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/*
* MIT No Attribution
*
* Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this
* software and associated documentation files (the "Software"), to deal in the Software
* without restriction, including without limitation the rights to use, copy, modify,
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
#include <stdio.h>
#include <casadi/casadi_c.h>
// Usage from C
int usage_c(){
printf("---\n");
printf("Standalone usage from C/C++:\n");
printf("\n");
// Sanity-check on integer type
if (casadi_c_int_width()!=sizeof(casadi_int)) {
printf("Mismatch in integer size\n");
return -1;
}
if (casadi_c_real_width()!=sizeof(double)) {
printf("Mismatch in double size\n");
return -1;
}
// Push Function(s) to a stack
int ret = casadi_c_push_file("f.casadi");
if (ret) {
printf("Failed to load file 'f.casadi'.\n");
return -1;
}
ret = casadi_c_push_file("gh.casadi");
if (ret) {
printf("Failed to load file 'gh.casadi'.\n");
return -1;
}
printf("Loaded number of functions: %d\n", casadi_c_n_loaded());
// Identify a Function by name
int id = casadi_c_id("g");
casadi_int n_in = casadi_c_n_in_id(id);
casadi_int n_out = casadi_c_n_out_id(id);
casadi_int sz_arg=n_in, sz_res=n_out, sz_iw=0, sz_w=0;
casadi_c_work_id(id, &sz_arg, &sz_res, &sz_iw, &sz_w);
printf("Work vector sizes:\n");
printf("sz_arg = %lld, sz_res = %lld, sz_iw = %lld, sz_w = %lld\n\n",
sz_arg, sz_res, sz_iw, sz_w);
/* Print the sparsities of the inputs and outputs */
casadi_int i;
for(i=0; i<n_in + n_out; ++i){
// Retrieve the sparsity pattern - CasADi uses column compressed storage (CCS)
const casadi_int *sp_i;
if (i<n_in) {
printf("Input %lld\n", i);
sp_i = casadi_c_sparsity_in_id(id, i);
} else {
printf("Output %lld\n", i-n_in);
sp_i = casadi_c_sparsity_out_id(id, i-n_in);
}
if (sp_i==0) return 1;
casadi_int nrow = *sp_i++; /* Number of rows */
casadi_int ncol = *sp_i++; /* Number of columns */
const casadi_int *colind = sp_i; /* Column offsets */
const casadi_int *row = sp_i + ncol+1; /* Row nonzero */
casadi_int nnz = sp_i[ncol]; /* Number of nonzeros */
/* Print the pattern */
printf(" Dimension: %lld-by-%lld (%lld nonzeros)\n", nrow, ncol, nnz);
printf(" Nonzeros: {");
casadi_int rr,cc,el;
for(cc=0; cc<ncol; ++cc){ /* loop over columns */
for(el=colind[cc]; el<colind[cc+1]; ++el){ /* loop over the nonzeros entries of the column */
if(el!=0) printf(", "); /* Separate the entries */
rr = row[el]; /* Get the row */
printf("{%lld,%lld}",rr,cc); /* Print the nonzero */
}
}
printf("}\n\n");
}
/* Allocate input/output buffers and work vectors*/
const double *arg[sz_arg];
double *res[sz_res];
casadi_int iw[sz_iw];
double w[sz_w];
/* Function input and output */
const double x_val[] = {1,2,3,4};
const double y_val = 5;
double res0;
double res1[4];
// Allocate memory (thread-safe)
casadi_c_incref_id(id);
/* Evaluate the function */
arg[0] = x_val;
arg[1] = &y_val;
res[0] = &res0;
res[1] = res1;
// Checkout thread-local memory (not thread-safe)
int mem = casadi_c_checkout_id(id);
// Evaluation is thread-safe
if (casadi_c_eval_id(id, arg, res, iw, w, mem)) return 1;
// Release thread-local (not thread-safe)
casadi_c_release_id(id, mem);
/* Print result of evaluation */
printf("result (0): %g\n",res0);
printf("result (1): [%g,%g;%g,%g]\n",res1[0],res1[1],res1[2],res1[3]);
/* Free memory (thread-safe) */
casadi_c_decref_id(id);
// Clear the last loaded Function(s) from the stack
casadi_c_pop();
return 0;
}
// C++ (and CasADi) from here on
#include <casadi/casadi.hpp>
using namespace casadi;
int main(){
// Variables
SX x = SX::sym("x", 2, 2);
SX y = SX::sym("y");
// Simple function
Function f("f", {x, y}, {x*y});
// Mode 1: Function::save
f.save("f.casadi");
// More simple functions
Function g("g", {x, y}, {sqrt(y)-1, sin(x)-y});
Function h("h", {y}, {y*y});
// Mode 2: FileSerializer (allows packing a list of Functions)
{
FileSerializer gh("gh.casadi",{{"debug", true}});
gh.pack(std::vector<Function>{g, h});
}
// Usage from C
usage_c();
return 0;
}
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