Merge pull request #161 from alphaville/fix/159

Fix for #159: project-specific icasadi and tcp_iface

.gitignore

@@ -8,6 +8,10 @@ target/
 *.egg-info
 *.pyc
 open-codegen/opengen/icasadi/extern/Makefile
+virt
+data
+my_optimizers
+.python_test_build
 
 # Python tests create this folder:
 open-codegen/opengen/.python_test_build/

.travis.yml

@@ -30,7 +30,7 @@ matrix:
 
 
     # ------------------------------------------------------
-    # Linux Trusty distributions, Python 3.6 and 2.7
+    # Linux Trusty distribution, Python 3.6 and 2.7
     # Stable Rust
     # ------------------------------------------------------
     #
@@ -67,8 +67,7 @@ matrix:
       env:
         - TARGET=i686-apple-darwin
         - PYTHON_VERSION=3.7.5
-      rust: stable
-      # Note: Python 3.6 is available by default
+      rust: stable      
       python: "3.7.5"
 
 

ci/install.sh

@@ -1,9 +1,7 @@
 set -euxo pipefail
 
 main() {
-    if [ $TARGET != x86_64-unknown-linux-gnu ]; then
-        rustup target add $TARGET
-    fi
+    rustup toolchain remove stable && rustup toolchain install stable
     sudo pip install --upgrade pip
     sudo pip install virtualenv --upgrade --ignore-installed six
 }

ci/script.sh

@@ -4,16 +4,12 @@ set -euxo pipefail
 main() {
     # Run Rust tests
     # ------------------------------------
-    cargo test --target $TARGET
-
+    cargo test
 
 
     # Run Python tests
     # ------------------------------------
 
-    # NOTE: Temporarily deactivated
-    #       TODO: Re-enable later
-
     # Create virtual environment
     cd open-codegen
     export PYTHONPATH=.

docs/python-tcp-ip.md

@@ -21,12 +21,10 @@ generator creates a
 ```text
 build_directory/
         |-- optimizer/
-                |-- tcp_iface/
+                |-- tcp_iface_{optimizer_name}/
 ```
 
-We can start the server from Python using the [`OptimizerTcpManager`], but we can 
-also start it by running `cargo run` from within `tcp_iface`. In order to see the 
-log messages of the server, start it with
+We can start the server from Python using the [`OptimizerTcpManager`], but we can also start it by running `cargo run` from within `tcp_iface_{optimizer_name}` (where `{optimizer_name}` is the name of the optimizer). In order to see the log messages of the server, start it with
 
 ```shell
 $ RUST_LOG=tcp_iface=info cargo run
@@ -132,7 +130,7 @@ $  echo '{ "Kill" : 1 }' | nc localhost 4598
 
 ### Error reporting
 
-In case a request cannot be processed, e.g., because the provided JSON is malformed, the provided vectors have incompatible dimensions, the TCP server will return to the client an error report. This is a JSON with three attributes: (i) a key-value pair `"type": "Error"`, to allow the client to tell that an error has occured, (ii) a `code`, which can be used to uniquely identify the type of error and (iii) a `message`, which offers some human-readable details.
+In case a request cannot be processed, e.g., because the provided JSON is malformed, the provided vectors have incompatible dimensions, the TCP server will return to the client an error report. This is a JSON with three attributes: (i) a key-value pair `"type": "Error"`, to allow the client to tell that an error has occurred, (ii) a `code`, which can be used to uniquely identify the type of error and (iii) a `message`, which offers some human-readable details.
 
 For example, if the client provides an incompatible number of parameters, that is, if vector `parameter` is of the wrong length, then the server will return the following error:
 

open-codegen/CHANGELOG.md

@@ -7,15 +7,19 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 
-## [Unreleased]
+## [0.4.1]
 
 ### Fixed
 
+* Project-specific `icasadi` dependency
+* Project-specific `tcp_iface` TCP interface
+* Fixed `lbfgs` typo
+
 ### Added
 
 ### Changed
 
 ### Removed
 
 
-[Unreleased]: https://github.com/alphaville/optimization-engine/compare/v0.6.1-alpha.2...master
+[0.4.1]: https://github.com/alphaville/optimization-engine/compare/opengen-0.4.1...master

open-codegen/opengen/builder/optimizer_builder.py

@@ -15,6 +15,8 @@
 _AUTOGEN_GRAD_FNAME = 'auto_casadi_grad.c'
 _AUTOGEN_PNLT_CONSTRAINTS_FNAME = 'auto_casadi_mapping_f2.c'
 _AUTOGEN_ALM_MAPPING_F1_FNAME = 'auto_casadi_mapping_f1.c'
+_TCP_IFACE_PREFIX = 'tcp_iface_'
+_ICASADI_PREFIX = 'icasadi_'
 
 
 def make_dir_if_not_exists(directory):
@@ -122,10 +124,11 @@ def __icasadi_target_dir(self):
         Returns icasadi target directory (instance of os.path)
 
         """
+        icasadi_target_dir_name = _ICASADI_PREFIX + self.__meta.optimizer_name
         return os.path.abspath(
             os.path.join(
                 self.__build_config.build_dir,
-                self.__meta.optimizer_name, "icasadi"))
+                self.__meta.optimizer_name, icasadi_target_dir_name))
 
     def __prepare_target_project(self):
         """Creates folder structure
@@ -162,6 +165,21 @@ def __copy_icasadi_to_target(self):
                         ignore=shutil.ignore_patterns(
                             '*.lock', 'ci*', 'target', 'auto*'))
 
+    def __generate_icasadi_cargo_toml(self):
+        """
+        Generate icasadi's Cargo.toml file
+        """
+        self.__logger.info("Generating icasadi's Cargo.toml")
+        file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
+        env = jinja2.Environment(loader=file_loader)
+        template = env.get_template('icasadi_cargo.toml.template')
+        output_template = template.render(meta=self.__meta)
+        icallocator_path = os.path.abspath(
+            os.path.join(self.__icasadi_target_dir(), "Cargo.toml"))
+        with open(icallocator_path, "w") as fh:
+            fh.write(output_template)
+        pass
+
     def __generate_icasadi_c_interface(self):
         """
         Generates the C interface file interface.c
@@ -355,13 +373,6 @@ def __generate_casadi_code(self):
         self.__generate_memory_code(psi_fun, grad_psi_fun,
                                     mapping_f1_fun, mapping_f2_fun)
 
-    # TODO: it seems that the following method is never used
-    def __build_icasadi(self):
-        icasadi_dir = self.__icasadi_target_dir()
-        command = self.__make_build_command()
-        p = subprocess.Popen(command, cwd=icasadi_dir)
-        p.wait()
-
     def __generate_main_project_code(self):
         self.__logger.info("Generating main code for target optimizer (lib.rs)")
         target_dir = self.__target_dir()
@@ -403,7 +414,9 @@ def __build_optimizer(self):
     def __build_tcp_iface(self):
         self.__logger.info("Building the TCP interface")
         target_dir = os.path.abspath(self.__target_dir())
-        tcp_iface_dir = os.path.join(target_dir, "tcp_iface")
+        optimizer_name = self.__meta.optimizer_name
+        tcp_iface_dir_name = _TCP_IFACE_PREFIX + optimizer_name
+        tcp_iface_dir = os.path.join(target_dir, tcp_iface_dir_name)
         command = self.__make_build_command()
         p = subprocess.Popen(command, cwd=tcp_iface_dir)
         process_completion = p.wait()
@@ -422,7 +435,8 @@ def __generate_code_tcp_interface(self):
                            self.__build_config.tcp_interface_config.bind_ip,
                            self.__build_config.tcp_interface_config.bind_port)
         target_dir = self.__target_dir()
-        tcp_iface_dir = os.path.join(target_dir, "tcp_iface")
+        tcp_iface_dir_name = _TCP_IFACE_PREFIX + self.__meta.optimizer_name
+        tcp_iface_dir = os.path.join(target_dir, tcp_iface_dir_name)
         tcp_iface_source_dir = os.path.join(tcp_iface_dir, "src")
 
         # make tcp_iface/ and tcp_iface/src
@@ -531,6 +545,7 @@ def build(self):
         self.__check_user_provided_parameters()  # check the provided parameters
         self.__prepare_target_project()          # create folders; init cargo project
         self.__copy_icasadi_to_target()          # copy icasadi/ files to target dir
+        self.__generate_icasadi_cargo_toml()     # generate icasadi's Cargo.toml file
         self.__generate_cargo_toml()             # generate Cargo.toml using template
         self.__generate_icasadi_lib()            # generate icasadi lib.rs
         self.__generate_casadi_code()            # generate all necessary CasADi C files:

open-codegen/opengen/main.py

@@ -1,6 +1,5 @@
 import casadi.casadi as cs
 import opengen as og
-import json
 
 u = cs.SX.sym("u", 5)                 # decision variable (nu = 5)
 p = cs.SX.sym("p", 2)                 # parameter (np = 2)
@@ -27,7 +26,7 @@
     .with_optimizer_name("the_optimizer")
 
 build_config = og.config.BuildConfiguration()  \
-    .with_build_directory("python_build")      \
+    .with_build_directory("my_optimizers")      \
     .with_build_mode("debug")                  \
     .with_tcp_interface_config()
 
@@ -46,12 +45,12 @@
                                           solver_configuration=solver_config)
 builder.build()
 
-mng = og.tcp.OptimizerTcpManager('python_build/the_optimizer')
+mng = og.tcp.OptimizerTcpManager('my_optimizers/the_optimizer')
 mng.start()
 
 pong = mng.ping()                 # check if the server is alive
 print(pong)
 solution = mng.call([1.0, 50.0])  # call the solver over TCP
-print(json.dumps(solution, indent=4, sort_keys=False))
+print(solution.get().solution)
 
 mng.kill()

open-codegen/opengen/tcp/optimizer_tcp_manager.py

@@ -10,14 +10,15 @@
 from retry import retry
 from .solver_response import SolverResponse
 
+
 class OptimizerTcpManager:
     """Client for TCP interface of parametric optimizers
 
     This class is used to start and stop a TCP server, which
     has been generated by <code>opengen</code>.
     """
 
-    def __init__(self, optimizer_path = None, ip=None, port=None):
+    def __init__(self, optimizer_path=None, ip=None, port=None):
         """Constructs instance of <code>OptimizerTcpManager</code>
 
         Args:
@@ -52,7 +53,8 @@ def __threaded_start(self):
         command = ['cargo', 'run', '-q']
         if optimizer_details['build']['build_mode'] == 'release':
             command.append('--release')
-        tcp_iface_directory = os.path.join(self.__optimizer_path, "tcp_iface")
+        tcp_dir_name = "tcp_iface_" + optimizer_details['meta']['optimizer_name']
+        tcp_iface_directory = os.path.join(self.__optimizer_path, tcp_dir_name)
         p = subprocess.Popen(command, cwd=tcp_iface_directory)
         p.wait()
 

open-codegen/opengen/templates/icasadi_cargo.toml.template

@@ -0,0 +1,23 @@
+[package]
+authors = ["Pantelis Sopasakis"]
+name = "icasadi_{{meta.optimizer_name}}"
+categories = ["api-bindings", "no-std", "science", "science::robotics", "simulation"]
+keywords = ["casadi", "optimization", "interface"]
+description = "Rust interface to CasADi functions"
+documentation = "https://docs.rs/icasadi"
+license = "MIT"
+readme = "README.md"
+version = "0.2.1"
+edition = "2018"
+
+[dependencies]
+libc = { version = "0.2.0", default-features = false }
+
+[build-dependencies]
+cc = "1.0"
+
+[profile.dev]
+opt-level = 0
+
+[profile.release]
+opt-level = 3

open-codegen/opengen/templates/optimizer.rs.template

@@ -5,7 +5,7 @@
 // Generated at: {{timestamp_created}}
 //
 
-use icasadi;
+use icasadi_{{meta.optimizer_name}};
 {% if activate_clib_generation -%}
 use libc::{c_double, c_ulong, c_ulonglong};
 {% endif %}
@@ -292,20 +292,20 @@ pub fn solve(
     assert_eq!(u.len(), {{meta.optimizer_name|upper}}_NUM_DECISION_VARIABLES, "Wrong number of decision variables (u)");
 
     let psi = |u: &[f64], xi: &[f64], cost: &mut f64| -> Result<(), SolverError> {
-        icasadi::cost(&u, &xi, &p, cost);
+        icasadi_{{meta.optimizer_name}}::cost(&u, &xi, &p, cost);
         Ok(())
     };
     let grad_psi = |u: &[f64], xi: &[f64], grad: &mut [f64]| -> Result<(), SolverError> {
-        icasadi::grad(&u, &xi, &p, grad);
+        icasadi_{{meta.optimizer_name}}::grad(&u, &xi, &p, grad);
         Ok(())
     };
     {% if problem.dim_constraints_aug_lagrangian() > 0 %}
     let f1 = |u: &[f64], res: &mut [f64]| -> Result<(), SolverError> {
-        icasadi::mapping_f1(&u, &p, res);
+        icasadi_{{meta.optimizer_name}}::mapping_f1(&u, &p, res);
         Ok(())
     };{% endif %}
     {% if problem.dim_constraints_penalty() %}let f2 = |u: &[f64], res: &mut [f64]| -> Result<(), SolverError> {
-        icasadi::mapping_f2(&u, &p, res);
+        icasadi_{{meta.optimizer_name}}::mapping_f2(&u, &p, res);
         Ok(())
     };{% endif -%}
     let bounds = make_constraints();

open-codegen/opengen/templates/optimizer_cargo.toml.template

@@ -24,7 +24,7 @@ optimization_engine = {path = "{{build_config.local_path}}"}
 optimization_engine = "{{build_config.open_version or '*'}}"
 {% endif %}
 
-icasadi = {path = "./icasadi/"}
+icasadi_{{meta.optimizer_name}} = {path = "./icasadi_{{meta.optimizer_name}}/"}
 {% if activate_clib_generation -%}
 libc = "0.2.0"
 

open-codegen/opengen/templates/tcp_server_cargo.toml.template

@@ -12,7 +12,7 @@
 # -----------------------------------------------------------------
 
 [package]
-name = "tcp_iface"
+name = "tcp_iface_{{meta.optimizer_name}}"
 version = "0.0.1"
 license = "MIT"
 authors = ["John Smith"]

open-codegen/setup.py

@@ -5,7 +5,7 @@
 import os
 
 NAME = 'opengen'
-VERSION = '0.3.2-alpha.2'
+VERSION = '0.4.1-a1'
 DESCRIPTION = 'Optimization Engine Code Generator'
 
 here = os.path.abspath(os.path.dirname(__file__))