mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-09-30 11:23:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Cython acados and minor (#23835)

Browse Source 
* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints

* long_mpc: use acados timers

* acados_ocp_solver_pyx.pyx: fix dynamics_get

* acados_ocp_solver_pyx.pyx: get statistics

* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch

* acados_ocp_solver_pyx.pyx: implement store_iterate

* acados_ocp_solver_pyx.pyx: implement get_residuals

* acados_ocp_solver_pyx.pyx: fix set() for empty fields

* acados_ocp_solver_pyx.pyx: load_iterate

* cython acados: add print_statistics

* test_following_distance: fix typo

* test_longitudinal: unique names for test maneuvers

* longitudinal MPC: comments for evaluation

* longitudinal MPC: add comments to eval acados residuals

* long_mpc: use qp_solver_cond_N = 1

* long MPC: comments, simplify set_cur_state

* update acados version in build script

* longitudinal mpc: weigh a_change in 1 place only

* update ref

* Update ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
This commit is contained in:
Jonathan Frey
2022-02-25 23:16:44 +01:00
committed by GitHub
parent ca8d4e417e
commit d09dffb7cd
7 changed files with 167 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pyextra/acados_template/acados_ocp_solver_pyx.pyx
+135 -17
View File
@@ -44,6 +44,8 @@ cimport acados_solver
cimport numpy as cnp
import os
import json
from datetime import datetime
import numpy as np
@@ -51,9 +53,8 @@ cdef class AcadosOcpSolverFast:
"""
Class to interact with the acados ocp solver C object.
:param acados_ocp: type AcadosOcp - description of the OCP for acados
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
:param model_name:
:param N:
"""
cdef acados_solver.nlp_solver_capsule *capsule
@@ -68,7 +69,7 @@ cdef class AcadosOcpSolverFast:
cdef int N
cdef bint solver_created
def __cinit__(self, str model_name, int N, str code_export_dir):
def __cinit__(self, str model_name, int N):
self.model_name = model_name
self.N = N
@@ -168,7 +169,7 @@ cdef class AcadosOcpSolverFast:
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
- qp_res_comp: residual wrt complementarity conditions of the last QP solution
"""
raise NotImplementedError()
acados_solver.acados_print_stats(self.capsule)
def store_iterate(self, filename='', overwrite=False):
@@ -178,14 +179,48 @@ cdef class AcadosOcpSolverFast:
:param filename: if not set, use model_name + timestamp + '.json'
:param overwrite: if false and filename exists add timestamp to filename
"""
raise NotImplementedError()
if filename == '':
filename += self.model_name + '_' + 'iterate' + '.json'
if not overwrite:
# append timestamp
if os.path.isfile(filename):
filename = filename[:-5]
filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
# get iterate:
solution = dict()
for i in range(self.N+1):
solution['x_'+str(i)] = self.get(i,'x')
solution['u_'+str(i)] = self.get(i,'u')
solution['z_'+str(i)] = self.get(i,'z')
solution['lam_'+str(i)] = self.get(i,'lam')
solution['t_'+str(i)] = self.get(i, 't')
solution['sl_'+str(i)] = self.get(i, 'sl')
solution['su_'+str(i)] = self.get(i, 'su')
for i in range(self.N):
solution['pi_'+str(i)] = self.get(i,'pi')
# save
with open(filename, 'w') as f:
json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
print("stored current iterate in ", os.path.join(os.getcwd(), filename))
def load_iterate(self, filename):
"""
Loads the iterate stored in json file with filename into the ocp solver.
"""
raise NotImplementedError()
if not os.path.isfile(filename):
raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
with open(filename, 'r') as f:
solution = json.load(f)
for key in solution.keys():
(field, stage) = key.split('_')
self.set(int(stage), field, np.array(solution[key]))
def get_stats(self, field_):
@@ -194,7 +229,67 @@ cdef class AcadosOcpSolverFast:
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
"""
raise NotImplementedError()
fields = ['time_tot', # total cpu time previous call
'time_lin', # cpu time for linearization
'time_sim', # cpu time for integrator
'time_sim_ad', # cpu time for integrator contribution of external function calls
'time_sim_la', # cpu time for integrator contribution of linear algebra
'time_qp', # cpu time qp solution
'time_qp_solver_call', # cpu time inside qp solver (without converting the QP)
'time_qp_xcond',
'time_glob', # cpu time globalization
'time_reg', # cpu time regularization
'sqp_iter', # number of SQP iterations
'qp_iter', # vector of QP iterations for last SQP call
'statistics', # table with info about last iteration
'stat_m',
'stat_n',]
field = field_
field = field.encode('utf-8')
if (field_ not in fields):
raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
\n Possible values are {}. Exiting.'.format(fields, fields))
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
return self.__get_stat_int(field)
elif field_.startswith('time'):
return self.__get_stat_double(field)
elif field_ == 'statistics':
sqp_iter = self.get_stats("sqp_iter")
stat_m = self.get_stats("stat_m")
stat_n = self.get_stats("stat_n")
min_size = min([stat_m, sqp_iter+1])
return self.__get_stat_matrix(field, stat_n+1, min_size)
elif field_ == 'qp_iter':
NotImplementedError("TODO! Cython not aware if SQP or SQP_RTI")
full_stats = self.get_stats('statistics')
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
out = full_stats[6, :]
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
out = full_stats[2, :]
else:
NotImplementedError("TODO!")
def __get_stat_int(self, field):
cdef int out
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
return out
def __get_stat_double(self, field):
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
return out
def __get_stat_matrix(self, field, n, m):
cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
return out_mat
def get_cost(self):
@@ -217,7 +312,32 @@ cdef class AcadosOcpSolverFast:
"""
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
"""
raise NotImplementedError()
# TODO: check if RTI, only eval then
# if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
# compute residuals if RTI
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
# create output array
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
cdef double double_value
field = "res_stat".encode('utf-8')
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
out[0] = double_value
field = "res_eq".encode('utf-8')
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
out[1] = double_value
field = "res_ineq".encode('utf-8')
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
out[2] = double_value
field = "res_comp".encode('utf-8')
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
out[3] = double_value
return out
# Note: this function should not be used anymore, better use cost_set, constraints_set
@@ -246,12 +366,11 @@ cdef class AcadosOcpSolverFast:
field = field_.encode('utf-8')
cdef double[::1] value
cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
# treat parameters separately
if field_ == 'p':
value = np.ascontiguousarray(value_, dtype=np.double)
assert acados_solver.acados_update_params(self.capsule, stage, <double *> &value[0], value.shape[0]) == 0
assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
else:
if field_ not in constraints_fields + cost_fields + out_fields:
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
@@ -266,16 +385,15 @@ cdef class AcadosOcpSolverFast:
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
raise Exception(msg)
value = np.ascontiguousarray(value_, dtype=np.double)
if field_ in constraints_fields:
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
elif field_ in cost_fields:
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
elif field_ in out_fields:
acados_solver_common.ocp_nlp_out_set(self.nlp_config,
self.nlp_dims, self.nlp_out, stage, field, <void *> &value[0])
self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
def cost_set(self, int stage, str field_, value_):
@@ -361,7 +479,7 @@ cdef class AcadosOcpSolverFast:
acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
# create output data
out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
# call getter
acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)