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Merged
franckgaga merged 1 commit into from
Oct 28, 2026
Merged

bench: create 3 bench categories (improve parallelism) #492

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10 changes: 10 additions & 0 deletions .github/workflows/benchmark.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
4 changes: 2 additions & 2 deletions benchmark/1_bench_sim_model.jl
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@@ -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(
Expand All @@ -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
4 changes: 2 additions & 2 deletions benchmark/2_bench_state_estim.jl
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@@ -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!"] =
Expand Down Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions benchmark/3_bench_predictive_control.jl
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@@ -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(),
Expand Down Expand Up @@ -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
Expand Down
3 changes: 0 additions & 3 deletions benchmark/benchmarks.jl
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Expand Up @@ -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")
Expand Down
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