cleanup JuMP error handling and log

Author: franckgaga

src/controller/execute.jl

@@ -316,19 +316,19 @@ function optim_objective!(mpc::PredictiveController{NT}) where {NT<:Real}
             rethrow(err)
         end
     end
-    status = termination_status(optim)
     ΔŨcurr, ΔŨlast = value.(ΔŨvar), ΔŨ0
-    if !(status == OPTIMAL || status == LOCALLY_SOLVED)
-        if isfatal(status)
+    if !issolved(optim)
+        status = termination_status(optim)
+        if iserror(optim)
             @error("MPC terminated without solution: returning last solution shifted", 
-                   status, ΔŨcurr, ΔŨlast)
+                   status)
         else
             @warn("MPC termination status not OPTIMAL or LOCALLY_SOLVED: keeping "*
-                  "solution anyway", status, ΔŨcurr, ΔŨlast)
+                  "solution anyway", status)
         end
         @debug solution_summary(optim, verbose=true)
     end
-    mpc.ΔŨ[:] = isfatal(status) ? ΔŨlast : ΔŨcurr
+    mpc.ΔŨ[:] = iserror(optim) ? ΔŨlast : ΔŨcurr
     return mpc.ΔŨ
 end
 

src/estimator/mhe/execute.jl

@@ -57,10 +57,10 @@ function update_estimate!(estim::MovingHorizonEstimator{NT}, u, ym, d) where NT<
         end
     end
     # -------- error handling -------------------------
-    status = termination_status(optim)
     Z̃curr, Z̃last = value.(Z̃var), Z̃0
-    if !(status == OPTIMAL || status == LOCALLY_SOLVED)
-        if isfatal(status)
+    if !issolved(optim)
+        status = termination_status(optim)
+        if iserror(optim)
             @error("MHE terminated without solution: estimation in open-loop", 
                    status)
         else
@@ -69,7 +69,7 @@ function update_estimate!(estim::MovingHorizonEstimator{NT}, u, ym, d) where NT<
         end
         @debug solution_summary(optim, verbose=true)
     end
-    estim.Z̃[:] = !isfatal(status) ? Z̃curr : Z̃last
+    estim.Z̃[:] = iserror(optim) ? Z̃last : Z̃curr
     # --------- update estimate -----------------------
     estim.Ŵ[1:nŵ*Nk] = estim.Z̃[nx̂+1:nx̂+nŵ*Nk] # update Ŵ with optimum for warm-starting
     V̂, X̂ = predict!(V̂, X̂, estim, model, estim.Z̃)

src/general.jl

@@ -1,20 +1,29 @@
 "Termination status that means 'no solution available'."
-const FATAL_STATUSES = [
+const ERROR_STATUSES = [
     INFEASIBLE, DUAL_INFEASIBLE, LOCALLY_INFEASIBLE, INFEASIBLE_OR_UNBOUNDED, 
     NUMERICAL_ERROR, INVALID_MODEL, INVALID_OPTION, INTERRUPTED, 
     OTHER_ERROR
 ]
 
-"Verify that the solver termination status means 'no solution available'."
-isfatal(status::TerminationStatusCode) = any(status .== FATAL_STATUSES)
+"Verify that `optim` termination status is `OPTIMAL` or `LOCALLY_SOLVED`."
+function issolved(optim::JuMP.GenericModel)
+    status = termination_status(optim)
+    return (status == OPTIMAL || status == LOCALLY_SOLVED)
+end
+
+"Verify that `optim` termination status means 'no solution available'."
+function iserror(optim::JuMP.GenericModel) 
+    status = termination_status(optim)
+    return any(status .== ERROR_STATUSES)
+end
 
 "Evaluate the quadratic programming objective function `0.5x'*H*x + q'*x` at `x`."
 obj_quadprog(x, H, q) = 0.5*dot(x, H, x) + q'*x  # dot(x, H, x) is faster than x'*H*x
 
 "Limit the solving time to `Ts` if supported by `optim` optimizer."
-function limit_solve_time(optim, Ts)
+function limit_solve_time(optim::GenericModel, Ts)
     try
-        set_time_limit_sec(optim,Ts)
+        set_time_limit_sec(optim, Ts)
     catch err
         if isa(err, MOI.UnsupportedAttribute{MOI.TimeLimitSec})
             @warn "Solving time limit is not supported by the optimizer."