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Python get_stats returns float or int instead of single element numpy array and fix cython for custom path #961

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Merged
merged 7 commits into from
Aug 29, 2023
Merged

Python get_stats returns float or int instead of single element numpy array and fix cython for custom path #961

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c126016
fix path for cython solver
Aug 24, 2023
26c5e8e
fix path for cython sim solver
Aug 24, 2023
03002e8
fix type for get_stats of int and doubles, python and cython interface
Aug 24, 2023
39d1b3b
minor change
Aug 24, 2023
f55ed4f
fix get_stats call in examples
Aug 24, 2023
cca0cac
fix get_stats call in examples (2)
Aug 24, 2023
c2bb110
add type hints
FreyJo Aug 29, 2023
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2 changes: 1 addition & 1 deletion examples/acados_python/chain_mass/run_nominal_control.py
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Expand Up @@ -227,7 +227,7 @@ def run_nominal_control(chain_params):
acados_ocp_solver.set(0, "ubx", xcurrent)

status = acados_ocp_solver.solve()
timings[i] = acados_ocp_solver.get_stats("time_tot")[0]
timings[i] = acados_ocp_solver.get_stats("time_tot")

if status != 0:
raise Exception('acados acados_ocp_solver returned status {} in time step {}. Exiting.'.format(status, i))
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4 changes: 2 additions & 2 deletions examples/acados_python/getting_started/minimal_example_closed_loop.py
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Expand Up @@ -136,7 +136,7 @@ def main(use_RTI=False):
# preparation phase
ocp_solver.options_set('rti_phase', 1)
status = ocp_solver.solve()
t_preparation[i] = ocp_solver.get_stats('time_tot').flatten()
t_preparation[i] = ocp_solver.get_stats('time_tot')

# set initial state
ocp_solver.set(0, "lbx", simX[i, :])
Expand All @@ -145,7 +145,7 @@ def main(use_RTI=False):
# feedback phase
ocp_solver.options_set('rti_phase', 2)
status = ocp_solver.solve()
t_feedback[i] = ocp_solver.get_stats('time_tot').flatten()
t_feedback[i] = ocp_solver.get_stats('time_tot')

simU[i, :] = ocp_solver.get(0, "u")

Expand Down
2 changes: 1 addition & 1 deletion examples/acados_python/linear_mass_model/linear_mass_test_problem.py
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Expand Up @@ -196,7 +196,7 @@ def solve_marathos_ocp(setting):
# solve
status = ocp_solver.solve()
ocp_solver.print_statistics() # encapsulates: stat = ocp_solver.get_stats("statistics")
sqp_iter = ocp_solver.get_stats('sqp_iter')[0]
sqp_iter = ocp_solver.get_stats('sqp_iter')
print(f'acados returned status {status}.')

# ocp_solver.store_iterate(f'it{ocp.solver_options.nlp_solver_max_iter}_{model.name}.json')
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2 changes: 1 addition & 1 deletion examples/acados_python/non_ocp_nlp/marathos_test_problem.py
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Expand Up @@ -173,7 +173,7 @@ def solve_marathos_problem_with_setting(setting):
else:
ocp_solver.solve()
ocp_solver.print_statistics()
iter = ocp_solver.get_stats('sqp_iter')[0]
iter = ocp_solver.get_stats('sqp_iter')
alphas = ocp_solver.get_stats('alpha')[1:]
qp_iters = ocp_solver.get_stats('qp_iter')
residuals = ocp_solver.get_stats('statistics')[1:5,1:iter]
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4 changes: 2 additions & 2 deletions examples/acados_python/rsm_example/main.py
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Expand Up @@ -343,7 +343,7 @@ def main():
if USE_RTI:
acados_solver.options_set('rti_phase', 1)
status = acados_solver.solve()
time_prep = acados_solver.get_stats('time_tot')[0] * 1e3
time_prep = acados_solver.get_stats('time_tot') * 1e3
if i_exec == 0:
times_prep[i] = time_prep
else:
Expand All @@ -359,7 +359,7 @@ def main():

# solve
status = acados_solver.solve()
time_feed = acados_solver.get_stats('time_tot')[0] * 1e3
time_feed = acados_solver.get_stats('time_tot') * 1e3
if i_exec == 0:
times_feed[i] = time_feed
else:
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2 changes: 1 addition & 1 deletion examples/acados_python/tests/armijo_test.py
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Expand Up @@ -122,7 +122,7 @@ def solve_armijo_problem_with_setting(setting):
# get stats
status = ocp_solver.solve()
ocp_solver.print_statistics()
iter = ocp_solver.get_stats('sqp_iter')[0]
iter = ocp_solver.get_stats('sqp_iter')
alphas = ocp_solver.get_stats('alpha')[1:]
qp_iters = ocp_solver.get_stats('qp_iter')
print(f"acados ocp solver returned status {status}")
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8 changes: 4 additions & 4 deletions examples/acados_python/zoRO_example/diff_drive/diff_drive_zoro_mpc.py
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Expand Up @@ -212,8 +212,8 @@ def solve(self, x_current, y_ref, obs_position, obs_radius, p0_mat=None):
# preparation rti_phase
self.acados_ocp_solver.options_set('rti_phase', 1)
status = self.acados_ocp_solver.solve()
self.rti_phase1_t += self.acados_ocp_solver.get_stats("time_tot")[0]
self.acados_integrator_time += self.acados_ocp_solver.get_stats("time_sim")[0]
self.rti_phase1_t += self.acados_ocp_solver.get_stats("time_tot")
self.acados_integrator_time += self.acados_ocp_solver.get_stats("time_sim")

t_start = process_time()
self.acados_ocp_solver.custom_update([self.cfg.P0_mat.flatten()])
Expand All @@ -222,8 +222,8 @@ def solve(self, x_current, y_ref, obs_position, obs_radius, p0_mat=None):
# feedback rti_phase
self.acados_ocp_solver.options_set('rti_phase', 2)
status = self.acados_ocp_solver.solve()
self.acados_qp_time += self.acados_ocp_solver.get_stats("time_qp")[0]
self.rti_phase2_t += self.acados_ocp_solver.get_stats("time_tot")[0]
self.acados_qp_time += self.acados_ocp_solver.get_stats("time_qp")
self.rti_phase2_t += self.acados_ocp_solver.get_stats("time_tot")

# Get solution
for i_stage in range(self.cfg.n_hrzn):
Expand Down
24 changes: 11 additions & 13 deletions interfaces/acados_template/acados_template/acados_ocp_solver.py
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Expand Up @@ -43,6 +43,7 @@

from copy import deepcopy
from pathlib import Path
from typing import Union

from .casadi_function_generation import generate_c_code_explicit_ode, \
generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \
Expand Down Expand Up @@ -931,8 +932,8 @@ def create_cython_solver(cls, json_file):
code_export_directory = acados_ocp_json['code_export_directory']

importlib.invalidate_caches()
rel_code_export_directory = os.path.relpath(code_export_directory)
acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
sys.path.append(os.path.dirname(code_export_directory))
acados_ocp_solver_pyx = importlib.import_module(f'{os.path.split(code_export_directory)[1]}.acados_ocp_solver_pyx')

AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
Expand Down Expand Up @@ -1435,7 +1436,7 @@ def load_iterate(self, filename):
self.set(int(stage), field, np.array(solution[key]))


def get_stats(self, field_):
def get_stats(self, field_: str) -> Union[int, float, np.ndarray]:
"""
Get the information of the last solver call.

Expand Down Expand Up @@ -1486,27 +1487,24 @@ def get_stats(self, field_):


if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
out_data = cast(out.ctypes.data, POINTER(c_int64))
out = c_int(0)
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, byref(out))
return out.value

# TODO: just return double instead of np.
elif field_ in double_fields:
out = np.zeros((1,))
out_data = cast(out.ctypes.data, POINTER(c_double))
out = c_double(0)
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, byref(out))
return out.value

elif field_ == 'statistics':
sqp_iter = self.get_stats("sqp_iter")
stat_m = self.get_stats("stat_m")
stat_n = self.get_stats("stat_n")
min_size = min([stat_m, sqp_iter+1])
out = np.ascontiguousarray(
np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
np.zeros((stat_n+1, min_size)), dtype=np.float64)
out_data = cast(out.ctypes.data, POINTER(c_double))
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
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4 changes: 2 additions & 2 deletions interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx
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Expand Up @@ -463,8 +463,8 @@ cdef class AcadosOcpSolverCython:
return out

def __get_stat_double(self, field):
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
cdef double out
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
return out

def __get_stat_matrix(self, field, n, m):
Expand Down
4 changes: 2 additions & 2 deletions interfaces/acados_template/acados_template/acados_sim_solver.py
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Expand Up @@ -280,8 +280,8 @@ def create_cython_solver(cls, json_file):
code_export_directory = acados_sim_json['code_export_directory']

importlib.invalidate_caches()
rel_code_export_directory = os.path.relpath(code_export_directory)
acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx')
sys.path.append(os.path.dirname(code_export_directory))
acados_sim_solver_pyx = importlib.import_module(f'{os.path.split(code_export_directory)[1]}.acados_sim_solver_pyx')

AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython')
return AcadosSimSolverCython(acados_sim_json['model']['name'])
Expand Down