8000 Python: Cleanup code generation, sim solver by sandmaennchen · Pull Request #1397 · acados/acados · GitHub
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Python: Cleanup code generation, sim solver #1397

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Merged
merged 6 commits into from
Dec 13, 2024
Merged

Python: Cleanup code generation, sim solver #1397

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eb7bad6
use mode.get_casadi_symbol() in casadi code gen
sandmaennchen Dec 12, 2024
39340ee
clenaup sim solver
sandmaennchen Dec 12, 2024
c95fbd2
move stuff to from sim solver to sim
sandmaennchen Dec 12, 2024
fd8ab7e
fix
sandmaennchen Dec 12, 2024
807a755
cleanup render templates
sandmaennchen Dec 12, 2024
1ffe9a9
improve docstring
sandmaennchen Dec 12, 2024
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26 changes: 15 additions & 11 deletions interfaces/acados_template/acados_template/acados_ocp_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ def shared_lib(self,):
"""`shared_lib` - solver shared library"""
return self.__shared_lib

# TODO move this to AcadosOcp
@classmethod
def generate(cls, acados_ocp: Union[AcadosOcp, AcadosMultiphaseOcp], json_file: str, simulink_opts=None, cmake_builder: CMakeBuilder = None):
"""
Expand Down Expand Up @@ -1979,16 +1980,18 @@ def options_set(self, field_, value_):
"""
Set options of the solver.

:param field: string, e.g. 'print_level', 'rti_phase', 'globalization_fixed_step_length', 'globalization_alpha_min', 'globalization_alpha_reduction',
'qp_warm_start', 'globalization_line_search_use_sufficient_descent',
'globalization_full_step_dual', 'globalization_use_SOC', 'qp_tol_stat',
'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min',
'qp_mu0', 'qp_print_level', 'globalization_funnel_init_increase_factor',
'globalization_funnel_init_upper_bound', 'globalization_funnel_sufficient_decrease_factor',
'globalization_funnel_kappa', 'globalization_funnel_fraction_switching_condition',
'globalization_funnel_initial_penalty_parameter', 'levenberg_marquardt',
'adaptive_levenberg_marquardt_lam', 'adaptive_levenberg_marquardt_mu_min',
'adaptive_levenberg_marquardt_mu0',
:param field: string, possible values are:
'print_level', 'rti_phase', 'nlp_solver_max_iter, 'as_rti_level',
'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp',
'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min',
'qp_warm_start', 'qp_mu0', 'qp_print_level', 'warm_start_first_qp',
'globalization_fixed_step_length' 8000 ;, 'globalization_alpha_min', 'globalization_alpha_reduction',
'globalization_line_search_use_sufficient_descent', 'globalization_full_step_dual', 'globalization_use_SOC',
'globalization_funnel_init_upper_bound', 'globalization_funnel_sufficient_decrease_factor',
'globalization_funnel_kappa', 'globalization_funnel_fraction_switching_condition',
'globalization_funnel_initial_penalty_parameter', 'globalization_funnel_init_increase_factor',
'levenberg_marquardt',
'adaptive_levenberg_marquardt_lam', 'adaptive_levenberg_marquardt_mu_min', 'adaptive_levenberg_marquardt_mu0',

:param value: of type int, float, string, bool

Expand All @@ -2009,6 +2012,7 @@ def options_set(self, field_, value_):
'warm_start_first_qp',
'as_rti_level',
'max_iter',
'nlp_solver_max_iter',
'qp_warm_start',
'qp_print_level']
double_fields = ['globalization_fixed_step_length',
Expand Down Expand Up @@ -2065,7 +2069,7 @@ def options_set(self, field_, value_):
f' Possible values are {fields}.')


if field_ == 'max_iter' and value_ > self.__solver_options['nlp_solver_max_iter']:
if (field_ == 'max_iter' or field_ == 'nlp_solver_max_iter') and value_ > self.__solver_options['nlp_solver_max_iter']:
raise Exception('AcadosOcpSolver.options_set() cannot increase nlp_solver_max_iter' \
f' above initial value {self.__nlp_solver_max_iter} (you have {value_})')
return
Expand Down
99 changes: 92 additions & 7 deletions interfaces/acados_template/acados_template/acados_sim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,19 @@
# POSSIBILITY OF SUCH DAMAGE.;
#

import os
import os, json
import numpy as np
from copy import deepcopy
from .acados_model import AcadosModel
from .acados_dims import AcadosSimDims
from .utils import get_acados_path, get_shared_lib_ext
from .builders import CMakeBuilder
from .utils import (get_acados_path, get_shared_lib_ext, format_class_dict, check_casadi_version,
make_object_json_dumpable, render_template)
from .casadi_function_generation import (
GenerateContext,
generate_c_code_explicit_ode,
generate_c_code_gnsf,
generate_c_code_implicit_ode)

class AcadosSimOptions:
"""
Expand Down Expand Up @@ -313,14 +321,91 @@ def parameter_values(self, parameter_values):
f'Expected numpy array, got {type(parameter_values)}.')

def make_consistent(self):
dims = self.dims
model = self.model
model.make_consistent(dims)
self.model.make_consistent(self.dims)

if self.parameter_values.shape[0] != dims.np:
if self.parameter_values.shape[0] != self.dims.np:
raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {self.parameter_values.shape[0]}\n')
f'\nGot np = {self.dims.np}, acados_sim.parameter_values.shape = {self.parameter_values.shape[0]}\n')

# check required arguments are given
if self.solver_options.T is None:
raise Exception('acados_sim.solver_options.T is None, should be provided.')


def to_dict(self) -> dict:
# Copy input sim object dictionary
sim_dict = dict(deepcopy(self).__dict__)

# convert acados classes to dicts
for key, v in sim_dict.items():
# skip non dict attributes
if isinstance(v, (AcadosSim, AcadosSimDims, AcadosSimOptions, AcadosModel)):
sim_dict[key]=dict(getattr(self, key).__dict__)

return format_class_dict(sim_dict)


def dump_to_json(self, json_file='acados_sim.json') -> None:
with open(json_file, 'w') as f:
json.dump(self.to_dict(), f, default=make_object_json_dumpable, indent=4, sort_keys=True)


def render_templates(self, json_file, cmake_options: CMakeBuilder = None):
# setting up loader and environment
json_path = os.path.join(os.getcwd(), json_file)

if not os.path.exists(json_path):
raise Exception(f"{json_path} not found!")

template_list = [
('acados_sim_solver.in.c', f'acados_sim_solver_{self.model.name}.c'),
('acados_sim_solver.in.h', f'acados_sim_solver_{self.model.name}.h'),
('acados_sim_solver.in.pxd', 'acados_sim_solver.pxd'),
('main_sim.in.c', f'main_sim_{self.model.name}.c'),
]

# Builder
if cmake_options is not None:
template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt'))
else:
template_list.append(('Makefile.in', 'Makefile'))

# Render templates
for (in_file, out_file) in template_list:
render_template(in_file, out_file, self.code_export_directory, json_path)

# folder model
model_dir = os.path.join(self.code_export_directory, self.model.name + '_model')

in_file = 'model.in.h'
out_file = f'{self.model.name}_model.h'
render_template(in_file, out_file, model_dir, json_path)


def generate_external_functions(self, ):

integrator_type = self.solver_options.integrator_type

opts = dict(generate_hess = self.solver_options.sens_hess,
code_export_directory = self.code_export_directory)

# create code_export_dir, model_dir
code_export_dir = self.code_export_directory
opts['code_export_directory'] = code_export_dir
model_dir = os.path.join(code_export_dir, self.model.name + '_model')
if not os.path.exists(model_dir):
os.makedirs(model_dir)

context = GenerateContext(self.model.p_global, self.model.name, opts)

# generate external functions
check_casadi_version()
if integrator_type == 'ERK':
generate_c_code_explicit_ode(context, self.model, model_dir)
elif integrator_type == 'IRK':
generate_c_code_implicit_ode(context, self.model, model_dir)
elif integrator_type == 'GNSF':
generate_c_code_gnsf(context, self.model, model_dir)

context.finalize()
self.__external_function_files_model = context.get_external_function_file_list(ocp_specific=False)
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