Finishing Worhp

worhp/generate.py

@@ -0,0 +1,91 @@
+import os
+import re
+from collections import defaultdict
+versions = {"1.15": "/home/jgillis/programs/worhp_1.15-0_linux"}
+
+worhp_interface = "/home/jgillis/programs/casadi/casadi/interfaces/worhp/worhp_interface.cpp"
+
+
+structs = ["Workspace", "Params", "OptVar", "Control"]
+
+data = {}
+
+
+used_fields = defaultdict(set)
+
+# Retrieve all uses of Worhp structs in worhp_interface
+with open(worhp_interface,"r") as inp:
+    contents = inp.read()
+    for t,e in re.findall(r"worhp_([owpc]).(\w+)", contents):
+        # Convert t to full struct name
+        t = structs["wpoc".index(t)]
+        used_fields[t].add(e)
+
+print(used_fields)
+
+
+def read_stucts(header_file):
+    data = {}
+    active_struct = None
+    with open(header_file,"r") as inp:
+        lines = inp.read()
+        # Multi-line c style comment removal
+        lines = re.sub(r"/\*.*?\*/", "", lines, flags=re.DOTALL)
+        for line in lines.split("\n"):
+            if line.startswith("typedef struct"):
+                struct_name = line.split()[2]
+                active_struct = struct_name
+                data[active_struct] = []
+            elif active_struct is not None:
+                # Remove c style comments
+                line = re.sub(r"/\*.*\*/", "", line)
+                if line.strip()=="":
+                    continue
+                if line.startswith("}"):
+                    active_struct = None
+                else:
+                    d = data[active_struct]
+                    d.append(line.strip()[:-1])
+    return data
+
+
+for version, root in versions.items():
+    for k,v in read_stucts(os.path.join(root,"include","worhp","C_Worhp_Data.h")).items():
+        data[k[:-6]] = v
+    qp_data = read_stucts(os.path.join(root,"include","worhp","C_qp_data.h"))
+    leq_data = read_stucts(os.path.join(root,"include","worhp","C_leqsol_data.h"))
+
+def write_struct(output,fields,struct_name,alias):
+    outp.write(f"typedef struct {struct_name} {{\n")
+    for line in fields:
+        outp.write("  "+line+";\n")
+    outp.write(f"}} {alias};\n")
+
+def anonymize(fields,used_fields=None):
+    if used_fields is None:
+        used_fields = set()
+    count = 0
+    for line in fields:
+        data_type, name = line.rsplit(" ",1)
+        suffix = "".join(re.findall("\[\w+\]",name))
+        if name.startswith("*"):
+            name = name[1:]
+            data_type = data_type + "*"
+        if name in used_fields:
+            yield line
+        else:
+            yield f"{data_type} anon{count}"+suffix
+            count+=1
+
+with open("include/worhp_data_structs.h","w") as outp:
+    with open(os.path.join(root,"include","worhp","worhp_version.h"),"r") as inp:
+        outp.write(inp.read())
+    write_struct(outp,qp_data["QPParamsStruct"],"QPParamsStruct","QPParams")
+    write_struct(outp,anonymize(leq_data["LeqsolWorkspaceStruct"]),"LeqsolWorkspaceStruct","LeqsolWorkspace")
+    write_struct(outp,anonymize(qp_data["QPWorkspaceStruct"]),"QPWorkspaceStruct","QPWorkspace")
+    for k,v in data.items():
+        v = anonymize(v,used_fields[k])
+        write_struct(outp,v,f"{k}Struct",k)
+
+
+#print(data)

worhp/include/worhp.h

@@ -9,10 +9,104 @@ extern "C" {
 #include <stdbool.h>
 #endif
 
-typedef struct _OptVar OptVar;
-typedef struct _Workspace Workspace;
-typedef struct _Params Params;
-typedef struct _Control Control;
+#include <stdlib.h>
+
+enum {
+  WorhpMatrix_Name_Length = 10
+};
+
+typedef int mat_int;
+typedef int rwmt_index;
+typedef int iwmt_index;
+typedef int counter;
+
+typedef struct WorhpMatrix {
+  double* val;
+  mat_int* row;
+  mat_int* col;
+  mat_int* slc;
+  mat_int* CCrow;
+  mat_int* CCcol;
+  mat_int* CCper;
+  mat_int* nGroups;
+  mat_int* Groups;
+  mat_int* nSubGroups;
+  mat_int* SubGroups;
+  mat_int* perm;
+
+  mat_int dim_val;
+  mat_int dim_row;
+  mat_int dim_col;
+  mat_int dim_slc;
+  mat_int dim_CCrow;
+  mat_int dim_CCcol;
+  mat_int dim_CCper;
+  mat_int dim_nGroups;
+  mat_int dim_Groups;
+  mat_int dim_nSubGroups;
+  mat_int dim_SubGroups;
+  mat_int dim_perm;
+
+  mat_int nnz;
+  mat_int nnzDefault;
+  mat_int nRow;
+  mat_int nRowDefault;
+  mat_int nCol;
+  mat_int nColDefault;
+
+  mat_int nGrp;
+
+  int kind;
+
+  char name[WorhpMatrix_Name_Length];
+  bool NeedStructure;
+  bool Dense;
+} WorhpMatrix;
+
+typedef struct {
+  double start;
+  double total;
+  int status;
+  int _shim;
+} TimerType;
+
+typedef struct {
+  int year;
+  int month;
+  int day;
+  int hour;
+  int minute;
+  int second;
+} DateType;
+
+struct FltNode{
+  double anon0;
+  double anon1;
+  bool anon2;
+  struct FltNode *anon3;
+  struct FltNode *anon4;
+};
+
+enum {
+  WorhpQueueSize = 10
+};
+
+typedef struct WorhpQueueStruct {
+  double val[WorhpQueueSize];
+  int idx;
+} WorhpQueue;
+
+typedef struct FltNode FilterNode;
+
+enum {
+  WMTslices = 100,
+  WMTrows = 6,
+  WMTnames = 20,
+  NAres = 7,
+  NUserAction = 14,
+  NStageHistory = 10
+};
+#include "worhp_data_structs.h"
 
 typedef void (*worhp_print_t) (int mode, const char s[]);
 
@@ -54,6 +148,83 @@ bool WorhpSetIntParam   (Params *, const char*, int);
 void Worhp(OptVar*, Workspace*, Params*, Control*);
 /* U Worhp@@WORHP_1.0*/
 
+void InitParams(int*, Params*); // @@WORHP_1.0
+bool GetUserAction(const Control *, int); // @@WORHP_1.0
+void DoneUserAction(Control *, int); // @@WORHP_1.0
+void StatusMsg(OptVar*, Workspace*, Params*, Control*); // @@WORHP_1.0
+void IterationOutput(OptVar*, Workspace*, Params*, Control*); // IterationOutput@@WORHP_1.0
+
+enum {
+  TerminateSuccess = 1000,
+  OptimalSolution = 1001,
+  LowPassFilterOptimal = 1011,
+  OptimalSolutionConstantF = 1012,
+  FritzJohn = 1021,
+  NotDiffable = 1022,
+  Unbounded = 1031,
+  FeasibleSolution = 1041,
+  SearchDirectionZero = 1051,
+  SearchDirectionSmall = 1052,
+  AcceptableSolution = 1061,
+  AcceptablePrevious = 1062,
+  LowPassFilterAcceptable = 1063,
+  AcceptableSolutionConstantF = 1064,
+  AcceptablePreviousConstantF = 1065,
+  AcceptableSolutionSKKT = 1066,
+  AcceptableSolutionScaled = 1067,
+  AcceptablePreviousScaled = 1068,
+ /*-----------------------------------------------------------------
+  *  (somehow) unsuccessful termination
+  *-----------------------------------------------------------------*/
+  TerminateError = -1000,
+  MaxCalls = -1001,
+  MaxIter = -1002,
+  Timeout = -1003,
+  LocalInfeasOptimal = -1011,
+  LocalInfeas = -1012,
+  GlobalInfeas = -1013,
+  TooBig = -1021,
+  evalsNaN = -1022,
+  DivergingPrimal = -1023,
+  DivergingDual = -1024,
+  MinimumStepsize = -1031,
+  RegularizationFailed = -1032,
+  InitError = -1041,
+  DataError = -1042,
+  RestartError = -1043,
+  FileOpenError = -1044,
+  QPerror = -1051,
+  LinearSolverFailed = -1052,
+  TerminatedByCheckFD = -1061,
+  LicenseError = -1071,
+  Debug = -1206,
+};
+
+enum {
+  WORHP_PRINT_MESSAGE         = 1,
+  WORHP_PRINT_WARNING         = 2,
+  WORHP_PRINT_ERROR           = 4,
+};
+
+enum {
+  callWorhp = 1,
+  evalF = 2,
+  evalG = 3,
+  evalDF = 4,
+  evalDG = 5,
+  evalHM = 6,
+  evalZenDGp = 7,
+  evalZenDLxp = 8,
+  evalZenDLp = 9,
+  evalZenDLpp = 10,
+  iterOutput = 11,
+  fidif_DF = 12,
+  fidif_DG = 13,
+  fidif_HM = 14,
+  fidif = 15,
+  FirstCall = 20
+};
+
 #ifdef __cplusplus
 }
 #endif