Use JET in tests & fix problems found by JET

Project.toml

@@ -6,6 +6,7 @@ version = "0.9.0"
 CommonSolve = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2"
 ControllerFormats = "02ac4b2c-022a-44aa-84a5-ea45a5754bcc"
 LazySets = "b4f0291d-fe17-52bc-9479-3d1a343d9043"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 NeuralNetworkReachability = "5de1e908-2f08-45bf-a571-ac88a54f7e7f"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 ReachabilityAnalysis = "1e97bd63-91d1-579d-8e8d-501d2b57c93f"
@@ -28,6 +29,7 @@ ClosedLoopReachabilityOrdinaryDiffEqPlotsExt = ["OrdinaryDiffEq", "Plots"]
 CommonSolve = "0.2"
 ControllerFormats = "0.1 - 0.2"
 LazySets = "7"
+LinearAlgebra = "<0.0.1, 1.6"
 NeuralNetworkReachability = "0.1"
 OrdinaryDiffEq = "6"
 Parameters = "0.12 - 0.13"

src/init.jl

@@ -4,6 +4,7 @@ end
 using Reexport: @reexport
 
 using Base: isempty
+using LinearAlgebra: isdiag
 using ControllerFormats: ActivationFunction, DenseLayerOp, FeedforwardNetwork,
                          Id, ReLU
 # controller formats and parsers

src/setops.jl

@@ -82,8 +82,8 @@ function _reconstruct(method::TaylorModelReconstructor, P₀::LazySet, U₀::Laz
             vTM[n + i] = TaylorModel1(Taylor1(p, orderT), rem, zeroI, Δtn)
         end
     else
-        Z₀ = ReachabilityAnalysis._convert_or_overapproximate(U₀, Zonotope)
-        Z₀ = ReachabilityAnalysis._reduce_order(Z₀, 2; force_reduction=true)
+        Z₀ = ReachabilityAnalysis._convert_or_overapproximate(Zonotope, U₀)
+        Z₀ = reduce_order(Z₀, 2)
         # NOTE if we used _overapproximate_structured directly :
         # Utm₀ = set(ReachabilityAnalysis._overapproximate_structured(Z₀, TaylorModelReachSet, orderT=orderT, orderQ=orderQ))
         # @inbounds for i in 1:m

src/simulate.jl

@@ -39,11 +39,11 @@ Base.getindex(ess::EnsembleSimulationSolution, i) = ess.solutions[i]
 function solutions(ess::EnsembleSimulationSolution, i)
     return EnsembleSimulationSolution([sol[i] for sol in ess.solutions])
 end
-trajectory(ess::EnsembleSimulationSolution, i) = trajectory(solution(ess, i))
+trajectory(ess::EnsembleSimulationSolution, i) = trajectory(ess[i])
 trajectories(ess::EnsembleSimulationSolution) = trajectory.(ess.solutions)
-controls(ess::EnsembleSimulationSolution, i) = controls(solution(ess, i))
+controls(ess::EnsembleSimulationSolution, i) = controls(ess[i])
 controls(ess::EnsembleSimulationSolution) = controls.(ess.solutions)
-disturbances(ess::EnsembleSimulationSolution, i) = disturbances(solution(ess, i))
+disturbances(ess::EnsembleSimulationSolution, i) = disturbances(ess[i])
 disturbances(ess::EnsembleSimulationSolution) = disturbances.(ess.solutions)
 
 """
@@ -71,7 +71,8 @@ function simulate(cp::AbstractControlProblem, args...; kwargs...)
     st_vars = states(cp)
     dist_vars = disturbances(cp)
     X₀ = project(initial_state(cp), st_vars)
-    if !isempty(dist_vars)
+    use_disturbance = !isempty(dist_vars)
+    if use_disturbance
         W₀ = project(initial_state(cp), dist_vars)
     end
     τ = period(cp)
@@ -92,6 +93,7 @@ function simulate(cp::AbstractControlProblem, args...; kwargs...)
     # preallocate
     extended = Vector{Vector{Float64}}(undef, trajectories)
     simulations = _initialize_simulation_container(iterations)
+    @assert !isnothing(simulations)
     all_controls = Vector{Vector{Vector{Float64}}}(undef, iterations)
     all_disturbances = Vector{Vector{Vector{Float64}}}(undef, iterations)
 
@@ -107,19 +109,19 @@ function simulate(cp::AbstractControlProblem, args...; kwargs...)
         all_controls[i] = control_signals
 
         # compute disturbances
-        if !isempty(dist_vars)
+        if use_disturbance
+            @assert @isdefined W₀
             disturbance_signals = sample(W₀, trajectories)
             all_disturbances[i] = disturbance_signals
-        else
-            disturbance_signals = nothing
         end
 
         # extend system state with disturbances
         for j in 1:trajectories
-            if isnothing(disturbance_signals)
-                extended[j] = vcat(x0_vec[j], control_signals[j])
-            else
+            if use_disturbance
+                @assert @isdefined disturbance_signals
                 extended[j] = vcat(x0_vec[j], disturbance_signals[j], control_signals[j])
+            else
+                extended[j] = vcat(x0_vec[j], control_signals[j])
             end
         end
 

test/Project.toml

@@ -1,9 +1,11 @@
 [deps]
 Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
 ExplicitImports = "7d51a73a-1435-4ff3-83d9-f097790105c7"
+JET = "c3a54625-cd67-489e-a8e7-0a5a0ff4e31b"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Aqua = "0.8.9"
 ExplicitImports = "1"
+JET = "0.9 - 0.12"
 Test = "<0.0.1, 1"

test/quality_assurance.jl

@@ -1,5 +1,5 @@
 using ClosedLoopReachability, Test
-import Aqua, ExplicitImports
+import Aqua, ExplicitImports, JET
 
 @testset "ExplicitImports tests" begin
     ignores_all_explicit_imports_are_public = (:AbstractContinuousPost, :AbstractLazyReachSet,
@@ -25,8 +25,9 @@ import Aqua, ExplicitImports
                                    :center, :diam, :domain, :evaluate, :high, :initial_state,
                                    :interval, :linear_map, :low, :mid, :ngens, :overapproximate,
                                    :polynomial, :project, :radius_hyperrectangle, :rand,
-                                   :remainder, :rsetrep, :sample, :scale, :set, :size, :sup,
-                                   :system, :tend, :translate, :tstart, :(×), :shift, :vars)
+                                   :reduce_order, :remainder, :rsetrep, :sample, :scale, :set,
+                                   :size, :sup, :system, :tend, :translate, :tstart, :(×), :shift,
+                                   :vars)
     ignores_no_self_qualified_accesses = (:controller,)
     ExplicitImports.test_explicit_imports(ClosedLoopReachability;
                                           all_explicit_imports_are_public=(ignore=ignores_all_explicit_imports_are_public,),
@@ -35,6 +36,11 @@ import Aqua, ExplicitImports
                                           no_self_qualified_accesses=(ignore=ignores_no_self_qualified_accesses,))
 end
 
+@testset "JET tests" begin
+    # false positives for Base functionality
+    JET.test_package(ClosedLoopReachability; target_modules=(ClosedLoopReachability,))
+end
+
 @testset "Aqua tests" begin
     Aqua.test_all(ClosedLoopReachability)
 end