- join constraints and algebraic vars

git-svn-id: https://openmodelica.org/svn/OpenModelica/trunk@19141 f25d12d1-65f4-0310-ae8a-bbce733d8d8e

Compiler/BackEnd/SimCodeUtil.mo

@@ -8718,18 +8718,18 @@ algorithm
                             stringAlgVars, stringParamVars, extObjVars, constVars, intConstVars, boolConstVars,
                             stringConstVars, jacobianVars, realOptimizeConstraintsVars;
       Integer numStateVars,numInlineVars,numAlgVars,numIntAlgVars,numBoolAlgVars,numAlgAliasVars,numIntAliasVars;
-      Integer numBoolAliasVars,numParams,numIntParams,numBoolParams,numOutVars,numInVars,size;
+      Integer numBoolAliasVars,numParams,numIntParams,numBoolParams,numOutVars,numInVars,numOptimizeConstraints, size;
     case (SimCode.MODELINFO(varInfo = SimCode.VARINFO(numStateVars=numStateVars,numInlineVars=numInlineVars,numAlgVars=numAlgVars,
       numIntAlgVars=numIntAlgVars,numBoolAlgVars=numBoolAlgVars,numAlgAliasVars=numAlgAliasVars,numIntAliasVars=numIntAliasVars,
       numBoolAliasVars=numBoolAliasVars,numParams=numParams,numIntParams=numIntParams,numBoolParams=numBoolParams,
-      numOutVars=numOutVars,numInVars=numInVars),
+      numOutVars=numOutVars,numInVars=numInVars, numOptimizeConstraints= numOptimizeConstraints),
       vars = SimCode.SIMVARS(
       stateVars, derivativeVars, inlineVars, algVars, intAlgVars, boolAlgVars, 
       _/*inputVars*/, _/*outputVars*/, aliasVars, intAliasVars, boolAliasVars, paramVars, intParamVars, boolParamVars, 
       stringAlgVars, stringParamVars, stringAliasVars, extObjVars, constVars, intConstVars, boolConstVars, stringConstVars, jacobianVars, realOptimizeConstraintsVars)))
       equation
         size = numStateVars+numInlineVars+numAlgVars+numIntAlgVars+numBoolAlgVars+numAlgAliasVars+numIntAliasVars+
-               numBoolAliasVars+numParams+numIntParams+numBoolParams+numOutVars+numInVars;
+               numBoolAliasVars+numParams+numIntParams+numBoolParams+numOutVars+numInVars + numOptimizeConstraints;
         size = intMax(size,1000);
         ht = emptyHashTableSized(size);
         ht = List.fold(stateVars, addSimVarToHashTable, ht);

Compiler/Template/CodegenC.tpl

@@ -755,7 +755,7 @@ template populateModelInfo(ModelInfo modelInfo, String fileNamePrefix, String gu
     #endif
 
     data->modelData.nStates = <%varInfo.numStateVars%>;
-    data->modelData.nVariablesReal = 2*<%varInfo.numStateVars%>+<%varInfo.numAlgVars%>;
+    data->modelData.nVariablesReal = 2*<%varInfo.numStateVars%>+<%varInfo.numAlgVars%>+<%varInfo.numOptimizeConstraints%>;
     data->modelData.nDiscreteReal = <%varInfo.numDiscreteReal%>;
     data->modelData.nVariablesInteger = <%varInfo.numIntAlgVars%>;
     data->modelData.nVariablesBoolean = <%varInfo.numBoolAlgVars%>;
@@ -858,7 +858,7 @@ template variableDefinitions(ModelInfo modelInfo, BackendDAE.SampleLookup sample
   let () = System.tmpTickReset(1000)
 
   match modelInfo
-    case MODELINFO(varInfo=VARINFO(numStateVars=numStateVars), vars=SIMVARS(__)) then
+    case MODELINFO(varInfo=VARINFO(numStateVars=numStateVars, numAlgVars= numAlgVars), vars=SIMVARS(__)) then
       <<
       #define time data->localData[0]->timeValue
 
@@ -871,17 +871,22 @@ template variableDefinitions(ModelInfo modelInfo, BackendDAE.SampleLookup sample
       <%vars.derivativeVars |> var =>
         globalDataVarDefine(var, "realVars", numStateVars)
       ;separator="\n"%>
-
+
+      /* Algebraic Vars */
+      <%vars.algVars |> var =>
+        globalDataVarDefine(var, "realVars", intMul(2, numStateVars) )
+      ;separator="\n"%>
+
+      /* Nonlinear Constraints For Optimization */
+      <%vars.realOptimizeConstraintsVars |> var =>
+        globalDataVarDefine(var, "realVars", intAdd(intMul(2, numStateVars),numAlgVars))
+      ;separator="\n"%>
+
       /* InlineSolver Vars */
       <%vars.inlineVars |> var =>
         globalDataVarDefine(var, "inlineVars", 0)
       ;separator="\n"%>
 
-      /* Algebraic Vars */
-      <%vars.algVars |> var =>
-        globalDataVarDefine(var, "realVars", intMul(2, numStateVars))
-      ;separator="\n"%>
-
       /* Algebraic Parameter */
       <%vars.paramVars |> var =>
         globalDataParDefine(var, "realParameter")
@@ -921,11 +926,6 @@ template variableDefinitions(ModelInfo modelInfo, BackendDAE.SampleLookup sample
       <%vars.stringParamVars |> var =>
         globalDataParDefine(var, "stringParameter")
       ;separator="\n"%>
-
-      /* Nonlinear Constraints For Optimization */
-      <%vars.realOptimizeConstraintsVars |> var =>
-        variableDefinitionsOptimizationsConstraints(var, "optConstraints", 0)
-      ;separator="\n"%>
 
       /* sample */
       <%match sampleLookup
@@ -4275,7 +4275,7 @@ case SIMCODE(modelInfo = MODELINFO(functions = functions, varInfo = vi as VARINF
     numberOfFunctions                   = "<%listLength(functions)%>"  cmt_numberOfFunctions                   = "NFUNC:    number of functions used by the simulation,         OMC"
 
     numberOfContinuousStates            = "<%vi.numStateVars%>"  cmt_numberOfContinuousStates            = "NX:       number of states,                                   FMI"
-    numberOfRealAlgebraicVariables      = "<%vi.numAlgVars%>"  cmt_numberOfRealAlgebraicVariables      = "NY:       number of real variables,                           OMC"
+    numberOfRealAlgebraicVariables      = "<%intAdd(vi.numAlgVars,vi.numOptimizeConstraints)%>"  cmt_numberOfRealAlgebraicVariables      = "NY:       number of real variables,                           OMC"
     numberOfRealAlgebraicAliasVariables = "<%vi.numAlgAliasVars%>"  cmt_numberOfRealAlgebraicAliasVariables = "NA:       number of alias variables,                          OMC"
     numberOfRealParameters              = "<%vi.numParams%>"  cmt_numberOfRealParameters              = "NP:       number of parameters,                               OMC"
 
@@ -10385,14 +10385,17 @@ template ModelVariables(ModelInfo modelInfo)
  "Generates code for ModelVariables file for FMU target."
 ::=
   match modelInfo
-    case MODELINFO(vars=SIMVARS(__)) then
+    case MODELINFO(vars=SIMVARS(__),varInfo=VARINFO(numAlgVars= numAlgVars)) then
       <<
       <ModelVariables>
       <%System.tmpTickReset(1000)%>
 
       <%vars.stateVars       |> var hasindex i0 => ScalarVariable(var,i0,"rSta") ;separator="\n";empty%>
       <%vars.derivativeVars  |> var hasindex i0 => ScalarVariable(var,i0,"rDer") ;separator="\n";empty%>
       <%vars.algVars         |> var hasindex i0 => ScalarVariable(var,i0,"rAlg") ;separator="\n";empty%>
+      <%vars.realOptimizeConstraintsVars 
+                             |> var hasindex i0 => ScalarVariable(var,intAdd(i0,numAlgVars),"rAlg") ;separator="\n";empty%>
+
       <%vars.paramVars       |> var hasindex i0 => ScalarVariable(var,i0,"rPar") ;separator="\n";empty%>
       <%vars.aliasVars       |> var hasindex i0 => ScalarVariable(var,i0,"rAli") ;separator="\n";empty%>
 

SimulationRuntime/c/optimization/constraints/evalfG.c

@@ -227,7 +227,7 @@ int num_diff_symColoredODE(double *v, double t, IPOPT_DATA_ *iData, double **J)
 
     functionODE_(x, u, t, iData->lhs, iData);
     if(iData->nc > 0)
-      memcpy(iData->lhs + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+      memcpy(iData->lhs + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
 
     for(ii = 0; ii<nx; ++ii)
       if(cC[ii] == i)
@@ -238,7 +238,7 @@ int num_diff_symColoredODE(double *v, double t, IPOPT_DATA_ *iData, double **J)
 
     functionODE_(x, u, t, iData->rhs, iData);
     if(iData->nc > 0)
-      iData->data->callback->pathConstraints(iData->data,iData->rhs + iData->nx,&iData->nc);
+    	memcpy(iData->rhs + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
 
     memcpy(v, iData->vsave, sizeof(double)*nx);
 
@@ -322,7 +322,7 @@ static inline int evalG11(Number *g, IPOPT_DATA_ *iData, double *x0, int i)
   for(j=0; j<iData->nx; ++j)
     g[j] = (iData->a1[0]*x0[j] + iData->a1[3]*iData->x3[j] + iData->scalf[j]*iData->dt[i]*iData->dotx1[j]) - (iData->a1[1]*iData->x1[j] + iData->a1[2]*iData->x2[j]);
 
-  memcpy(g + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+  memcpy(g + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
   return 0;
 
 }
@@ -337,7 +337,7 @@ static inline int evalG12(Number *g, IPOPT_DATA_ *iData, double *x0, int i)
   for(j=0; j<iData->nx; ++j)
     g[j] = (iData->a2[1]*iData->x1[j] + iData->scalf[j]*iData->dt[i]*iData->dotx2[j]) - (iData->a2[0]*x0[j] + iData->a2[2]*iData->x2[j] + iData->a2[3]*iData->x3[j]);
 
-  memcpy(g + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+  memcpy(g + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
   return 0;
 
 }
@@ -352,7 +352,7 @@ static inline int evalG13(Number *g, IPOPT_DATA_ *iData, double *x0, int i)
   for(j=0; j<iData->nx; ++j)
     g[j] = (iData->a3[0]*x0[j] + iData->a3[2]*iData->x2[j] + iData->scalf[j]*iData->dt[i]*iData->dotx3[j]) - (iData->a3[1]*iData->x1[j] + iData->a3[3]*iData->x3[j]);
 
-  memcpy(g + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+  memcpy(g + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
   return 0;
 
 }
@@ -367,7 +367,7 @@ static inline int evalG21(Number *g, IPOPT_DATA_ *iData, double *x0, int i)
   for(j=0; j<iData->nx; ++j)
     g[j] = (iData->scalf[j]*iData->dt[i]*(iData->dotx1[j] + iData->d1[4]*iData->dotx0[j]) + iData->d1[0]*x0[j] + iData->d1[3]*iData->x3[j]) - (iData->d1[1]*iData->x1[j] + iData->d1[2]*iData->x2[j]);
 
-  memcpy(g + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+  memcpy(g + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
   return 0;
 
 }
@@ -382,7 +382,7 @@ static inline int evalG22(Number *g, IPOPT_DATA_ *iData, double *x0, int i)
   for(j=0; j<iData->nx; ++j)
     g[j] = (iData->scalf[j]*iData->dt[i]*iData->dotx2[j] + iData->d2[1]*iData->x1[j]) - (iData->scalf[j]*iData->dt[i]*iData->d2[4]*iData->dotx0[j] + iData->d2[0]*x0[j] + iData->d2[2]*iData->x2[j] + iData->d2[3]*iData->x3[j]);
 
-  memcpy(g + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+  memcpy(g + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
   return 0;
 
 }
@@ -397,7 +397,7 @@ static inline int evalG23(Number *g, IPOPT_DATA_ *iData, double *x0, int i)
   for(j=0; j<iData->nx; ++j)
     g[j] = (iData->scalf[j]*iData->dt[i]*(iData->d3[4]*iData->dotx0[j] + iData->dotx3[j]) + iData->d3[0]*x0[j] + iData->d3[2]*iData->x2[j]) - (iData->d3[1]*iData->x1[j] + iData->d3[3]*iData->x3[j]);
 
-  memcpy(g + iData->nx, iData->data->simulationInfo.optConstraints, sizeof(double)*iData->nc);
+  memcpy(g + iData->nx, &iData->data->localData[0]->realVars[iData->data->modelData.nVariablesReal - iData->nc], sizeof(double)*iData->nc);
   return 0;
 
 }

SimulationRuntime/c/simulation/solver/model_help.c

@@ -490,7 +490,6 @@ void setAllStartToVars(DATA *data)
   SIMULATION_DATA *sData = data->localData[0];
   MODEL_DATA      *mData = &(data->modelData);
   long i;
-
   debugStreamPrint(LOG_DEBUG, 1, "the start-attribute of all variables to their current values:");
   for(i=0; i<mData->nVariablesReal; ++i)
   {
@@ -854,10 +853,6 @@ void initializeDataStruc(DATA *data)
   data->modelData.modelDataXml.functionNames = NULL;
   data->modelData.modelDataXml.equationInfo = NULL;
 
-  /*optimization:  constraints */
-  data->simulationInfo.optConstraints =  (data->modelData.nOptimizeConstraints > 0) ? (modelica_real*) malloc(data->modelData.nOptimizeConstraints*sizeof(modelica_real)) : NULL;
-
-
   /* buffer for external objects */
   data->simulationInfo.extObjs = NULL;
   data->simulationInfo.extObjs = (void**) calloc(data->modelData.nExtObjs, sizeof(void*));
@@ -1022,10 +1017,6 @@ void deInitializeDataStruc(DATA *data)
   free(data->simulationInfo.chatteringInfo.lastSteps);
   free(data->simulationInfo.chatteringInfo.lastTimes);
 
-  /*free optimization: constraints */
-  if(data->simulationInfo.optConstraints)
-    free(data->simulationInfo.optConstraints);
-
   /* TODO: Make a free xml function */
   freeModelInfoXml(&data->modelData.modelDataXml);
 

SimulationRuntime/c/simulation_data.h

@@ -368,7 +368,7 @@ typedef struct MODEL_DATA_XML
 
 typedef struct MODEL_DATA
 {
-  STATIC_REAL_DATA* realVarsData;     /* states + derived states + algs + discrete */
+  STATIC_REAL_DATA* realVarsData;     /* states + derived states + algs + constrainsOpt + discrete */
   STATIC_INTEGER_DATA* integerVarsData;
   STATIC_BOOLEAN_DATA* booleanVarsData;
   STATIC_STRING_DATA* stringVarsData;
@@ -490,8 +490,6 @@ typedef struct SIMULATION_INFO
   modelica_real* inputVars;
   modelica_real* outputVars;
 
-  modelica_real* optConstraints;
-
   ANALYTIC_JACOBIAN* analyticJacobians;
 
   NONLINEAR_SYSTEM_DATA* nonlinearSystemData;