osqp_setup now returns exitflags

osqp · Mar 20, 2019 · 78d1135 · 78d1135
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commit 78d1135
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diff --git a/docs/conf.py b/docs/conf.py
@@ -51,7 +51,7 @@
 
 # General information about the project.
 project = 'OSQP'
-copyright = '2018, Bartolomeo Stellato, Goran Banjac'
+copyright = '2019, Bartolomeo Stellato, Goran Banjac'
 author = 'Bartolomeo Stellato, Goran Banjac'
 
 # The version info for the project you're documenting, acts as replacement for

diff --git a/docs/examples/demo.rst b/docs/examples/demo.rst
@@ -132,13 +132,12 @@ C
         data->l = l;
         data->u = u;
 
-
         // Define Solver settings as default
         osqp_set_default_settings(settings);
         settings->alpha = 1.0; // Change alpha parameter
 
         // Setup workspace
-        work = osqp_setup(data, settings);
+        osqp_setup(&work, data, settings);
 
         // Solve Problem
         osqp_solve(work);

diff --git a/examples/osqp_demo.c b/examples/osqp_demo.c
@@ -4,27 +4,20 @@
 
 int main(int argc, char **argv) {
   // Load problem data
-  c_float P_x[4] =
-  { 4.00000000000000000000, 1.00000000000000000000, 1.00000000000000000000,
-    2.00000000000000000000, };
-  c_int   P_nnz  = 4;
-  c_int   P_i[4] = { 0, 1, 0, 1, };
-  c_int   P_p[3] = { 0, 2, 4, };
-  c_float q[2]   = { 1.00000000000000000000, 1.00000000000000000000, };
-  c_float A_x[4] =
-  { 1.00000000000000000000, 1.00000000000000000000, 1.00000000000000000000,
-    1.00000000000000000000, };
-  c_int   A_nnz  = 4;
-  c_int   A_i[4] = { 0, 1, 0, 2, };
-  c_int   A_p[3] = { 0, 2, 4, };
-  c_float l[3]   =
-  { 1.00000000000000000000, 0.00000000000000000000, 0.00000000000000000000, };
-  c_float u[3] =
-  { 1.00000000000000000000, 0.69999999999999995559, 0.69999999999999995559, };
+  c_float P_x[4] = { 4.0, 1.0, 1.0, 2.0, };
+  c_int P_nnz  = 4;
+  c_int P_i[4] = { 0, 1, 0, 1, };
+  c_int P_p[3] = { 0, 2, 4, };
+  c_float q[2]   = { 1.0, 1.0, };
+  c_float A_x[4] = { 1.0, 1.0, 1.0, 1.0, };
+  c_int A_nnz  = 4;
+  c_int A_i[4] = { 0, 1, 0, 2, };
+  c_int A_p[3] = { 0, 2, 4, };
+  c_float l[3]   = { 1.0, 0.0, 0.0, };
+  c_float u[3] = { 1.0, 0.7, 0.7, };
   c_int n = 2;
   c_int m = 3;
 
-
   // Problem settings
   OSQPSettings *settings = (OSQPSettings *)c_malloc(sizeof(OSQPSettings));
 
@@ -33,7 +26,7 @@ int main(int argc, char **argv) {
   OSQPData *data;      // OSQPData
 
   // Populate data
-  data    = (OSQPData *)c_malloc(sizeof(OSQPData));
+  data = (OSQPData *)c_malloc(sizeof(OSQPData));
   data->n = n;
   data->m = m;
   data->P = csc_matrix(data->n, data->n, P_nnz, P_x, P_i, P_p);
@@ -42,12 +35,11 @@ int main(int argc, char **argv) {
   data->l = l;
   data->u = u;
 
-
-  // Define Solver settings as default
+  // Define solver settings as default
   osqp_set_default_settings(settings);
 
   // Setup workspace
-  work = osqp_setup(data, settings);
+  osqp_setup(&work, data, settings);
 
   // Solve Problem
   osqp_solve(work);
@@ -59,6 +51,5 @@ int main(int argc, char **argv) {
   c_free(data);
   c_free(settings);
 
-
   return 0;
 }
diff --git a/include/constants.h b/include/constants.h
@@ -12,6 +12,15 @@ extern "C" {
 # define OSQP_VERSION ("0.5.0") /* string literals automatically null-terminated
                                    */
 
+/******************
+* Setup Status  *
+******************/
+# define OSQP_DATA_VALIDATION_ERROR (1)
+# define OSQP_SETTINGS_VALIDATION_ERROR (2)
+# define OSQP_WORKSPACE_ALLOCATION_ERROR (3)
+# define OSQP_LOAD_LINSYS_SOLVER_ERROR (4)
+# define OSQP_INIT_LINSYS_SOLVER_ERROR (5)
+
 
 /******************
 * Solver Status  *

diff --git a/include/osqp.h b/include/osqp.h
@@ -50,12 +50,12 @@ void osqp_set_default_settings(OSQPSettings *settings);
  * NB: This is the only function that allocates dynamic memory and is not used
  *during code generation
  *
+ * @param  work         Solver workspace
  * @param  data         Problem data
  * @param  settings     Solver settings
- * @return              Solver environment
+ * @return              Exitflag for errors (0 if no errors)
  */
-OSQPWorkspace* osqp_setup(const OSQPData *data,
-                          OSQPSettings   *settings);
+c_int osqp_setup(OSQPWorkspace** work, const OSQPData* data, const OSQPSettings* settings);
 
 # endif // #ifndef EMBEDDED
 

diff --git a/include/types.h b/include/types.h
@@ -314,25 +314,25 @@ typedef struct {
  *      on the choice
  */
 struct linsys_solver {
-  enum linsys_solver_type type; ///< Linear system solver type (see type.h)
+  enum linsys_solver_type type; ///< Linear system solver type
   // Functions
   c_int (*solve)(LinSysSolver       *self,
                  c_float            *b,
                  const OSQPSettings *settings); ///< Solve linear system
 
-    # ifndef EMBEDDED
+# ifndef EMBEDDED
   void (*free)(LinSysSolver *self);             ///< Free linear system solver
                                                 // (only in desktop version)
-    # endif // ifndef EMBEDDED
+# endif // ifndef EMBEDDED
 
-    # if EMBEDDED != 1
+# if EMBEDDED != 1
   c_int (*update_matrices)(LinSysSolver *self, const csc *P, const csc *A,
                            const OSQPSettings *settings); ///< Update matrices P
                                                           // and A in the solver
   c_int (*update_rho_vec)(LinSysSolver  *s,
                           const c_float *rho_vec,
                           const c_int    m);              ///< Update rho
-    # endif // if EMBEDDED != 1
+# endif // if EMBEDDED != 1
 
 # ifndef EMBEDDED
   c_int nthreads; ///< Number of threads active

diff --git a/include/util.h b/include/util.h
@@ -30,7 +30,7 @@ const char* osqp_version(void);
  * @param  settings Settings to be copied
  * @return          New settings structure
  */
-OSQPSettings* copy_settings(OSQPSettings *settings);
+OSQPSettings* copy_settings(const OSQPSettings *settings);
 
 # endif // #ifndef EMBEDDED
 
@@ -94,9 +94,9 @@ void print_footer(OSQPInfo *info,
   // Some R packages clash with elements
   // of the windows.h header, so use a
   // slimmer version for conflict avoidance
-  # ifdef R_LANG
-    #define NOGDI
-  # endif
+# ifdef R_LANG
+#define NOGDI
+# endif
 
 #   include <windows.h>
 

diff --git a/lin_sys/direct/pardiso/pardiso_interface.h b/lin_sys/direct/pardiso/pardiso_interface.h
@@ -39,7 +39,7 @@ struct pardiso {
      */
     // Attributes
     csc *KKT;         ///< KKT matrix (in CSR format!)
-    c_int *KKT_i;     ///< KKT column ondeces in 1-indexing for Pardiso
+    c_int *KKT_i;     ///< KKT column indices in 1-indexing for Pardiso
     c_int *KKT_p;     ///< KKT row pointers in 1-indexing for Pardiso
     c_float *bp;      ///< workspace memory for solves (rhs)
 

diff --git a/lin_sys/direct/qdldl/qdldl_interface.c b/lin_sys/direct/qdldl/qdldl_interface.c
@@ -104,12 +104,12 @@ static c_int permute_KKT(csc ** KKT, qdldl_solver * p, c_int Pnz, c_int Anz, c_i
 
     info = (c_float *)c_malloc(AMD_INFO * sizeof(c_float));
 
-    // Compute permutation metrix P using AMD
-    #ifdef DLONG
+    // Compute permutation matrix P using AMD
+#ifdef DLONG
     amd_status = amd_l_order((*KKT)->n, (*KKT)->p, (*KKT)->i, p->P, (c_float *)OSQP_NULL, info);
-    #else
+#else
     amd_status = amd_order((*KKT)->n, (*KKT)->p, (*KKT)->i, p->P, (c_float *)OSQP_NULL, info);
-    #endif
+#endif
     if (amd_status < 0) return (amd_status);
 
 
@@ -247,9 +247,9 @@ qdldl_solver *init_linsys_solver_qdldl(const csc * P, const csc * A, c_float sig
 
     // Check if matrix has been created
     if (!KKT_temp){
-        #ifdef PRINTING
-            c_eprint("Error forming and permuting KKT matrix");
-        #endif
+#ifdef PRINTING
+        c_eprint("Error forming and permuting KKT matrix");
+#endif
         return OSQP_NULL;
     }
 
@@ -271,14 +271,14 @@ qdldl_solver *init_linsys_solver_qdldl(const csc * P, const csc * A, c_float sig
     // Link Functions
     p->solve = &solve_linsys_qdldl;
 
-    #ifndef EMBEDDED
+#ifndef EMBEDDED
     p->free = &free_linsys_solver_qdldl;
-    #endif
+#endif
 
-    #if EMBEDDED != 1
+#if EMBEDDED != 1
     p->update_matrices = &update_linsys_solver_matrices_qdldl;
     p->update_rho_vec = &update_linsys_solver_rho_vec_qdldl;
-    #endif
+#endif
 
     // Assign type
     p->type = QDLDL_SOLVER;

diff --git a/lin_sys/direct/qdldl/qdldl_interface.h b/lin_sys/direct/qdldl/qdldl_interface.h
@@ -22,19 +22,19 @@ struct qdldl {
      */
     c_int (*solve)(struct qdldl * self, c_float * b, const OSQPSettings * settings);
 
-    #ifndef EMBEDDED
+#ifndef EMBEDDED
     void (*free)(struct qdldl * self); ///< Free workspace (only if desktop)
-    #endif
+#endif
 
     // This used only in non embedded or embedded 2 version
-    #if EMBEDDED != 1
+#if EMBEDDED != 1
     c_int (*update_matrices)(struct qdldl * self, const csc *P, const csc *A, const OSQPSettings *settings); ///< Update solver matrices
     c_int (*update_rho_vec)(struct qdldl * self, const c_float * rho_vec, const c_int m); ///< Update solver matrices
-    #endif
+#endif
 
-    #ifndef EMBEDDED
+#ifndef EMBEDDED
     c_int nthreads;
-    #endif
+#endif
     /** @} */
 
     /**
@@ -47,7 +47,7 @@ struct qdldl {
     c_float *bp;    ///< workspace memory for solves
 
 
-    #if EMBEDDED != 1
+#if EMBEDDED != 1
     // These are required for matrix updates
     c_int * Pdiag_idx, Pdiag_n;  ///< index and number of diagonal elements in P
     csc   * KKT;                 ///< Permuted KKT matrix in sparse form (used to update P and A matrices)
@@ -60,7 +60,7 @@ struct qdldl {
     QDLDL_int   *iwork;
     QDLDL_bool  *bwork;
     QDLDL_float *fwork;
-    #endif
+#endif
 
     /** @} */
 };