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454 lines
18 KiB
454 lines
18 KiB
# -*- coding: future_fstrings -*-
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#
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# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
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# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
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# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
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# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
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#
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# This file is part of acados.
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#
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# The 2-Clause BSD License
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.;
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#
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import sys, os, json
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import numpy as np
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from ctypes import *
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from copy import deepcopy
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from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
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from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
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from .generate_c_code_gnsf import generate_c_code_gnsf
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from .acados_sim import AcadosSim
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from .acados_ocp import AcadosOcp
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from .acados_model import acados_model_strip_casadi_symbolics
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from .utils import is_column, render_template, format_class_dict, np_array_to_list,\
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make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path
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from .builders import CMakeBuilder
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def make_sim_dims_consistent(acados_sim):
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dims = acados_sim.dims
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model = acados_sim.model
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# nx
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if is_column(model.x):
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dims.nx = model.x.shape[0]
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else:
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raise Exception("model.x should be column vector!")
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# nu
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if is_column(model.u):
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dims.nu = model.u.shape[0]
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elif model.u == None or model.u == []:
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dims.nu = 0
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else:
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raise Exception("model.u should be column vector or None!")
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# nz
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if is_column(model.z):
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dims.nz = model.z.shape[0]
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elif model.z == None or model.z == []:
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dims.nz = 0
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else:
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raise Exception("model.z should be column vector or None!")
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# np
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if is_column(model.p):
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dims.np = model.p.shape[0]
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elif model.p == None or model.p == []:
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dims.np = 0
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else:
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raise Exception("model.p should be column vector or None!")
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def get_sim_layout():
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python_interface_path = get_python_interface_path()
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abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
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with open(abs_path, 'r') as f:
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sim_layout = json.load(f)
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return sim_layout
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def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
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# Load acados_sim structure description
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sim_layout = get_sim_layout()
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# Copy input sim object dictionary
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sim_dict = dict(deepcopy(acados_sim).__dict__)
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for key, v in sim_layout.items():
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# skip non dict attributes
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if not isinstance(v, dict): continue
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# Copy sim object attributes dictionaries
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sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
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sim_dict['model'] = acados_model_strip_casadi_symbolics(sim_dict['model'])
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sim_json = format_class_dict(sim_dict)
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with open(json_file, 'w') as f:
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json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True)
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def sim_get_default_cmake_builder() -> CMakeBuilder:
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"""
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If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting.
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:return: default :py:class:`~acados_template.builders.CMakeBuilder`
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"""
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cmake_builder = CMakeBuilder()
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cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB']
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return cmake_builder
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def sim_render_templates(json_file, model_name, code_export_dir, cmake_options: CMakeBuilder = None):
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# setting up loader and environment
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json_path = os.path.join(os.getcwd(), json_file)
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if not os.path.exists(json_path):
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raise Exception(f"{json_path} not found!")
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template_dir = code_export_dir
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## Render templates
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in_file = 'acados_sim_solver.in.c'
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out_file = f'acados_sim_solver_{model_name}.c'
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render_template(in_file, out_file, template_dir, json_path)
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in_file = 'acados_sim_solver.in.h'
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out_file = f'acados_sim_solver_{model_name}.h'
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render_template(in_file, out_file, template_dir, json_path)
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# Builder
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if cmake_options is not None:
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in_file = 'CMakeLists.in.txt'
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out_file = 'CMakeLists.txt'
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render_template(in_file, out_file, template_dir, json_path)
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else:
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in_file = 'Makefile.in'
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out_file = 'Makefile'
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render_template(in_file, out_file, template_dir, json_path)
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in_file = 'main_sim.in.c'
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out_file = f'main_sim_{model_name}.c'
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render_template(in_file, out_file, template_dir, json_path)
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## folder model
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template_dir = os.path.join(code_export_dir, model_name + '_model')
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in_file = 'model.in.h'
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out_file = f'{model_name}_model.h'
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render_template(in_file, out_file, template_dir, json_path)
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def sim_generate_casadi_functions(acados_sim):
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model = acados_sim.model
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model = make_model_consistent(model)
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integrator_type = acados_sim.solver_options.integrator_type
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opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
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code_export_directory = acados_sim.code_export_directory)
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# generate external functions
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if integrator_type == 'ERK':
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generate_c_code_explicit_ode(model, opts)
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elif integrator_type == 'IRK':
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generate_c_code_implicit_ode(model, opts)
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elif integrator_type == 'GNSF':
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generate_c_code_gnsf(model, opts)
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class AcadosSimSolver:
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"""
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Class to interact with the acados integrator C object.
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:param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim`
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:param json_file: Default: 'acados_sim.json'
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:param build: Default: True
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:param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use
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the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
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`MS Visual Studio`); default: `None`
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"""
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def __init__(self, acados_sim_, json_file='acados_sim.json', build=True, cmake_builder: CMakeBuilder = None):
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self.solver_created = False
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if isinstance(acados_sim_, AcadosOcp):
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# set up acados_sim_
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acados_sim = AcadosSim()
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acados_sim.model = acados_sim_.model
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acados_sim.dims.nx = acados_sim_.dims.nx
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acados_sim.dims.nu = acados_sim_.dims.nu
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acados_sim.dims.nz = acados_sim_.dims.nz
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acados_sim.dims.np = acados_sim_.dims.np
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acados_sim.solver_options.integrator_type = acados_sim_.solver_options.integrator_type
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acados_sim.code_export_directory = acados_sim_.code_export_directory
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elif isinstance(acados_sim_, AcadosSim):
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acados_sim = acados_sim_
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acados_sim.__problem_class = 'SIM'
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model_name = acados_sim.model.name
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make_sim_dims_consistent(acados_sim)
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# reuse existing json and casadi functions, when creating integrator from ocp
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if isinstance(acados_sim_, AcadosSim):
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if acados_sim.solver_options.integrator_type == 'GNSF':
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set_up_imported_gnsf_model(acados_sim)
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sim_generate_casadi_functions(acados_sim)
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sim_formulation_json_dump(acados_sim, json_file)
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code_export_dir = acados_sim.code_export_directory
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if build:
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# render templates
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sim_render_templates(json_file, model_name, code_export_dir, cmake_builder)
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# Compile solver
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cwd = os.getcwd()
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code_export_dir = os.path.abspath(code_export_dir)
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os.chdir(code_export_dir)
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if cmake_builder is not None:
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cmake_builder.exec(code_export_dir)
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else:
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os.system('make sim_shared_lib')
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os.chdir(cwd)
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self.sim_struct = acados_sim
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model_name = self.sim_struct.model.name
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self.model_name = model_name
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# Load acados library to avoid unloading the library.
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# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
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# Unloading a library which uses OpenMP results in a segfault (on any platform?).
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# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
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# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
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libacados_name = 'libacados.so'
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libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
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self.__acados_lib = CDLL(libacados_filepath)
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# find out if acados was compiled with OpenMP
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try:
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self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
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except AttributeError as e:
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self.__acados_lib_uses_omp = False
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if self.__acados_lib_uses_omp:
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print('acados was compiled with OpenMP.')
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else:
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print('acados was compiled without OpenMP.')
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# Ctypes
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lib_prefix = 'lib'
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lib_ext = '.so'
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if os.name == 'nt':
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lib_prefix = ''
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lib_ext = ''
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self.shared_lib_name = os.path.join(code_export_dir, f'{lib_prefix}acados_sim_solver_{model_name}{lib_ext}')
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print(f'self.shared_lib_name = "{self.shared_lib_name}"')
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self.shared_lib = CDLL(self.shared_lib_name)
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# create capsule
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getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
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self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
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# create solver
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getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int
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assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0
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self.solver_created = True
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p
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self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule)
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p
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self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule)
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p
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self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule)
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p
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self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule)
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p
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self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule)
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
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self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
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nu = self.sim_struct.dims.nu
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nx = self.sim_struct.dims.nx
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nz = self.sim_struct.dims.nz
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self.gettable = {
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'x': nx,
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'xn': nx,
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'u': nu,
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'z': nz,
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'S_forw': nx*(nx+nu),
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'Sx': nx*nx,
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'Su': nx*nu,
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'S_adj': nx+nu,
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'S_hess': (nx+nu)*(nx+nu),
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'S_algebraic': (nz)*(nx+nu),
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}
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self.settable = ['S_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
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def solve(self):
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"""
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Solve the simulation problem with current input.
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"""
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getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p]
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getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int
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status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule)
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return status
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def get(self, field_):
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"""
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Get the last solution of the solver.
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:param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic']
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"""
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field = field_
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field = field.encode('utf-8')
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if field_ in self.gettable.keys():
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# allocate array
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dims = self.gettable[field_]
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out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
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out_data = cast(out.ctypes.data, POINTER(c_double))
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self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
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self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
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if field_ == 'S_forw':
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nu = self.sim_struct.dims.nu
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nx = self.sim_struct.dims.nx
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out = out.reshape(nx, nx+nu, order='F')
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elif field_ == 'Sx':
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nx = self.sim_struct.dims.nx
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out = out.reshape(nx, nx, order='F')
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elif field_ == 'Su':
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nx = self.sim_struct.dims.nx
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nu = self.sim_struct.dims.nu
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out = out.reshape(nx, nu, order='F')
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elif field_ == 'S_hess':
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nx = self.sim_struct.dims.nx
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nu = self.sim_struct.dims.nu
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out = out.reshape(nx+nu, nx+nu, order='F')
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elif field_ == 'S_algebraic':
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nx = self.sim_struct.dims.nx
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nu = self.sim_struct.dims.nu
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nz = self.sim_struct.dims.nz
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out = out.reshape(nz, nx+nu, order='F')
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else:
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raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
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f' available fields are {", ".join(self.gettable.keys())}')
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return out
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def set(self, field_, value_):
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"""
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Set numerical data inside the solver.
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:param field: string in ['p', 'S_adj', 'T', 'x', 'u', 'xdot', 'z']
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:param value: the value with appropriate size.
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"""
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# cast value_ to avoid conversion issues
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if isinstance(value_, (float, int)):
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value_ = np.array([value_])
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value_ = value_.astype(float)
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value_data = cast(value_.ctypes.data, POINTER(c_double))
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value_data_p = cast((value_data), c_void_p)
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field = field_
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field = field.encode('utf-8')
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# treat parameters separately
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if field_ == 'p':
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model_name = self.sim_struct.model.name
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getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
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value_data = cast(value_.ctypes.data, POINTER(c_double))
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getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
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return
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else:
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# dimension check
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dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
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dims_data = cast(dims.ctypes.data, POINTER(c_int))
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self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
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self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
|
|
|
|
value_ = np.ravel(value_, order='F')
|
|
|
|
value_shape = value_.shape
|
|
if len(value_shape) == 1:
|
|
value_shape = (value_shape[0], 0)
|
|
|
|
if value_shape != tuple(dims):
|
|
raise Exception('AcadosSimSolver.set(): mismatching dimension' \
|
|
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
|
|
|
|
# set
|
|
if field_ in ['xdot', 'z']:
|
|
self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
|
|
self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
|
|
elif field_ in self.settable:
|
|
self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
|
|
self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
|
|
else:
|
|
raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
|
|
f' available fields are {", ".join(self.settable)}')
|
|
|
|
return
|
|
|
|
|
|
def __del__(self):
|
|
|
|
if self.solver_created:
|
|
getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p]
|
|
getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int
|
|
getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule)
|
|
|
|
getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p]
|
|
getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int
|
|
getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule)
|
|
|
|
try:
|
|
self.dlclose(self.shared_lib._handle)
|
|
except:
|
|
pass
|
|
|