OCP: towards first functional API

Author: alphaville

open-codegen/opengen/ocp/solution.py

@@ -10,3 +10,17 @@ def __init__(self, raw, inputs, states):
         self.exit_status = getattr(raw, "exit_status", None)
         self.solve_time_ms = getattr(raw, "solve_time_ms", None)
         self.lagrange_multipliers = getattr(raw, "lagrange_multipliers", None)
+
+    def __repr__(self):
+        return "\n".join([
+            "OCP Solution:",
+            f"  Exit status.......... {self.exit_status}",
+            f"  Cost................. {self.cost}",
+            f"  Solve time [ms]...... {self.solve_time_ms}",
+            f"  Decision variables... {self.solution}",
+            f"  Inputs............... {self.inputs}",
+            f"  States............... {self.states}",
+            f"  Lagrange multipliers. {self.lagrange_multipliers}",
+        ])
+
+    __str__ = __repr__

open-codegen/test/test_ocp.py

@@ -160,8 +160,8 @@ def test_ocp_generates_rust_solver_and_calls_tcp_interface(self):
             .with_initial_tolerance(1e-5) \
             .with_delta_tolerance(1e-5) \
             .with_initial_penalty(10.0) \
-            .with_penalty_weight_update_factor(5.0) \
-            .with_max_inner_iterations(50) \
+            .with_penalty_weight_update_factor(1.2) \
+            .with_max_inner_iterations(500) \
             .with_max_outer_iterations(10)
 
         builder = og.ocp.OCPBuilder(
@@ -170,24 +170,17 @@ def test_ocp_generates_rust_solver_and_calls_tcp_interface(self):
             build_configuration=build_config,
             solver_configuration=solver_config,
         )
-        builder.build()
-
-        mng = og.tcp.OptimizerTcpManager(
-            optimizer_path=os.path.join(OcpTestCase.TEST_DIR, optimizer_name)
-        )
-        mng.start()
+        optimizer = builder.build()
 
         try:
-            pong = mng.ping()
-            self.assertEqual(1, pong["Pong"])
-
-            response = mng.call(p=[1.0, 0.0])
-            self.assertTrue(response.is_ok())
-            status = response.get()
-            self.assertEqual("Converged", status.exit_status)
-            self.assertEqual(2, len(status.solution))
+            result = optimizer.solve(x0=[1.0], xref=[0.0])
+            print(result)
+            self.assertEqual("Converged", result.exit_status)
+            self.assertEqual(2, len(result.solution))
+            self.assertEqual(2, len(result.inputs))
+            self.assertEqual(3, len(result.states))
         finally:
-            mng.kill()
+            optimizer.kill()
 
 
 if __name__ == "__main__":