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Refactor how structs are passed to allow cleaner passing of OSQPInfo
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,205 @@ | ||
| #ifndef OSQP_STRUCT_H_ | ||
| #define OSQP_STRUCT_H_ | ||
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| #include <cstring> | ||
| #include <functional> | ||
| #include <string> | ||
| #include <vector> | ||
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| #include <mex.h> | ||
| #include <matrix.h> | ||
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| #include "memory_matlab.h" | ||
| #include <osqp.h> | ||
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| /** | ||
| * Base class used to store the field types for a struct. | ||
| */ | ||
| class OSQPStructFieldBase { | ||
| public: | ||
| OSQPStructFieldBase() {} | ||
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| /** | ||
| * Set the field in the given Matlab struct to the value of this field | ||
| */ | ||
| virtual void ToMxStruct(mxArray* aStruct) = 0; | ||
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| /** | ||
| * Set the field in the internal struct with the data from aStruct | ||
| */ | ||
| virtual void ToOSQPStruct(const mxArray* aStruct) = 0; | ||
| }; | ||
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| /** | ||
| * Class to hold a numeric struct field (e.g. float/double/int/enum, etc.). | ||
| */ | ||
| template<class T> | ||
| class OSQPStructField : public OSQPStructFieldBase { | ||
| public: | ||
| OSQPStructField(T* aStructPtr, std::string aName) : | ||
| m_structPtr(aStructPtr), | ||
| m_name(aName) { | ||
| } | ||
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| void ToMxStruct(mxArray* aStruct) override { | ||
| mxAddField(aStruct, m_name.data()); | ||
| mxSetField(aStruct, 0, m_name.data(), mxCreateDoubleScalar(*m_structPtr)); | ||
| } | ||
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| void ToOSQPStruct(const mxArray* aStruct) override { | ||
| *(m_structPtr) = static_cast<T>(mxGetScalar(mxGetField(aStruct, 0, m_name.data()))); | ||
| } | ||
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| private: | ||
| T* m_structPtr; | ||
| std::string m_name; | ||
| }; | ||
|
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| /** | ||
| * Class to hold a character array (actual array, not char* array) field in a struct. | ||
| */ | ||
| class OSQPStructFieldCharArray : public OSQPStructFieldBase { | ||
| public: | ||
| OSQPStructFieldCharArray(char* aStructPtr, size_t aLength, std::string aName) : | ||
| m_structPtr(aStructPtr), | ||
| m_name(aName), | ||
| m_length(aLength) { | ||
| } | ||
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| void ToMxStruct(mxArray* aStruct) override { | ||
| mxAddField(aStruct, m_name.data()); | ||
| mxSetField(aStruct, 0, m_name.data(), mxCreateString(m_structPtr)); | ||
| } | ||
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| void ToOSQPStruct(const mxArray* aStruct) override { | ||
| mxArray* tmp = mxGetField(aStruct, 0, m_name.data()); | ||
| mxGetString(tmp, m_structPtr, m_length); | ||
| } | ||
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| private: | ||
| char* m_structPtr; | ||
| std::string m_name; | ||
| size_t m_length; | ||
| }; | ||
|
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| /** | ||
| * Wrap a struct from OSQP to automatically transfer the data between OSQP and Matlab. | ||
| */ | ||
| template<class T> | ||
| class OSQPStructWrapper { | ||
| public: | ||
| /** | ||
| * Initialize the wrapper using the default values. | ||
| */ | ||
| OSQPStructWrapper() { | ||
| // Allocate the default struct and register field handlers | ||
| registerFields(); | ||
| } | ||
|
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| /** | ||
| * Initialize the wrapper using the values from the OSQP struct. | ||
| */ | ||
| OSQPStructWrapper(const T* aStruct) { | ||
| // Allocate the default struct and register field handlers | ||
| registerFields(); | ||
| ParseOSQPStruct(aStruct); | ||
| } | ||
|
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| /** | ||
| * Initialize the wrapper using the values from the Matlab struct | ||
| */ | ||
| OSQPStructWrapper(const mxArray* aStruct) { | ||
| // Allocate the default struct and register field handlers | ||
| registerFields(); | ||
| ParseMxStruct(aStruct); | ||
| } | ||
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| ~OSQPStructWrapper() { | ||
| for(auto& s : m_structFields) { | ||
| delete s; | ||
| } | ||
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| c_free(m_struct); | ||
| } | ||
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| /** | ||
| * Return a Matlab struct populated with the values of the current struct | ||
| * contained in this wrapper. | ||
| * | ||
| * @return a Matlab struct with a copy of the struct (caller owns this copy and must free it) | ||
| */ | ||
| mxArray* GetMxStruct() { | ||
| // No fields are added right now, they are added in the for loop when they are set | ||
| mxArray* matStruct = mxCreateStructMatrix(1, 1, 0, NULL); | ||
|
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| // Copy the current struct into the struct to return | ||
| for(const auto& s : m_structFields) { | ||
| s->ToMxStruct(matStruct); | ||
| } | ||
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| return matStruct; | ||
| } | ||
|
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| /** | ||
| * Read a Matlab struct and populate the wrapper with its values. | ||
| */ | ||
| void ParseMxStruct(const mxArray* aStruct) { | ||
| for(const auto& s : m_structFields) { | ||
| s->ToOSQPStruct(aStruct); | ||
| } | ||
| } | ||
|
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| /** | ||
| * Get a copy of the struct contained inside this wrapper. | ||
| * | ||
| * @return a copy of the struct (caller owns this copy and must free it) | ||
| */ | ||
| T* GetOSQPStructCopy() { | ||
| // Allocate the default struct | ||
| T* ret = static_cast<T*>(c_calloc(1, sizeof(T))); | ||
|
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| // Copy the current values for their return | ||
| std::memcpy(ret, m_struct, sizeof(T)); | ||
| return ret; | ||
| } | ||
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| /** | ||
| * Get the pointer to the internal struct object. | ||
| */ | ||
| T* GetOSQPStruct() { | ||
| return m_struct; | ||
| } | ||
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| /* | ||
| * Read an existing OSQP struct object into this wrapper. | ||
| * The struct elements are copied, so no ownership of the aStruct pointer is transferred. | ||
| */ | ||
| void ParseOSQPStruct(const T* aStruct) { | ||
| std::memcpy(m_struct, aStruct, sizeof(T)); | ||
| } | ||
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| private: | ||
| /** | ||
| * Register all the fields for the wrapper. | ||
| * This function should be specialized for each struct type to map the fields appropriately. | ||
| */ | ||
| void registerFields(); | ||
|
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| // All struct fields | ||
| std::vector<OSQPStructFieldBase*> m_structFields; | ||
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| // Base OSQP struct object. Owned by this wrapper. | ||
| T* m_struct; | ||
| }; | ||
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| /** | ||
| * Wrapper around the OSQPSettings struct | ||
| */ | ||
| typedef OSQPStructWrapper<OSQPSettings> OSQPSettingsWrapper; | ||
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| /** | ||
| * Wrapper around the OSQPInfo struct | ||
| */ | ||
| typedef OSQPStructWrapper<OSQPInfo> OSQPInfoWrapper; | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| #include <osqp.h> | ||
| #include "osqp_struct.h" | ||
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| /* | ||
| * Specialization of the struct wrapper for the OSQPInfo struct. | ||
| */ | ||
| template<> | ||
| void OSQPStructWrapper<OSQPInfo>::registerFields() { | ||
| m_struct = static_cast<OSQPInfo*>(c_calloc(1, sizeof(OSQPInfo))); | ||
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| if(!m_struct) | ||
| mexErrMsgTxt("Failed to allocate a OSQPInfo object."); | ||
|
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| /* | ||
| * Register the mapping between struct field name and the info struct memory location | ||
| */ | ||
| // Solver status | ||
| m_structFields.push_back(new OSQPStructFieldCharArray(m_struct->status, 32, "status")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPInt>(&m_struct->status_val, "status_val")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPInt>(&m_struct->status_polish, "status_polish")); | ||
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| // Solution quality | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->obj_val, "obj_val")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->prim_res, "prim_res")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->dual_res, "dual_res")); | ||
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| // Algorithm information | ||
| m_structFields.push_back(new OSQPStructField<OSQPInt>(&m_struct->iter, "iter")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPInt>(&m_struct->rho_updates, "rho_updates")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->rho_estimate, "rho_estimate")); | ||
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| // Timing information | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->setup_time, "setup_time")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->solve_time, "solve_time")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->update_time, "update_time")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->polish_time, "polish_time")); | ||
| m_structFields.push_back(new OSQPStructField<OSQPFloat>(&m_struct->run_time, "run_time")); | ||
| } | ||
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| // Instantiate the OSQPInfo wrapper class | ||
| template class OSQPStructWrapper<OSQPInfo>; |
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