fix more tests

Author: vyudu

src/structural_transformation/utils.jl

@@ -96,7 +96,6 @@ function check_consistency(state::TransformationState, orig_inputs; nothrow = fa
     fullvars = get_fullvars(state)
     neqs = n_concrete_eqs(state)
     @unpack graph, var_to_diff = state.structure
-    @show equations(state.sys)
     highest_vars = computed_highest_diff_variables(complete!(state.structure))
     n_highest_vars = 0
     for (v, h) in enumerate(highest_vars)

test/downstream/Project.toml

@@ -4,6 +4,7 @@ DataInterpolations = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
 DiffEqDevTools = "f3b72e0c-5b89-59e1-b016-84e28bfd966d"
 InfiniteOpt = "20393b10-9daf-11e9-18c9-8db751c92c57"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
+JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"

test/downstream/jump_control.jl

@@ -5,7 +5,7 @@ using SimpleDiffEq
 using OrdinaryDiffEqSDIRK, OrdinaryDiffEqVerner, OrdinaryDiffEqTsit5, OrdinaryDiffEqFIRK
 using Ipopt
 using DataInterpolations
-#const M = ModelingToolkit
+const M = ModelingToolkit
 
 @testset "ODE Solution, no cost" begin
     # Test solving without anything attached.
@@ -108,7 +108,7 @@ end
     # Linear systems have bang-bang controls
     @test is_bangbang(jsol.input_sol, [-1.0], [1.0])
     # Test reached final position.
-    @test ≈(jsol.sol.u[end][1], 0.25, rtol = 1e-5)
+    @test ≈(jsol.sol.u[end][2], 0.25, rtol = 1e-5)
     # Test dynamics
     @parameters (u_interp::ConstantInterpolation)(..)
     @mtkbuild block_ode = ODESystem([D(x(t)) ~ v(t), D(v(t)) ~ u_interp(t)], t)
@@ -120,7 +120,7 @@ end
     iprob = InfiniteOptDynamicOptProblem(block, u0map, tspan, parammap; dt = 0.01)
     isol = solve(iprob, Ipopt.Optimizer; silent = true)
     @test is_bangbang(isol.input_sol, [-1.0], [1.0])
-    @test ≈(isol.sol.u[end][1], 0.25, rtol = 1e-5)
+    @test ≈(isol.sol.u[end][2], 0.25, rtol = 1e-5)
     osol = solve(oprob, ImplicitEuler(); dt = 0.01, adaptive = false)
     @test ≈(isol.sol.u, osol.u, rtol = 0.05)
 
@@ -233,6 +233,8 @@ end
 end
 
 @testset "Cart-pole problem" begin
+    t = M.t_nounits
+    D = M.D_nounits
     # gravity, length, moment of Inertia, drag coeff
     @parameters g l mₚ mₖ
     @variables x(..) θ(..) u(t) [input = true, bounds = (-10, 10)]

test/runtests.jl

@@ -22,12 +22,6 @@ function activate_downstream_env()
     Pkg.instantiate()
 end
 
-function activate_dynamic_optimization_env()
-    Pkg.activate("dynamic_optimization")
-    Pkg.develop(PackageSpec(path = dirname(@__DIR__)))
-    Pkg.instantiate()
-end
-
 @time begin
     #if GROUP == "All" || GROUP == "InterfaceI"
     #    @testset "InterfaceI" begin
@@ -128,6 +122,7 @@ end
 
     if GROUP == "All" || GROUP == "Downstream"
         activate_downstream_env()
+        @safetestset "JuMP Collocation Solvers" include("downstream/jump_control.jl")
         @safetestset "Linearization Tests" include("downstream/linearize.jl")
         @safetestset "Linearization Dummy Derivative Tests" include("downstream/linearization_dd.jl")
         @safetestset "Inverse Models Test" include("downstream/inversemodel.jl")
@@ -149,9 +144,4 @@ end
         @safetestset "InfiniteOpt Extension Test" include("extensions/test_infiniteopt.jl")
         @safetestset "JuMPControl Extension Test" include("extensions/jump_control.jl")
     end
-
-    if GROUP == "All" || GROUP == "Dynamic Optimization"
-        activate_dynamic_optimization_env()
-        @safetestset "JuMP Collocation Solvers" include("dynamic_optimization/jump_control")
-    end
 end