Merge pull request #492 from JuliaControl/bench_smaller

bench: create 3 bench categories (improve parallelism)

Author: franckgaga

.github/workflows/benchmark.yml

@@ -8,8 +8,18 @@ permissions:
 jobs:
   bench:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        group: 
+          - SimModel
+          - StateEstimator
+          - PredictiveController
     if: ${{ contains(github.event.pull_request.labels.*.name, 'benchmark') }}
     steps:
       - uses: MilesCranmer/AirspeedVelocity.jl@action-v1
         with:
           julia-version: '1'
+          job-summary: 'true'
+          filter: ${{ matrix.group }}
+          bench-on: HEAD    # Forces AirspeedVelocity to use the benchmark script from the PR branch, TO DELETE

benchmark/1_bench_sim_model.jl

@@ -1,7 +1,7 @@
 ## ----------------------------------------------------------------------------------------
 ## ----------------- UNIT TESTS  ----------------------------------------------------------
 ## ----------------------------------------------------------------------------------------
-const UNIT_MODEL = SUITE["UNIT TESTS"]["SimModel"]
+const UNIT_MODEL = SUITE["SimModel"]["UNIT TESTS"]
 
 UNIT_MODEL["LinModel"]["updatestate!"] = 
     @benchmarkable(
@@ -27,5 +27,5 @@ UNIT_MODEL["NonLinModel"]["linearize!"] =
 ## ----------------------------------------------------------------------------------------
 ## ----------------- CASE STUDIES ---------------------------------------------------------
 ## ----------------------------------------------------------------------------------------
-const CASE_MODEL = SUITE["CASE STUDIES"]["SimModel"]
+const CASE_MODEL = SUITE["SimModel"]["CASE STUDIES"]
 # TODO: Add case study benchmarks for SimModel

benchmark/2_bench_state_estim.jl

@@ -1,7 +1,7 @@
 ## ----------------------------------------------------------------------------------------
 ## ----------------- UNIT TESTS -----------------------------------------------------------
 ## ----------------------------------------------------------------------------------------
-const UNIT_ESTIM = SUITE["UNIT TESTS"]["StateEstimator"]
+const UNIT_ESTIM = SUITE["StateEstimator"]["UNIT TESTS"]
 
 skf = SteadyKalmanFilter(linmodel)
 UNIT_ESTIM["SteadyKalmanFilter"]["preparestate!"] = 
@@ -206,7 +206,7 @@ UNIT_ESTIM["MovingHorizonEstimator"]["getinfo!"]["NonLinModel"] =
 ## ----------------------------------------------------------------------------------------
 ## ----------------- CASE STUDIES ---------------------------------------------------------
 ## ----------------------------------------------------------------------------------------
-const CASE_ESTIM = SUITE["CASE STUDIES"]["StateEstimator"]
+const CASE_ESTIM = SUITE["StateEstimator"]["CASE STUDIES"]
 
 ## ----------------- Case study: CSTR -----------------------------------------------------
 model = CSTR_model

benchmark/3_bench_predictive_control.jl

@@ -1,7 +1,7 @@
 # -----------------------------------------------------------------------------------------
 # ---------------------- UNIT TESTS -------------------------------------------------------
 # -----------------------------------------------------------------------------------------
-const UNIT_MPC = SUITE["UNIT TESTS"]["PredictiveController"]
+const UNIT_MPC = SUITE["PredictiveController"]["UNIT TESTS"]
 
 linmpc_ss = LinMPC(
     linmodel, transcription=SingleShooting(), 
@@ -157,7 +157,7 @@ UNIT_MPC["NonLinMPC"]["getinfo!"]["NonLinModel"] =
 ## ----------------------------------------------------------------------------------------
 ## ---------------------- CASE STUDIES ----------------------------------------------------
 ## ----------------------------------------------------------------------------------------
-const CASE_MPC = SUITE["CASE STUDIES"]["PredictiveController"]
+const CASE_MPC = SUITE["PredictiveController"]["CASE STUDIES"]
 
 ## ----------------- Case study: CSTR without feedforward ---------------------------------
 model = CSTR_model

benchmark/benchmarks.jl

@@ -4,9 +4,6 @@ using JuMP, OSQP, DAQP, Ipopt, MadNLP, UnoSolver
 
 const SUITE = BenchmarkGroup(["ModelPredictiveControl"])
 
-SUITE["UNIT TESTS"]   = BenchmarkGroup(["allocation-free", "allocations", "single call"])
-SUITE["CASE STUDIES"] = BenchmarkGroup(["performance", "speed" ,"integration"])
-
 include("0_bench_setup.jl")
 include("1_bench_sim_model.jl")
 include("2_bench_state_estim.jl")