Function codegen_data_source

src/tinympc/codegen.cpp:170–382

Create src/tiny_data.cpp file

// Create src/tiny_data.cpp file
int codegen_data_source(TinySolver* solver, const char* output_dir, int verbose) {
    char data_cpp_fname[PATH_LENGTH];
    FILE *data_cpp_f;

    int nx = solver->work->nx;
    int nu = solver->work->nu;
    int N = solver->work->N;

    sprintf(data_cpp_fname, "%s/src/tiny_data.cpp", output_dir);

    // Open data source file
    data_cpp_f = fopen(data_cpp_fname, "w+");
    if (data_cpp_f == NULL)
        ERROR_MSG(EXIT_FAILURE, "Failed to open file %s", data_cpp_fname);

    // Preamble
    time_t start_time;
    time(&start_time);
    fprintf(data_cpp_f, "/*\n");
    fprintf(data_cpp_f, " * This file was autogenerated by TinyMPC on %s", ctime(&start_time));
    fprintf(data_cpp_f, " */\n\n");

    // Open extern C
    fprintf(data_cpp_f, "#include \"tinympc/tiny_data.hpp\"\n\n");
    fprintf(data_cpp_f, "#ifdef __cplusplus\n");
    fprintf(data_cpp_f, "extern \"C\" {\n");
    fprintf(data_cpp_f, "#endif\n\n");

    // Solution
    fprintf(data_cpp_f, "/* Solution */\n");
    fprintf(data_cpp_f, "TinySolution solution = {\n");

    fprintf(data_cpp_f, "\t%d,\t\t// iter\n", solver->solution->iter);
    fprintf(data_cpp_f, "\t%d,\t\t// solved\n", solver->solution->solved);
    fprintf(data_cpp_f, "\t(tinyMatrix(%d, %d) << ", nx, N);
    print_matrix(data_cpp_f, MatrixXd::Zero(nx, N), nx * N);
    fprintf(data_cpp_f, ").finished(),\t// x\n"); // x solution
    fprintf(data_cpp_f, "\t(tinyMatrix(%d, %d) << ", nu, N-1);
    print_matrix(data_cpp_f, MatrixXd::Zero(nu, N-1), nu * (N-1));
    fprintf(data_cpp_f, ").finished(),\t// x\n"); // u solution

    fprintf(data_cpp_f, "};\n\n");

    // Cache
    fprintf(data_cpp_f, "/* Matrices that must be recomputed with changes in time step, rho */\n");
    fprintf(data_cpp_f, "TinyCache cache = {\n");

    fprintf(data_cpp_f, "\t(tinytype)%.16f,\t// rho (step size/penalty)\n", solver->cache->rho);
    fprintf(data_cpp_f, "\t(tinyMatrix(%d, %d) << ", nu, nx);
    print_matrix(data_cpp_f, solver->cache->Kinf, nu * nx);
    fprintf(data_cpp_f, ").finished(),\t// Kinf\n"); // Kinf
    fprintf(data_cpp_f, "\t(tinyMatrix(%d, %d) << ", nx, nx);
    print_matrix(data_cpp_f, solver->cache->Pinf, nx * nx);
    fprintf(data_cpp_f, ").finished(),\t// Pinf\n"); // Pinf
    fprintf(data_cpp_f, "\t(tinyMatrix(%d, %d) << ", nu, nu);
    print_matrix(data_cpp_f, solver->cache->Quu_inv, nu * nu);
    fprintf(data_cpp_f, ").finished(),\t// Quu_inv\n"); // Quu_inv
    fprintf(data_cpp_f, "\t(tinyMatrix(%d, %d) << ", nx, nx);