Merge pull request #46 from focusenergy/julia-1-update

Julia 1.0 compatibility updates.

.travis.yml

@@ -3,7 +3,7 @@ language: julia
 os:
   - linux
 julia:
-  - 0.6
+  - 1.0
   - nightly
 notifications:
   email: false
@@ -15,20 +15,9 @@ matrix:
  allow_failures:
  - julia: nightly
 branches:
-  only: 
+  only:
     - master
 
-## uncomment and modify the following lines to manually install system packages
-#addons:
-#  apt: # apt-get for linux
-#    packages:
-#    - gfortran
-#before_script: # homebrew for mac
-#  - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi
-
-## uncomment the following lines to override the default test script
-#script:
-#  - julia -e 'Pkg.clone(pwd()); Pkg.build("ConditionalJuMP"); Pkg.test("ConditionalJuMP"; coverage=true)'
 after_success:
   # push coverage results to Codecov
-  - julia -e 'cd(Pkg.dir("ConditionalJuMP")); Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())'
+  - julia -e 'import Pkg; Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())'

REQUIRE

@@ -1,3 +1,4 @@
-julia 0.6
-JuMP 0.16 0.19
+julia 1.0
 IntervalArithmetic 0.9
+JuMP 0.16 0.19
+Nullables

appveyor.yml

@@ -1,16 +1,18 @@
 environment:
   matrix:
-  - JULIA_URL: "https://julialang-s3.julialang.org/bin/winnt/x86/0.6/julia-0.6-latest-win32.exe"
-  - JULIA_URL: "https://julialang-s3.julialang.org/bin/winnt/x64/0.6/julia-0.6-latest-win64.exe"
-  - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x86/julia-latest-win32.exe"
-  - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x64/julia-latest-win64.exe"
-
-## uncomment the following lines to allow failures on nightly julia
-## (tests will run but not make your overall status red)
-#matrix:
-#  allow_failures:
-#  - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x86/julia-latest-win32.exe"
-#  - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x64/julia-latest-win64.exe"
+  - julia_version: 0.7
+  - julia_version: 1
+  - julia_version: nightly
+
+platform:
+  - x86 # 32-bit
+  - x64 # 64-bit
+
+# # Uncomment the following lines to allow failures on nightly julia
+# # (tests will run but not make your overall status red)
+# matrix:
+#   allow_failures:
+#   - julia_version: nightly
 
 branches:
   only:
@@ -24,24 +26,18 @@ notifications:
     on_build_status_changed: false
 
 install:
-  - ps: "[System.Net.ServicePointManager]::SecurityProtocol = [System.Net.SecurityProtocolType]::Tls12"
-# If there's a newer build queued for the same PR, cancel this one
-  - ps: if ($env:APPVEYOR_PULL_REQUEST_NUMBER -and $env:APPVEYOR_BUILD_NUMBER -ne ((Invoke-RestMethod `
-        https://ci.appveyor.com/api/projects/$env:APPVEYOR_ACCOUNT_NAME/$env:APPVEYOR_PROJECT_SLUG/history?recordsNumber=50).builds | `
-        Where-Object pullRequestId -eq $env:APPVEYOR_PULL_REQUEST_NUMBER)[0].buildNumber) { `
-        throw "There are newer queued builds for this pull request, failing early." }
-# Download most recent Julia Windows binary
-  - ps: (new-object net.webclient).DownloadFile(
-        $env:JULIA_URL,
-        "C:\projects\julia-binary.exe")
-# Run installer silently, output to C:\projects\julia
-  - C:\projects\julia-binary.exe /S /D=C:\projects\julia
+  - ps: iex ((new-object net.webclient).DownloadString("https://raw.githubusercontent.com/JuliaCI/Appveyor.jl/version-1/bin/install.ps1"))
 
 build_script:
-# Need to convert from shallow to complete for Pkg.clone to work
-  - IF EXIST .git\shallow (git fetch --unshallow)
-  - C:\projects\julia\bin\julia -e "versioninfo();
-      Pkg.clone(pwd(), \"ConditionalJuMP\"); Pkg.build(\"ConditionalJuMP\")"
+  - echo "%JL_BUILD_SCRIPT%"
+  - C:\julia\bin\julia -e "%JL_BUILD_SCRIPT%"
 
 test_script:
-  - C:\projects\julia\bin\julia -e "Pkg.test(\"ConditionalJuMP\")"
+  - echo "%JL_TEST_SCRIPT%"
+  - C:\julia\bin\julia -e "%JL_TEST_SCRIPT%"
+
+# # Uncomment to support code coverage upload. Should only be enabled for packages
+# # which would have coverage gaps without running on Windows
+# on_success:
+#   - echo "%JL_CODECOV_SCRIPT%"
+#   - C:\julia\bin\julia -e "%JL_CODECOV_SCRIPT%"

examples/block_with_wall.jl

@@ -14,7 +14,7 @@ const Δt = 0.1
 const u_max = 10
 
 function update(x::State, u)
-    contact_force = ifelse(@?(x.q <= 0),
+    contact_force = ifelse_conditional(@?(x.q <= 0),
         -k * x.q,
         zero(x.q))
     acceleration = u + contact_force

examples/complementarity.jl

@@ -1,16 +1,17 @@
 module Complementarity
 
 using JuMP, ConditionalJuMP, Cbc
-using Base.Test
+using Test
+using Pkg
 
 # A simple complementarity-based time-stepping rigid body simulation. All
 # notation is taken from Stewart & Trinkle "An Implicit Time-Stepping Scheme for
 # Rigid Body Dynamics with Coulomb Friction". This particular example solves
 # for all N timesteps simultaneously. That's not actually necessary, but it makes
-# the code a bit simpler to read. 
+# the code a bit simpler to read.
 #
 # The model consists of a point mass (visualized as a brick) moving in two dimensions
-# with gravity and a single planar surface at y = 0. 
+# with gravity and a single planar surface at y = 0.
 
 const h = 0.05
 const μ = 0.5
@@ -63,7 +64,7 @@ end
 
 """
 Simulate the system using the LCP update. This creates and solves a small
-model for every time step 1:N. 
+model for every time step 1:N.
 """
 function simulate(q0, v0, N)
     q, v = q0, v0
@@ -97,7 +98,7 @@ function optimize(q0, v0, N)::Vector{LCPUpdate{Float64}}
     end
     solve(m)
     getvalue.(results)
-end 
+end
 
 q0 = [-1, 0.5]
 v0 = [2, 0.5]
@@ -115,8 +116,8 @@ v = [r.v for r in results1]
 @test q[end] ≈ [-0.16892500000000002, 0]
 @test v[end] ≈ [0, 0]
 
-if Pkg.installed("DrakeVisualizer") !== nothing
-    @eval using DrakeVisualizer; 
+if haskey(Pkg.installed(), "DrakeVisualizer")
+    @eval using DrakeVisualizer;
     @eval using CoordinateTransformations
     @eval using GeometryTypes
     DrakeVisualizer.any_open_windows() || DrakeVisualizer.new_window()

examples/friction.jl

@@ -1,5 +1,5 @@
 using JuMP, ConditionalJuMP, Cbc
-using Base.Test
+using Test
 
 const viscosity = 100
 const stiffness = 100
@@ -8,9 +8,9 @@ const normal_force = stiffness * penetration
 const μ = 0.5
 const Δt = 0.05
 
-# A very simple stick-slip dynamics. Frictional force is equal to 
+# A very simple stick-slip dynamics. Frictional force is equal to
 # -(viscosity * velocity), clipped to lie within the friction cone
-# at ±(μ * normal_force). 
+# at ±(μ * normal_force).
 function dynamics(x)
     q = x[1]
     v = x[2]

examples/multicontact_complementarity.jl

@@ -3,7 +3,8 @@ module Complementarity
 using Polyhedra
 using StaticArrays
 using JuMP, ConditionalJuMP, Cbc
-using Base.Test
+using Test
+using Pkg
 
 rot2(θ) = SMatrix{2, 2}(cos(θ), -sin(θ), sin(θ), cos(θ))
 
@@ -191,7 +192,7 @@ results2 = optimize(q0, v0, env, N)
 results_seeded = optimize(q0, v0, env, results1)
 @test all([r1.q ≈ r2.q for (r1, r2) in zip(results1, results_seeded)])
 
-if Pkg.installed("DrakeVisualizer") !== nothing
+if haskey(Pkg.installed(), "DrakeVisualizer")
     @eval using DrakeVisualizer;
     @eval using CoordinateTransformations
     DrakeVisualizer.any_open_windows() || DrakeVisualizer.new_window()
@@ -206,4 +207,4 @@ if Pkg.installed("DrakeVisualizer") !== nothing
     end
 end
 
-end
+end

examples/polyhedra.jl

@@ -1,8 +1,9 @@
-using Base.Test
+using Test
 using JuMP
 using Cbc
 using ConditionalJuMP
 using Polyhedra
+using LinearAlgebra
 
 # In this example, we search for the point closest to the origin in the union
 # of a list of convex polyhedra
@@ -14,7 +15,7 @@ function ConditionalJuMP.Conditional(op::typeof(in), x::AbstractVector, P::HRepr
     (&)([@?(h.a' * x <= h.β) for h in allhalfspaces(P)]...)
 end
 
-# A simple L1-norm objective we can minimize (since the Cbc 
+# A simple L1-norm objective we can minimize (since the Cbc
 function l1norm_objective(x::AbstractVector{Variable})
     model = first(x).m
     y = @variable(model, [1:length(x)], basename="y", lowerbound=0)
@@ -26,10 +27,10 @@ function l1norm_objective(x::AbstractVector{Variable})
 end
 
 # P1 is a box from [-1.5, -1] to [-0.5, 1]
-P1 = hrep(vcat(eye(2), -eye(2)), [-0.5, 1, 1.5, 1])
+P1 = hrep(vcat(Matrix(I, 2, 2), -Matrix(I, 2, 2)), [-0.5, 1, 1.5, 1])
 
 # P2 is a box from [1, -1] to [2, 1]
-P2 = hrep(vcat(eye(2), -eye(2)), [2., 1, -1, 1])
+P2 = hrep(vcat(Matrix(I, 2, 2), -Matrix(I, 2, 2)), [2., 1, -1, 1])
 
 m = Model(solver=CbcSolver(logLevel=0))
 @variable(m, -5 <= x[1:2] <= 5)
@@ -40,6 +41,3 @@ m = Model(solver=CbcSolver(logLevel=0))
 solve(m)
 x = getvalue(x)
 @test x ≈ [-0.5, 0]
-
-
-

src/ConditionalJuMP.jl

@@ -6,6 +6,8 @@ using JuMP
 using JuMP: GenericAffExpr, GenericRangeConstraint, Variable, AbstractJuMPScalar
 using IntervalArithmetic: Interval
 import Base: <=, ==, >=, !, &, hash, show
+using Printf
+using Nullables
 
 export @disjunction,
     @implies,
@@ -32,7 +34,7 @@ end
 
 """
 Naive O(N^2) simplification. Slower for very large expressions, but allocates
-no memory and is solidly faster for expressions with < 100 variables. 
+no memory and is solidly faster for expressions with < 100 variables.
 """
 function simplify_inplace!(e::JuMP.GenericAffExpr{T, Variable}) where T
     i1 = 1
@@ -62,7 +64,7 @@ end
 
 """
 O(N) simplification, but with a substantially larger constant cost due to the
-need to construct a Dict. 
+need to construct a Dict.
 """
 function simplify_dict!(e::JuMP.GenericAffExpr{T, Variable}) where T
     vars = Variable[]
@@ -258,8 +260,8 @@ struct IndicatorMap
     z_idx::Base.RefValue{Int}
 end
 
-IndicatorMap(m::Model) = IndicatorMap(m, 
-    Dict{Conditional, AffExpr}(), 
+IndicatorMap(m::Model) = IndicatorMap(m,
+    Dict{Conditional, AffExpr}(),
     Vector{Vector{Implication}}(),
     Ref(1),
     Ref(1))
@@ -404,17 +406,20 @@ function disjunction!(indmap::IndicatorMap, imps::Union{Tuple, AbstractArray})
     push!(indmap.disjunctions, collect(imps))
 end
 
-function  disjunction!(indmap::IndicatorMap, 
+function  disjunction!(indmap::IndicatorMap,
                        conditions::Union{Tuple{Vararg{Conditional}},
                                          <:AbstractArray{Conditional}})
     disjunction!(indmap, (c -> (c => Conditional())).(conditions))
 end
 
+Broadcast.broadcastable(i::IndicatorMap) = Ref(i)
+Broadcast.broadcastable(m::Model) = Ref(m)
+
 implies!(m::Model, imps::Implication...) = disjunction!(m, imps)
 
 implies!(m::Model, imps::Pair...) = implies!(m, convert.(Implication, imps)...)
 
-Base.convert(::Type{Conditional}, ::Void) = Conditional()
+Base.convert(::Type{Conditional}, ::Nothing) = Conditional()
 
 function implies!(m::Model, imp::Implication)
     c1, c2 = imp
@@ -522,7 +527,7 @@ function switch!(m::Model, args::Pair{<:Conditional, <:AbstractArray}...)
 end
 
 
-function Base.ifelse(c::Conditional, v1, v2)
+function ifelse_conditional(c::Conditional, v1, v2)
     @assert size(v1) == size(v2)
     m = getmodel(c)
     y = newcontinuousvar(m)
@@ -532,7 +537,7 @@ function Base.ifelse(c::Conditional, v1, v2)
     y
 end
 
-function Base.ifelse(c::Conditional, v1::AbstractArray, v2::AbstractArray)
+function ifelse_conditional(c::Conditional, v1::AbstractArray, v2::AbstractArray)
     @assert size(v1) == size(v2)
     m = getmodel(c)
     y = newcontinuousvar(m, size(v1))
@@ -578,7 +583,7 @@ function warmstart!(m::Model, fix=false)
         for implications in indmap.disjunctions
             violations = Nullable{Float64}[_getvalue(first(i)) for i in implications]
             if !any(isnull, violations)
-                best_match = indmin(get.(violations))
+                best_match = argmin(get.(violations))
                 for i in eachindex(violations)
                     imp = implications[i]
                     lhs, rhs = imp
@@ -624,8 +629,8 @@ end
 """
 Gurobi doesn't understand constant terms in the objective, which can
 affect the way the relative MIP gap is interpreted. To work around this,
-we'll replace the constant term k with an affine term 1*x for a new 
-variable x fixed to equal k. 
+we'll replace the constant term k with an affine term 1*x for a new
+variable x fixed to equal k.
 """
 function handle_constant_objective!(m::Model)
     x = @variable(m, basename="x_{objective_constant}")
@@ -637,4 +642,4 @@ function handle_constant_objective!(m::Model)
 end
 
 
-end
+end

src/macros.jl

@@ -1,8 +1,9 @@
 _conditionalize(ex) = esc(ex)
 
-is_function_broadcast(ex::Expr) = ex.head == :(.) && ex.args[2].head == :tuple
+is_function_broadcast(ex::Expr) = ex.head == :(.) && !isa(ex.args[2], QuoteNode) && x.args[2].head == :tuple
 is_operator_broadcast(ex::Expr) = ex.head == :(call) && isa(ex.args[1], Symbol) && string(ex.args[1])[1] === '.'
 
+
 function _conditionalize_function_broadcast(ex::Expr)
     Expr(:call, :_all_conditional, Expr(:call, GlobalRef(Base, :broadcast), :_conditional, esc(ex.args[1]), esc.(ex.args[2].args)...))
 end
@@ -11,6 +12,7 @@ function _conditionalize_operator_broadcast(ex::Expr)
     Expr(:call, :_all_conditional, Expr(:call, GlobalRef(Base, :broadcast), :_conditional, esc(Symbol(string(ex.args[1])[2:end])), esc.(ex.args[2:end])...))
 end
 
+
 function _conditionalize(ex::Expr)
     if is_function_broadcast(ex)
         _conditionalize_function_broadcast(ex)
@@ -27,10 +29,7 @@ function _conditionalize(ex::Expr)
     end
 end
 
-macro ?(ex)
-    _conditionalize(ex)
-end
-
+eval(:(macro $(Symbol("?"))(ex) _conditionalize(ex) end))
 
 macro implies(m, args...)
     Expr(:call, :implies!, esc(m), _conditionalize.(args)...)
@@ -45,5 +44,5 @@ macro switch(args...)
 end
 
 macro ifelse(c, v1, v2)
-    Expr(:call, :ifelse, _conditionalize(c), v1, v2)
+    Expr(:call, :ifelse_conditional, _conditionalize(c), v1, v2)
 end

test/REQUIRE

@@ -1,2 +1,3 @@
 Cbc
 Polyhedra 0.3
+Nullables