using JuMP
using ModelPredictiveControl

f(x,u,_,_) = 0.5*x + 0.5*u
h(x,_,_)   = x
Ts = 1e-6       # small value to hit TIME_LIMIT termination status
oracle = true   # crash with true, work with false
model = NonLinModel(f, h, Ts, 1, 1, 1, solver=nothing)
nmpc = setconstraint!(NonLinMPC(model; Hp=5, direct=false, oracle), ymax=[1])
moveinput!(nmpc, [0])
solution_summary(nmpc.optim)

┌ Warning: MPC termination status not OPTIMAL or LOCALLY_SOLVED: keeping solution anyway (more info in debug log)
│   status = TIME_LIMIT::TerminationStatusCode = 12
└ @ ModelPredictiveControl ~/.julia/dev/ModelPredictiveControl/src/controller/execute.jl:425
ERROR: BoundsError: attempt to access 1-element Vector{Float64} at index [2]
Stacktrace:
  [1] throw_boundserror(A::Vector{Float64}, I::Tuple{Int64})
    @ Base ./essentials.jl:15
  [2] getindex
    @ ./essentials.jl:919 [inlined]
  [3] #_manually_evaluated_primal_status##2
    @ ./none:-1 [inlined]
  [4] iterate
    @ ./generator.jl:48 [inlined]
  [5] _all
    @ ./anyall.jl:203 [inlined]
  [6] all
    @ ./anyall.jl:188 [inlined]
  [7] all(itr::Base.Generator{…})
    @ Base ./anyall.jl:80
  [8] _manually_evaluated_primal_status(model::IpoptMathOptInterfaceExt.Optimizer)
    @ IpoptMathOptInterfaceExt ~/.julia/packages/Ipopt/iBJpg/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1479
  [9] get(model::IpoptMathOptInterfaceExt.Optimizer, attr::MathOptInterface.PrimalStatus)
    @ IpoptMathOptInterfaceExt ~/.julia/packages/Ipopt/iBJpg/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1500
 [10] get(model::MathOptInterface.Utilities.CachingOptimizer{…}, attr::MathOptInterface.PrimalStatus)
    @ MathOptInterface.Utilities ~/.julia/packages/MathOptInterface/tVdNJ/src/Utilities/cachingoptimizer.jl:934
 [11] get(model::Model, attr::MathOptInterface.PrimalStatus)
    @ JuMP ~/.julia/packages/JuMP/vfM5V/src/optimizer_interface.jl:817
 [12] #primal_status#100
    @ ~/.julia/packages/JuMP/vfM5V/src/optimizer_interface.jl:841 [inlined]
 [13] primal_status
    @ ~/.julia/packages/JuMP/vfM5V/src/optimizer_interface.jl:840 [inlined]
 [14] #has_values#32
    @ ~/.julia/packages/JuMP/vfM5V/src/variables.jl:2138 [inlined]
 [15] has_values
    @ ~/.julia/packages/JuMP/vfM5V/src/variables.jl:2137 [inlined]
 [16] solution_summary(model::Model; result::Int64, verbose::Bool)
    @ JuMP ~/.julia/packages/JuMP/vfM5V/src/solution_summary.jl:93
 [17] solution_summary(model::Model)
    @ JuMP ~/.julia/packages/JuMP/vfM5V/src/solution_summary.jl:87
 [18] top-level scope
    @ ~/Dropbox/Programmation/Julia/TestMPC/src/debug_jump.jl:11
Some type information was truncated. Use `show(err)` to see complete types.