:43:52Z

@PierreMartinon please review before merging and testing in CTDirect.jl with updated nlp_constraints!

NB.

@jbcaillau add tests on nlp_constraints! with an in place ocp in test_model.jl

jbcaillau · 2024-09-08T18:52:46Z

@jbcaillau

check to use (for generated code in onepass, for in place functions in tests, as in test_model...) .= with @views as the combination allows to treat uniformly and efficiently vectors and scalar (letting the compiler doing its best); e.g.

(r, x) -> (@views r[:] .= u * cos.(x[1:2]); nothing)

in particular, replace r[:] .= __view(...) by @views r[:] .= ... in model setters / getters
use @views $r[:] .= $expr in onepass generated functions
replace view(x, i:j:k) args in calls by @view(x[i:j:k]) for further improvement (NB : always a single slice/genuine view, no need for @views)
~~[ ] remove internal use of Index, including time! cases (there, use Ref - check before with @PierreMartinon for CTDirect.jl impact)~~ postponed to [Feature] Remove Index type #289

NB. contrary to @view, @views used on a single element (not a length one slice) of a vector does not return a view (and so does not allow side effects):

julia> z = [0.]
1-element Vector{Float64}:
 0.0

julia> @view z[1]
0-dimensional view(::Vector{Float64}, 1) with eltype Float64:
0.0

julia> @views z[1]
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jbcaillau added 2 commits August 9, 2024 18:52

first commit

7c76c71

__wrap(code, ...) everywhere

968ae6e

jbcaillau linked an issue Aug 29, 2024 that may be closed by this pull request

Preparing for inplace NLP #232

Closed

solved conflicts in onepass.jl

98aff2a

jbcaillau added 5 commits August 30, 2024 11:47

Merge branch 'main' into 232-preparing-for-inplace-nlp

fc292cb

added in_place info

2341da6

solved minor conflicts in CTBase.jl (export list)

c9e51bc

added in place ξ!(val, t, u, v) # nonlinear control constraints; adde…

75f8af2

…d li = ξs[i] in out of place version to test

added in place for all fun (= nonlinear) constraints

cc62bd2

amontoison reviewed Sep 2, 2024

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jbcaillau mentioned this pull request Sep 5, 2024

Preparing for inplace NLP #232

Closed

added in place types; to be tested

5a7ed3a

added missing Types_ = is_in_place(oc

09785e0

p) ? ... in constraint\!

amontoison reviewed Sep 5, 2024

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fix unit tests

8dd6f02

ocots mentioned this pull request Sep 5, 2024

[Dev] Avoid generic types in struct #287

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jbcaillau commented Sep 5, 2024

View reviewed changes

src/optimal_control_model-getters.jl

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@ocots 👍🏽 missed that one

jbcaillau commented Sep 5, 2024

View reviewed changes

moved Type_ defs. at the beginning of constraint\!

53e0521

jbcaillau added 2 commits September 6, 2024 12:51

fixed utils test + updated tests in onepass with __

5b01703

fix: exported __constraint et al used for test

23fbaa8

jbcaillau added 8 commits September 6, 2024 15:53

fix in exports

fc22616

updated test_model with __getters

4bf88fc

removed useless change to __getter in test_model, as everything is fu…

c1bed0a

…nctional and oop (= out of place)

removed useless @_def; added nothing case in to_out_of_place

57c8fa5

updated onepass to generate in place functions; called by @def that g…

e2b1733

…enerates an is_in_place(ocp)

fix: added __view of vector with an Index

807e6f1

fix: missing r in ControlConstraint! and some wrong sizes in lb / ub …

9ff4907

…in test_onepass

fix: old dim error in test_onepass

d516f63

jbcaillau marked this pull request as ready for review September 6, 2024 23:43

jbcaillau added 5 commits September 7, 2024 01:53

foo

fe95823

added in place tests in test_model

0eff660

fix: test_model.jl

317fbc9

fix: test_model.jl

7151bd2

Update test_model.jl

159476b

jbcaillau added 5 commits September 8, 2024 22:12

test_model: pass

6d538c5

test_model: pass

34f2d99

added @views in generated functions (onepass)

ff75ab0

replace __view by @views r[:] .= ...

a9f1c7c

replaced view(x, ...) by @view(x[...]) for further perf. improvements

8abc547

jbcaillau merged commit 7234fa2 into main Sep 9, 2024
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jbcaillau deleted the 232-preparing-for-inplace-nlp branch September 9, 2024 16:29

This was referenced Sep 9, 2024

Use inplace when building the NLP model control-toolbox/CTDirect.jl#188

Closed

Redo a pass on memory allocations control-toolbox/CTDirect.jl#169

Open

ocots mentioned this pull request Sep 17, 2024

Use parametric type for model #306

Open

232 preparing for inplace nlp #271

232 preparing for inplace nlp #271

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