osqp 0.3.0 → 0.4.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/CHANGELOG.md

@@ -1,3 +1,8 @@
+## 0.4.0 (2025-04-01)
+
+- Updated OSQP to 1.0.0
+- Dropped support for Ruby < 3.2
+
 ## 0.3.0 (2024-10-23)
 
 - Dropped support for Ruby < 3.1

data/NOTICE.txt

@@ -1,4 +1,4 @@
-Copyright (c) 2019-2020 Andrew Kane
+Copyright (c) 2019-2025 Andrew Kane
 
 OSQP
 Copyright (c) 2019 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd

data/lib/osqp/ffi.rb

@@ -10,139 +10,122 @@ module OSQP
       raise e
     end
 
-    typealias "c_float", "double"
-    typealias "c_int", "long long"
+    typealias "OSQPFloat", "double"
+    typealias "OSQPInt", "long long"
     typealias "enum", "int"
 
     OSQP_INFTY = 1e30
 
-    Data = struct [
-      "c_int n",
-      "c_int m",
-      "csc *p",
-      "csc *a",
-      "c_float *q",
-      "c_float *l",
-      "c_float *u"
-    ]
-
     Settings = struct [
-      "c_float rho",
-      "c_float sigma",
-      "c_int scaling",
-      "c_int adaptive_rho",
-      "c_int adaptive_rho_interval",
-      "c_float adaptive_rho_tolerance",
-      "c_float adaptive_rho_fraction",
-      "c_int max_iter",
-      "c_float eps_abs",
-      "c_float eps_rel",
-      "c_float eps_prim_inf",
-      "c_float eps_dual_inf",
-      "c_float alpha",
-      "enum linsys_solver_type linsys_solver",
-      "c_float delta",
-      "c_int polish",
-      "c_int polish_refine_iter",
-      "c_int verbose",
-      "c_int scaled_termination",
-      "c_int check_termination",
-      "c_int warm_start",
-      "c_float time_limit"
+      # linear algebra settings
+      "OSQPInt device",
+      "enum osqp_linsys_solver_type linsys_solver",
+
+      # control settings
+      "OSQPInt allocate_solution",
+      "OSQPInt verbose",
+      "OSQPInt profiler_level",
+      "OSQPInt warm_starting",
+      "OSQPInt scaling",
+      "OSQPInt polishing",
+
+      # ADMM parameters
+      "OSQPFloat rho",
+      "OSQPInt rho_is_vec",
+      "OSQPFloat sigma",
+      "OSQPFloat alpha",
+
+      # CG settings
+      "OSQPInt cg_max_iter",
+      "OSQPInt cg_tol_reduction",
+      "OSQPFloat cg_tol_fraction",
+      "enum osqp_precond_type cg_precond",
+
+      # adaptive rho logic
+      "OSQPInt adaptive_rho",
+      "OSQPInt adaptive_rho_interval",
+      "OSQPFloat adaptive_rho_fraction",
+      "OSQPFloat adaptive_rho_tolerance",
+
+      # termination parameters
+      "OSQPInt   max_iter",
+      "OSQPFloat eps_abs",
+      "OSQPFloat eps_rel",
+      "OSQPFloat eps_prim_inf",
+      "OSQPFloat eps_dual_inf",
+      "OSQPInt scaled_termination",
+      "OSQPInt check_termination",
+      "OSQPInt check_dualgap",
+      "OSQPFloat time_limit",
+
+      # polishing parameters
+      "OSQPFloat delta",
+      "OSQPInt polish_refine_iter"
     ]
 
     Info = struct [
-      "c_int iter",
+      # solver status
       "char status[32]",
-      "c_int status_val",
-      "c_int status_polish",
-      "c_float obj_val",
-      "c_float pri_res",
-      "c_float dua_res",
-      "c_float setup_time",
-      "c_float solve_time",
-      "c_float update_time",
-      "c_float polish_time",
-      "c_float run_time",
-      "c_int   rho_updates",
-      "c_float rho_estimate"
+      "OSQPInt status_val",
+      "OSQPInt status_polish",
+
+      # solution quality
+      "OSQPFloat obj_val",
+      "OSQPFloat dual_obj_val",
+      "OSQPFloat prim_res",
+      "OSQPFloat dual_res",
+      "OSQPFloat duality_gap",
+
+      # algorithm information
+      "OSQPInt iter",
+      "OSQPInt rho_updates",
+      "OSQPFloat rho_estimate",
+
+      # timing information
+      "OSQPFloat setup_time",
+      "OSQPFloat solve_time",
+      "OSQPFloat update_time",
+      "OSQPFloat polish_time",
+      "OSQPFloat run_time",
+
+      # convergence information
+      "OSQPFloat primdual_int",
+      "OSQPFloat rel_kkt_error"
     ]
 
     Solution = struct [
-      "c_float *x",
-      "c_float *y"
+      "OSQPFloat *x",
+      "OSQPFloat *y",
+      "OSQPFloat *prim_inf_cert",
+      "OSQPFloat *dual_inf_cert"
     ]
 
-    Workspace = struct [
-      "OSQPData *data",
-      "LinSysSolver *linsys_solver",
-      "OSQPPolish *pol",
-      "c_float *rho_vec",
-      "c_float *rho_inv_vec",
-      "c_int *constr_type",
-      "c_float *x",
-      "c_float *y",
-      "c_float *z",
-      "c_float *xz_tilde",
-      "c_float *x_prev",
-      "c_float *z_prev",
-      "c_float *Ax",
-      "c_float *Px",
-      "c_float *Aty",
-      "c_float *delta_y",
-      "c_float *Atdelta_y",
-      "c_float *delta_x",
-      "c_float *Pdelta_x",
-      "c_float *Adelta_x",
-      "c_float *D_temp",
-      "c_float *D_temp_A",
-      "c_float *E_temp",
-      "OSQPSettings *settings",
-      "OSQPScaling  *scaling",
-      "OSQPSolution *solution",
-      "OSQPInfo *info",
-      "OSQPTimer *timer",
-      "c_int first_run",
-      "c_int clear_update_time",
-      "c_int rho_update_from_solve",
-      "c_int summary_printed"
+    Solver = struct [
+      "OSQPSettings* settings",
+      "OSQPSolution* solution",
+      "OSQPInfo* info",
+      "OSQPWorkspace* work"
     ]
 
-    # cs.h
-    extern "csc* csc_matrix(c_int m, c_int n, c_int nzmax, c_float *x, c_int *i, c_int *p)"
-
-    # osqp.h
-    extern "void osqp_set_default_settings(OSQPSettings *settings)"
-    extern "c_int osqp_setup(OSQPWorkspace** workp, OSQPData* data, OSQPSettings* settings)"
-    extern "c_int osqp_solve(OSQPWorkspace *work)"
-    extern "c_int osqp_cleanup(OSQPWorkspace *work)"
-    extern "c_int osqp_update_lin_cost(OSQPWorkspace *work, c_float *q_new)"
-    extern "c_int osqp_update_bounds(OSQPWorkspace *work, c_float *l_new, c_float *u_new)"
-    extern "c_int osqp_update_lower_bound(OSQPWorkspace *work, c_float *l_new)"
-    extern "c_int osqp_update_upper_bound(OSQPWorkspace *work, c_float *u_new)"
-    extern "c_int osqp_warm_start(OSQPWorkspace *work, c_float *x, c_float *y)"
-    extern "c_int osqp_warm_start_x(OSQPWorkspace *work, c_float *x)"
-    extern "c_int osqp_warm_start_y(OSQPWorkspace *work, c_float *y)"
-    extern "c_int osqp_update_P(OSQPWorkspace *work, c_float *Px_new, c_int *Px_new_idx, c_int P_new_n)"
-    extern "c_int osqp_update_A(OSQPWorkspace *work, c_float *Ax_new, c_int *Ax_new_idx, c_int A_new_n)"
-    extern "c_int osqp_update_P_A(OSQPWorkspace *work, c_float *Px_new, c_int *Px_new_idx, c_int P_new_n, c_float *Ax_new, c_int *Ax_new_idx, c_int A_new_n)"
-    extern "c_int osqp_update_rho(OSQPWorkspace *work, c_float rho_new)"
-    extern "c_int osqp_update_max_iter(OSQPWorkspace *work, c_int max_iter_new)"
-    extern "c_int osqp_update_eps_abs(OSQPWorkspace *work, c_float eps_abs_new)"
-    extern "c_int osqp_update_eps_rel(OSQPWorkspace *work, c_float eps_rel_new)"
-    extern "c_int osqp_update_eps_prim_inf(OSQPWorkspace *work, c_float eps_prim_inf_new)"
-    extern "c_int osqp_update_eps_dual_inf(OSQPWorkspace *work, c_float eps_dual_inf_new)"
-    extern "c_int osqp_update_alpha(OSQPWorkspace *work, c_float alpha_new)"
-    extern "c_int osqp_update_warm_start(OSQPWorkspace *work, c_int warm_start_new)"
-    extern "c_int osqp_update_scaled_termination(OSQPWorkspace *work, c_int scaled_termination_new)"
-    extern "c_int osqp_update_check_termination(OSQPWorkspace *work, c_int check_termination_new)"
-    extern "c_int osqp_update_delta(OSQPWorkspace *work, c_float delta_new)"
-    extern "c_int osqp_update_polish(OSQPWorkspace *work, c_int polish_new)"
-    extern "c_int osqp_update_polish_refine_iter(OSQPWorkspace *work, c_int polish_refine_iter_new)"
-    extern "c_int osqp_update_verbose(OSQPWorkspace *work, c_int verbose_new)"
-    extern "c_int osqp_update_time_limit(OSQPWorkspace *work, c_float time_limit_new)"
-
-    # util.h
+    # https://github.com/osqp/osqp/blob/master/include/public/osqp_api_functions.h
+
+    # CSC matrix manipulation
+    extern "OSQPCscMatrix* OSQPCscMatrix_new(OSQPInt m, OSQPInt n, OSQPInt nzmax, OSQPFloat* x, OSQPInt* i, OSQPInt* p)"
+    extern "void OSQPCscMatrix_free(OSQPCscMatrix* mat)"
+
+    # main solver API
     extern "const char* osqp_version(void)"
+    extern "const char* osqp_error_message(OSQPInt error_flag)"
+    extern "void osqp_get_dimensions(OSQPSolver* solver, OSQPInt* m, OSQPInt* n)"
+    extern "OSQPInt osqp_setup(OSQPSolver** solverp, OSQPCscMatrix* P, OSQPFloat* q, OSQPCscMatrix* A, OSQPFloat* l, OSQPFloat* u, OSQPInt m, OSQPInt n, OSQPSettings* settings)"
+    extern "OSQPInt osqp_solve(OSQPSolver* solver)"
+    extern "OSQPInt osqp_cleanup(OSQPSolver* solver)"
+
+    # sublevel API
+    extern "OSQPInt osqp_warm_start(OSQPSolver* solver, OSQPFloat* x, OSQPFloat* y)"
+    extern "void osqp_cold_start(OSQPSolver* solver)"
+
+    # settings
+    extern "void osqp_set_default_settings(OSQPSettings* settings)"
   end
 end

data/lib/osqp/solver.rb

@@ -16,19 +16,11 @@ module OSQP
       l = float_array(l)
       u = float_array(u)
 
-      data = FFI::Data.malloc
-      data.n = a.n
-      data.m = a.m
-      data.p = matrix_ptr(p)
-      data.q = q
-      data.a = matrix_ptr(a)
-      data.l = l
-      data.u = u
-
       # work
-      work = FFI::Workspace.malloc
-      check_result FFI.osqp_setup(work.to_ptr.ref, data, set)
-      @work = work
+      work = Fiddle::Pointer.malloc(Fiddle::SIZEOF_VOIDP)
+      check_result FFI.osqp_setup(work.ref, matrix_ptr(p), q, matrix_ptr(a), l, u, a.m, a.n, set)
+      work.free = FFI["osqp_cleanup"]
+      @work = FFI::Solver.new(work)
     end
 
     def solve(*args, **settings)
@@ -38,9 +30,9 @@ module OSQP
 
       # solution
       solution = FFI::Solution.new(@work.solution)
-      data = FFI::Data.new(@work.data)
-      x = read_float_array(solution.x, data.n)
-      y = read_float_array(solution.y, data.m)
+      m, n = dimensions
+      x = read_float_array(solution.x, n)
+      y = read_float_array(solution.y, m)
 
       # info
       info = FFI::Info.new(@work.info)
@@ -54,8 +46,8 @@ module OSQP
         status_val: info.status_val,
         status_polish: info.status_polish,
         obj_val: info.obj_val,
-        pri_res: info.pri_res,
-        dua_res: info.dua_res,
+        pri_res: info.prim_res,
+        dua_res: info.dual_res,
         setup_time: info.setup_time,
         solve_time: info.solve_time,
         update_time: info.update_time,
@@ -72,15 +64,7 @@ module OSQP
       raise Error, "Expected x to be size #{n}, got #{x.size}" if x && x.size != n
       raise Error, "Expected y to be size #{m}, got #{y.size}" if y && y.size != m
 
-      if x && y
-        check_result FFI.osqp_warm_start(@work, float_array(x), float_array(y))
-      elsif x
-        check_result FFI.osqp_warm_start_x(@work, float_array(x))
-      elsif y
-        check_result FFI.osqp_warm_start_y(@work, float_array(y))
-      else
-        raise Error, "Must set x or y"
-      end
+      check_result FFI.osqp_warm_start(@work, x ? float_array(x) : nil, y ? float_array(y) : nil)
     end
 
     private
@@ -133,6 +117,11 @@ module OSQP
       char_ptr[0, idx].map(&:chr).join
     end
 
+    def read_int(ptr)
+      # OSQP int = long long
+      ptr[0, Fiddle::SIZEOF_LONG_LONG].unpack1("q")
+    end
+
     def csc_matrix(mtx, upper: false)
       mtx = Matrix.from_dense(mtx) unless mtx.is_a?(Matrix)
 
@@ -156,15 +145,19 @@ module OSQP
       ci = int_array(csc[:index])
       cp = int_array(csc[:start])
 
-      ptr = FFI.csc_matrix(mtx.m, mtx.n, nnz, cx, ci, cp)
+      ptr = FFI.OSQPCscMatrix_new(mtx.m, mtx.n, nnz, cx, ci, cp)
+      ptr.free = FFI["OSQPCscMatrix_free"]
       # save refs
       ptr.instance_variable_set(:@osqp_refs, [cx, ci, cp])
       ptr
     end
 
     def dimensions
-      data = FFI::Data.new(@work.data)
-      [data.m, data.n]
+      # OSQP int = long long
+      m = Fiddle::Pointer.malloc(Fiddle::SIZEOF_LONG_LONG)
+      n = Fiddle::Pointer.malloc(Fiddle::SIZEOF_LONG_LONG)
+      FFI.osqp_get_dimensions(@work, m, n)
+      [read_int(m), read_int(n)]
     end
 
     def create_settings(settings)

data/lib/osqp/version.rb

@@ -1,3 +1,3 @@
 module OSQP
-  VERSION = "0.3.0"
+  VERSION = "0.4.0"
 end

metadata

@@ -1,14 +1,13 @@
 --- !ruby/object:Gem::Specification
 name: osqp
 version: !ruby/object:Gem::Version
-  version: 0.3.0
+  version: 0.4.0
 platform: ruby
 authors:
 - Andrew Kane
-autorequire:
 bindir: bin
 cert_chain: []
-date: 2024-10-23 00:00:00.000000000 Z
+date: 2025-04-01 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: fiddle
@@ -24,7 +23,6 @@ dependencies:
     - - ">="
       - !ruby/object:Gem::Version
         version: '0'
-description:
 email: andrew@ankane.org
 executables: []
 extensions: []
@@ -38,7 +36,6 @@ files:
 - lib/osqp/ffi.rb
 - lib/osqp/matrix.rb
 - lib/osqp/solver.rb
-- lib/osqp/utils.rb
 - lib/osqp/version.rb
 - vendor/aarch64-linux/LICENSE-amd.txt
 - vendor/aarch64-linux/LICENSE-osqp.txt
@@ -69,7 +66,6 @@ homepage: https://github.com/ankane/osqp-ruby
 licenses:
 - Apache-2.0
 metadata: {}
-post_install_message:
 rdoc_options: []
 require_paths:
 - lib
@@ -77,15 +73,14 @@ required_ruby_version: !ruby/object:Gem::Requirement
   requirements:
   - - ">="
     - !ruby/object:Gem::Version
-      version: '3.1'
+      version: '3.2'
 required_rubygems_version: !ruby/object:Gem::Requirement
   requirements:
   - - ">="
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.5.16
-signing_key:
+rubygems_version: 3.6.2
 specification_version: 4
 summary: OSQP (Operator Splitting Quadratic Program) solver for Ruby
 test_files: []

data/lib/osqp/utils.rb

@@ -1,15 +0,0 @@
-module OSQP
-  module Utils
-    class << self
-      def float_array(arr)
-        # OSQP float = double
-        Fiddle::Pointer[arr.to_a.pack("d*")]
-      end
-
-      def int_array(arr)
-        # OSQP int = long long
-        Fiddle::Pointer[arr.to_a.pack("q*")]
-      end
-    end
-  end
-end