Merge pull request #61 from pablomarcel/develop

implemented a native route and a casadi route in the model predictive…

Author: pablomarcel

model_predictive_control/RUNS.md

@@ -23,43 +23,77 @@ python -m cli init-examples
 Overwrite examples if needed:
 
 ```bash
-python -m cli init-examples --force
+python -m cli init-examples \
+  --force
 ```
 
-## Run the constrained double-integrator MPC demo
+## List example input files
 
 ```bash
-python -m cli run model_predictive_control/in/double_integrator_mpc.json
+python -m cli list-examples
 ```
 
-Equivalent short form when running from inside the package folder:
+## Native SciPy/SLSQP route: double integrator
 
 ```bash
-python cli.py run in/double_integrator_mpc.json
+python -m cli run in/double_integrator_mpc.json
 ```
 
-## Run the automotive engine-cooling LTV MPC demo
+## Native SciPy/SLSQP route: automotive engine cooling demo
 
 ```bash
-python -m cli run model_predictive_control/in/automotive_engine_cooling_mpc.json
+python -m cli run in/automotive_engine_cooling_mpc.json
 ```
 
-Equivalent short form when running from inside the package folder:
+## CasADi Opti/IPOPT route: double integrator
 
 ```bash
-python cli.py run in/automotive_engine_cooling_mpc.json
+python -m cli run in/double_integrator_mpc_casadi.json
+```
+
+## CasADi Opti/IPOPT route: automotive engine cooling demo
+
+```bash
+python -m cli run in/automotive_engine_cooling_mpc_casadi.json
+```
+
+## Send outputs to the package out folder with an explicit stem
+
+```bash
+python -m cli run in/double_integrator_mpc_casadi.json \
+  --out out \
+  --stem double_integrator_casadi
+```
+
+```bash
+python -m cli run in/automotive_engine_cooling_mpc_casadi.json \
+  --out out \
+  --stem cooling_casadi
+```
+
+## Run without plots
+
+```bash
+python -m cli run in/double_integrator_mpc_casadi.json \
+  --no-plots
 ```
 
 ## Send outputs to a custom folder
 
 ```bash
-python -m cli run model_predictive_control/in/automotive_engine_cooling_mpc.json \
-  --out model_predictive_control/out \
+python -m cli run in/automotive_engine_cooling_mpc.json \
+  --out out/mpc/out \
   --stem cooling_demo
 ```
 
-## Run a quick package self-test
+## Self-test the native route
 
 ```bash
 python -m cli self-test
 ```
+
+## Self-test the CasADi route
+
+```bash
+python -m cli self-test-casadi
+```

model_predictive_control/apis.py

@@ -9,10 +9,26 @@
 
 try:
     from .app import MPCApp, MPCRunResult
-    from .core import LinearMPCProblem, parse_problem, run_spec, simulate_mpc, solve_open_loop
+    from .core import (
+        LinearMPCProblem,
+        parse_problem,
+        parse_solver_config,
+        run_spec,
+        simulate_mpc,
+        solve_open_loop,
+        solve_open_loop_casadi,
+    )
 except ImportError:  # pragma: no cover
     from app import MPCApp, MPCRunResult  # type: ignore
-    from core import LinearMPCProblem, parse_problem, run_spec, simulate_mpc, solve_open_loop  # type: ignore
+    from core import (  # type: ignore
+        LinearMPCProblem,
+        parse_problem,
+        parse_solver_config,
+        run_spec,
+        simulate_mpc,
+        solve_open_loop,
+        solve_open_loop_casadi,
+    )
 
 
 def run_mpc_file(input_path: str | Path, out_dir: str | Path | None = None, *, plots: bool = True, show: bool = False) -> MPCRunResult:
@@ -32,9 +48,11 @@ def run_mpc_spec(spec: dict[str, Any], out_dir: str | Path | None = None, *, plo
     "MPCApp",
     "MPCRunResult",
     "parse_problem",
+    "parse_solver_config",
     "run_mpc_file",
     "run_mpc_spec",
     "run_spec",
     "simulate_mpc",
     "solve_open_loop",
+    "solve_open_loop_casadi",
 ]

model_predictive_control/cli.py

@@ -6,11 +6,11 @@
 
 import argparse
 import json
-import shutil
 import sys
 from pathlib import Path
 
-# Import shim so both commands work:
+# Import shim so these styles can work depending on where the runbook is used:
+#   python -m cli ...
 #   python -m model_predictive_control.cli ...
 #   python model_predictive_control/cli.py ...
 if __package__ in (None, ""):
@@ -19,11 +19,9 @@
     if str(PARENT) not in sys.path:
         sys.path.insert(0, str(PARENT))
     from model_predictive_control.app import MPCApp  # type: ignore
-    from model_predictive_control.core import run_spec  # type: ignore
     from model_predictive_control.utils import optional_import, print_kv, resolve_project_paths  # type: ignore
 else:
     from .app import MPCApp
-    from .core import run_spec
     from .utils import optional_import, print_kv, resolve_project_paths
 
 
@@ -32,6 +30,7 @@
         "title": "Double integrator constrained MPC",
         "analysis_type": "lti_mpc_sim",
         "plant": "linear_state_space",
+        "solver": {"backend": "native_slsqp", "maxiter": 250, "ftol": 1e-8},
         "dt": 0.1,
         "model": {
             "A": [[1.0, 0.1], [0.0, 1.0]],
@@ -60,10 +59,52 @@
             "x_max": [10.0, 5.0]
         }
     },
+    "double_integrator_mpc_casadi.json": {
+        "title": "Double integrator constrained MPC - CasADi Opti backend",
+        "analysis_type": "lti_mpc_sim",
+        "plant": "linear_state_space",
+        "solver": {
+            "backend": "casadi_opti",
+            "max_iter": 150,
+            "tol": 1e-8,
+            "acceptable_tol": 1e-6,
+            "print_level": 0,
+            "print_time": False,
+            "expand": False
+        },
+        "dt": 0.1,
+        "model": {
+            "A": [[1.0, 0.1], [0.0, 1.0]],
+            "B": [[0.005], [0.1]],
+            "d": [0.0, 0.0]
+        },
+        "state_names": ["position", "velocity"],
+        "input_names": ["acceleration_command"],
+        "x0": [6.0, 0.0],
+        "x_ref": [0.0, 0.0],
+        "u_ref": [0.0],
+        "horizon": 14,
+        "steps": 45,
+        "weights": {
+            "Q": [8.0, 0.8],
+            "R": [0.04],
+            "P": [20.0, 3.0],
+            "Rd": [0.15]
+        },
+        "constraints": {
+            "u_min": [-2.0],
+            "u_max": [2.0],
+            "du_min": [-0.45],
+            "du_max": [0.45],
+            "x_min": [-10.0, -5.0],
+            "x_max": [10.0, 5.0]
+        }
+    },
     "automotive_engine_cooling_mpc.json": {
         "title": "Automotive engine cooling LTV MPC demo",
         "analysis_type": "ltv_mpc_sim",
         "plant": "thermal_cooling_4state_demo",
+        "solver": {"backend": "native_slsqp", "maxiter": 250, "ftol": 1e-8},
         "dt": 1.0,
         "horizon": 12,
         "steps": 90,
@@ -86,6 +127,42 @@
             "x_min": [70.0, 60.0, 70.0, 50.0],
             "x_max": [128.0, 112.0, 122.0, 108.0]
         }
+    },
+    "automotive_engine_cooling_mpc_casadi.json": {
+        "title": "Automotive engine cooling LTV MPC demo - CasADi Opti backend",
+        "analysis_type": "ltv_mpc_sim",
+        "plant": "thermal_cooling_4state_demo",
+        "solver": {
+            "backend": "casadi_opti",
+            "max_iter": 150,
+            "tol": 1e-8,
+            "acceptable_tol": 1e-6,
+            "print_level": 0,
+            "print_time": False,
+            "expand": False
+        },
+        "dt": 1.0,
+        "horizon": 8,
+        "steps": 45,
+        "ambient_temp_c": 38.0,
+        "x0": [118.0, 101.0, 110.0, 90.0],
+        "x_ref": [105.0, 92.0, 100.0, 82.0],
+        "state_names": ["wall_temp_c", "coolant_out_c", "block_temp_c", "radiator_out_c"],
+        "input_names": ["pump_command", "fan_command"],
+        "weights": {
+            "Q": [5.0, 8.0, 2.0, 1.0],
+            "R": [0.05, 0.08],
+            "P": [10.0, 14.0, 4.0, 2.0],
+            "Rd": [0.35, 0.45]
+        },
+        "constraints": {
+            "u_min": [0.0, 0.0],
+            "u_max": [1.0, 1.0],
+            "du_min": [-0.12, -0.12],
+            "du_max": [0.12, 0.12],
+            "x_min": [70.0, 60.0, 70.0, 50.0],
+            "x_max": [128.0, 112.0, 122.0, 108.0]
+        }
     }
 }
 
@@ -110,7 +187,8 @@ def build_parser() -> argparse.ArgumentParser:
     sub.add_parser("list-examples", help="List example JSON files")
     sub.add_parser("check-libs", help="Check optional MPC-related package imports")
     sub.add_parser("tree", help="Print resolved package input and output folders")
-    sub.add_parser("self-test", help="Create examples and run the double-integrator demo")
+    sub.add_parser("self-test", help="Create examples and run the native double-integrator demo")
+    sub.add_parser("self-test-casadi", help="Create examples and run the CasADi double-integrator demo")
 
     return parser
 
@@ -170,6 +248,8 @@ def cmd_run(args: argparse.Namespace) -> int:
     print("MPC run complete.")
     print_kv([
         ("title", result.get("title")),
+        ("plant", result.get("plant")),
+        ("solver_backend", result.get("solver_backend")),
         ("steps", result.get("steps")),
         ("horizon", result.get("horizon")),
         ("all_success", result.get("all_optimizations_successful")),
@@ -188,6 +268,13 @@ def cmd_self_test() -> int:
     return cmd_run(args)
 
 
+def cmd_self_test_casadi() -> int:
+    cmd_init_examples(force=False)
+    paths = resolve_project_paths()
+    args = argparse.Namespace(input=str(paths.in_dir / "double_integrator_mpc_casadi.json"), out=None, stem="self_test_double_integrator_casadi", no_plots=False, show=False)
+    return cmd_run(args)
+
+
 def main(argv: list[str] | None = None) -> int:
     parser = build_parser()
     args = parser.parse_args(argv)
@@ -207,6 +294,8 @@ def main(argv: list[str] | None = None) -> int:
         return cmd_run(args)
     if args.command == "self-test":
         return cmd_self_test()
+    if args.command == "self-test-casadi":
+        return cmd_self_test_casadi()
 
     parser.error(f"Unknown command: {args.command}")
     return 2