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test: improve RungeKutta and LinearMPCext coverage #395

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Merged
franckgaga merged 3 commits into from
Jul 5, 2026
Merged

test: improve RungeKutta and LinearMPCext coverage #395

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bdcd6a7
test: improve `RungeKutta` coverage
franckgaga Jul 5, 2026
b62fb22
test: improve `LinearMPCext` coverage
franckgaga Jul 5, 2026
737f5af
test: debug tests
franckgaga Jul 5, 2026
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4 changes: 4 additions & 0 deletions test/1_test_sim_model.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -265,6 +265,10 @@ end
@test_throws ErrorException NonLinModel(
(x,u,_,_)->linmodel1.A*x + linmodel1.Bu*u,
(x,_)->linmodel1.C*x, Ts, 2, 4, 2, 1, solver=nothing)

@test_throws ArgumentError RungeKutta(2)
@test_throws ArgumentError RungeKutta(0)
@test_throws ArgumentError RungeKutta(4, supersample=0)
end

@testitem "NonLinModel sim methods" setup=[SetupMPCtests] begin
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21 changes: 21 additions & 0 deletions test/5_test_extensions.jl
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Expand Up @@ -177,3 +177,24 @@ end
u_data1, u_data2 = sim_wr(model, mpc1, mpc2, N)
@test u_data1 ≈ u_data2 atol=1e-2 rtol=1e-2
end

@testitem "LinearMPCext unsupported features" setup=[SetupMPCtests] begin
using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, DAQP
import LinearMPC
optim = Model(DAQP.Optimizer)
model = LinModel(tf([2], [10, 1]), 3.0)
mpc = LinMPC(model, Hp=3, M_Hp=diagm([1, 1, 3]); optim)
@test_nowarn LinearMPC.MPC(mpc)
mpc = LinMPC(model, Hp=3, M_Hp=diagm([1, 2, 3]); optim)
@test_throws ErrorException LinearMPC.MPC(mpc)
mpc = LinMPC(model, Hc=3, N_Hc=diagm([1, 2, 3]); optim)
@test_throws ErrorException LinearMPC.MPC(mpc)
mpc = LinMPC(model, Hp=3, L_Hp=diagm([1, 2, 3]); optim)
@test_throws ErrorException LinearMPC.MPC(mpc)
mpc = setconstraint!(LinMPC(model; optim), c_ymin=[1], c_ymax=[0.5])
@test_throws ErrorException LinearMPC.MPC(mpc)
mpc = setconstraint!(LinMPC(model; optim), c_ymin=[0.5], c_ymax=[0.5])
@test_logs (:warn,
"LinearMPC only supports softness parameters c = 0 or 1.\n"*
"All constraints with c > 0 will be considered soft.") LinearMPC.MPC(mpc)
end