MessageHandling.h
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1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
6  * Christian Kirches et al. All rights reserved.
7  *
8  * qpOASES is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU Lesser General Public
10  * License as published by the Free Software Foundation; either
11  * version 2.1 of the License, or (at your option) any later version.
12  *
13  * qpOASES is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16  * See the GNU Lesser General Public License for more details.
17  *
18  * You should have received a copy of the GNU Lesser General Public
19  * License along with qpOASES; if not, write to the Free Software
20  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21  *
22  */
23 
24 
35 #ifndef QPOASES_MESSAGEHANDLING_H
36 #define QPOASES_MESSAGEHANDLING_H
37 
38 
39 #include <stdio.h>
40 #include <string.h>
41 #include <math.h>
42 
43 #ifdef __DEBUG__
44  #include <assert.h>
45 #else
46  #define assert(ignore)((void) 0);
47 #endif
48 
49 #include <qpOASES_e/Constants.h>
50 
51 
52 BEGIN_NAMESPACE_QPOASES
53 
54 
56 #define stdFile stderr
57 
58 
67 typedef enum
68 {
69 TERMINAL_LIST_ELEMENT = -1,
70 /* miscellaneous */
71 SUCCESSFUL_RETURN = 0,
72 RET_DIV_BY_ZERO,
73 RET_INDEX_OUT_OF_BOUNDS,
74 RET_INVALID_ARGUMENTS,
75 RET_ERROR_UNDEFINED,
76 RET_WARNING_UNDEFINED,
77 RET_INFO_UNDEFINED,
78 RET_EWI_UNDEFINED,
79 RET_AVAILABLE_WITH_LINUX_ONLY,
80 RET_UNKNOWN_BUG,
81 RET_PRINTLEVEL_CHANGED,
82 RET_NOT_YET_IMPLEMENTED,
83 /* Indexlist */
84 RET_INDEXLIST_MUST_BE_REORDERD,
85 RET_INDEXLIST_EXCEEDS_MAX_LENGTH,
86 RET_INDEXLIST_CORRUPTED,
87 RET_INDEXLIST_OUTOFBOUNDS,
88 RET_INDEXLIST_ADD_FAILED,
89 RET_INDEXLIST_INTERSECT_FAILED,
90 /* SubjectTo / Bounds / Constraints */
91 RET_INDEX_ALREADY_OF_DESIRED_STATUS,
92 RET_ADDINDEX_FAILED,
93 RET_REMOVEINDEX_FAILED,
94 RET_SWAPINDEX_FAILED,
95 RET_NOTHING_TO_DO,
96 RET_SETUP_BOUND_FAILED,
97 RET_SETUP_CONSTRAINT_FAILED,
98 RET_MOVING_BOUND_FAILED,
99 RET_MOVING_CONSTRAINT_FAILED,
100 RET_SHIFTING_FAILED,
101 RET_ROTATING_FAILED,
102 /* QProblem */
103 RET_QPOBJECT_NOT_SETUP,
104 RET_QP_ALREADY_INITIALISED,
105 RET_NO_INIT_WITH_STANDARD_SOLVER,
106 RET_RESET_FAILED,
107 RET_INIT_FAILED,
108 RET_INIT_FAILED_TQ,
109 RET_INIT_FAILED_CHOLESKY,
110 RET_INIT_FAILED_HOTSTART,
111 RET_INIT_FAILED_INFEASIBILITY,
112 RET_INIT_FAILED_UNBOUNDEDNESS,
113 RET_INIT_FAILED_REGULARISATION,
114 RET_INIT_SUCCESSFUL,
115 RET_OBTAINING_WORKINGSET_FAILED,
116 RET_SETUP_WORKINGSET_FAILED,
117 RET_SETUP_AUXILIARYQP_FAILED,
118 RET_NO_CHOLESKY_WITH_INITIAL_GUESS,
119 RET_NO_EXTERN_SOLVER,
120 RET_QP_UNBOUNDED,
121 RET_QP_INFEASIBLE,
122 RET_QP_NOT_SOLVED,
123 RET_QP_SOLVED,
124 RET_UNABLE_TO_SOLVE_QP,
125 RET_INITIALISATION_STARTED,
126 RET_HOTSTART_FAILED,
127 RET_HOTSTART_FAILED_TO_INIT,
128 RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,
129 RET_ITERATION_STARTED,
130 RET_SHIFT_DETERMINATION_FAILED,
131 RET_STEPDIRECTION_DETERMINATION_FAILED,
132 RET_STEPLENGTH_DETERMINATION_FAILED,
133 RET_OPTIMAL_SOLUTION_FOUND,
134 RET_HOMOTOPY_STEP_FAILED,
135 RET_HOTSTART_STOPPED_INFEASIBILITY,
136 RET_HOTSTART_STOPPED_UNBOUNDEDNESS,
137 RET_WORKINGSET_UPDATE_FAILED,
138 RET_MAX_NWSR_REACHED,
139 RET_CONSTRAINTS_NOT_SPECIFIED,
140 RET_INVALID_FACTORISATION_FLAG,
141 RET_UNABLE_TO_SAVE_QPDATA,
142 RET_STEPDIRECTION_FAILED_TQ,
143 RET_STEPDIRECTION_FAILED_CHOLESKY,
144 RET_CYCLING_DETECTED,
145 RET_CYCLING_NOT_RESOLVED,
146 RET_CYCLING_RESOLVED,
147 RET_STEPSIZE,
148 RET_STEPSIZE_NONPOSITIVE,
149 RET_SETUPSUBJECTTOTYPE_FAILED,
150 RET_ADDCONSTRAINT_FAILED,
151 RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,
152 RET_ADDBOUND_FAILED,
153 RET_ADDBOUND_FAILED_INFEASIBILITY,
154 RET_REMOVECONSTRAINT_FAILED,
155 RET_REMOVEBOUND_FAILED,
156 RET_REMOVE_FROM_ACTIVESET,
157 RET_ADD_TO_ACTIVESET,
158 RET_REMOVE_FROM_ACTIVESET_FAILED,
159 RET_ADD_TO_ACTIVESET_FAILED,
160 RET_CONSTRAINT_ALREADY_ACTIVE,
161 RET_ALL_CONSTRAINTS_ACTIVE,
162 RET_LINEARLY_DEPENDENT,
163 RET_LINEARLY_INDEPENDENT,
164 RET_LI_RESOLVED,
165 RET_ENSURELI_FAILED,
166 RET_ENSURELI_FAILED_TQ,
167 RET_ENSURELI_FAILED_NOINDEX,
168 RET_ENSURELI_FAILED_CYCLING,
169 RET_BOUND_ALREADY_ACTIVE,
170 RET_ALL_BOUNDS_ACTIVE,
171 RET_CONSTRAINT_NOT_ACTIVE,
172 RET_BOUND_NOT_ACTIVE,
173 RET_HESSIAN_NOT_SPD,
174 RET_HESSIAN_INDEFINITE,
175 RET_MATRIX_SHIFT_FAILED,
176 RET_MATRIX_FACTORISATION_FAILED,
177 RET_PRINT_ITERATION_FAILED,
178 RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,
179 RET_DISABLECONSTRAINTS_FAILED,
180 RET_ENABLECONSTRAINTS_FAILED,
181 RET_ALREADY_ENABLED,
182 RET_ALREADY_DISABLED,
183 RET_NO_HESSIAN_SPECIFIED,
184 RET_USING_REGULARISATION,
185 RET_EPS_MUST_BE_POSITVE,
186 RET_REGSTEPS_MUST_BE_POSITVE,
187 RET_HESSIAN_ALREADY_REGULARISED,
188 RET_CANNOT_REGULARISE_IDENTITY,
189 RET_CANNOT_REGULARISE_SPARSE,
190 RET_NO_REGSTEP_NWSR,
191 RET_FEWER_REGSTEPS_NWSR,
192 RET_CHOLESKY_OF_ZERO_HESSIAN,
193 RET_ZERO_HESSIAN_ASSUMED,
194 RET_CONSTRAINTS_ARE_NOT_SCALED,
195 RET_INITIAL_BOUNDS_STATUS_NYI,
196 RET_ERROR_IN_CONSTRAINTPRODUCT,
197 RET_FIX_BOUNDS_FOR_LP,
198 RET_USE_REGULARISATION_FOR_LP,
199 /* SQProblem */
200 RET_UPDATEMATRICES_FAILED,
201 RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,
202 /* Utils */
203 RET_UNABLE_TO_OPEN_FILE,
204 RET_UNABLE_TO_WRITE_FILE,
205 RET_UNABLE_TO_READ_FILE,
206 RET_FILEDATA_INCONSISTENT,
207 /* Options */
208 RET_OPTIONS_ADJUSTED,
209 /* SolutionAnalysis */
210 RET_UNABLE_TO_ANALYSE_QPROBLEM,
211 /* Benchmark */
212 RET_NWSR_SET_TO_ONE,
213 RET_UNABLE_TO_READ_BENCHMARK,
214 RET_BENCHMARK_ABORTED,
215 RET_INITIAL_QP_SOLVED,
216 RET_QP_SOLUTION_STARTED,
217 RET_BENCHMARK_SUCCESSFUL,
218 /* Sparse matrices */
219 RET_NO_DIAGONAL_AVAILABLE,
220 RET_DIAGONAL_NOT_INITIALISED,
221 /* Dropping of infeasible constraints */
222 RET_ENSURELI_DROPPED,
223 /* Simple exitflags */
224 RET_SIMPLE_STATUS_P1,
225 RET_SIMPLE_STATUS_P0,
226 RET_SIMPLE_STATUS_M1,
227 RET_SIMPLE_STATUS_M2,
228 RET_SIMPLE_STATUS_M3
229 } returnValue;
230 
231 
241 typedef struct
242 {
243  returnValue key;
244  const char* data;
245  VisibilityStatus globalVisibilityStatus;
247 } ReturnValueList;
248 
249 
250 
261 typedef struct
262 {
263  VisibilityStatus errorVisibility;
264  VisibilityStatus warningVisibility;
265  VisibilityStatus infoVisibility;
267  FILE* outputFile;
269  int errorCount;
270 } MessageHandling;
271 
272 
273 
275 void MessageHandlingCON( MessageHandling* _THIS,
276  FILE* _outputFile,
277  VisibilityStatus _errorVisibility,
278  VisibilityStatus _warningVisibility,
279  VisibilityStatus _infoVisibility
280  );
281 
282 void MessageHandlingCPY( MessageHandling* FROM,
283  MessageHandling* TO
284  );
285 
286 
293 returnValue MessageHandling_throwError( MessageHandling* _THIS,
294  returnValue Enumber,
295  const char* additionaltext,
296  const char* functionname,
297  const char* filename,
298  const unsigned long linenumber,
299  VisibilityStatus localVisibilityStatus
302  );
303 
308 returnValue MessageHandling_throwWarning( MessageHandling* _THIS,
309  returnValue Wnumber,
310  const char* additionaltext,
311  const char* functionname,
312  const char* filename,
313  const unsigned long linenumber,
314  VisibilityStatus localVisibilityStatus
317  );
318 
322 returnValue MessageHandling_throwInfo( MessageHandling* _THIS,
323  returnValue Inumber,
324  const char* additionaltext,
325  const char* functionname,
326  const char* filename,
327  const unsigned long linenumber,
328  VisibilityStatus localVisibilityStatus
331  );
332 
333 
336 returnValue MessageHandling_reset( MessageHandling* _THIS );
337 
338 
341 returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
342 
343 
346 static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
347 
350 static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
351 
354 static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
355 
358 static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
359 
362 static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
363 
364 
366 static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS,
367  VisibilityStatus _errorVisibility
368  );
369 
371 static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS,
372  VisibilityStatus _warningVisibility
373  );
374 
376 static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS,
377  VisibilityStatus _infoVisibility
378  );
379 
381 static inline void MessageHandling_setOutputFile( MessageHandling* _THIS,
382  FILE* _outputFile
383  );
384 
388 static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS,
389  int _errorCount
390  );
391 
394 const char* MessageHandling_getErrorCodeMessage( MessageHandling* _THIS,
395  const returnValue _returnValue
396  );
397 
398 
399 returnValue MessageHandling_throwMessage( MessageHandling* _THIS,
400  returnValue RETnumber,
401  const char* additionaltext,
402  const char* functionname,
403  const char* filename,
404  const unsigned long linenumber,
405  VisibilityStatus localVisibilityStatus,
408  const char* RETstring
409  );
410 
411 
412 #ifndef __FILE__
413 
414  #define __FILE__ 0
415 #endif
416 
417 #ifndef __LINE__
418 
419  #define __LINE__ 0
420 #endif
421 
423 /*#define __FUNC__ 0*/
424 #define __FUNC__ ("(no function name provided)")
425 /*#define __FUNC__ __func__*/
426 /*#define __FUNC__ __FUNCTION__*/
427 
428 
430 #define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
431 
433 #define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
434 
436 #define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
437 
438 
442 MessageHandling* qpOASES_getGlobalMessageHandler( );
443 
444 
445 /*
446  * g e t E r r o r V i s i b i l i t y S t a t u s
447  */
448 static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
449 {
450  return _THIS->errorVisibility;
451 }
452 
453 
454 /*
455  * g e t W a r n i n g V i s i b i l i t y S t a t u s
456  */
457 static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
458 {
459  return _THIS->warningVisibility;
460 }
461 
462 
463 /*
464  * g e t I n f o V i s i b i l i t y S t a t u s
465  */
466 static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
467 {
468  return _THIS->infoVisibility;
469 }
470 
471 
472 /*
473  * g e t O u t p u t F i l e
474  */
475 static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
476 {
477  return _THIS->outputFile;
478 }
479 
480 
481 /*
482  * g e t E r r o r C o u n t
483  */
484 static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
485 {
486  return _THIS->errorCount;
487 }
488 
489 
490 /*
491  * s e t E r r o r V i s i b i l i t y S t a t u s
492  */
493 static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
494 {
495  _THIS->errorVisibility = _errorVisibility;
496 }
497 
498 
499 /*
500  * s e t W a r n i n g V i s i b i l i t y S t a t u s
501  */
502 static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
503 {
504  _THIS->warningVisibility = _warningVisibility;
505 }
506 
507 
508 /*
509  * s e t I n f o V i s i b i l i t y S t a t u s
510  */
511 static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
512 {
513  _THIS->infoVisibility = _infoVisibility;
514 }
515 
516 
517 /*
518  * s e t O u t p u t F i l e
519  */
520 static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
521 {
522  _THIS->outputFile = _outputFile;
523 }
524 
525 
526 /*
527  * s e t E r r o r C o u n t
528  */
529 static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
530 {
531  if ( _errorCount >= 0 )
532  {
533  _THIS->errorCount = _errorCount;
534  return SUCCESSFUL_RETURN;
535  }
536  else
537  return RET_INVALID_ARGUMENTS;
538 }
539 
540 
541 END_NAMESPACE_QPOASES
542 
543 
544 #endif /* QPOASES_MESSAGEHANDLING_H */
545 
546 
547 /*
548  * end of file
549  */
MessageHandling_setErrorCount
static returnValue MessageHandling_setErrorCount(MessageHandling *_THIS, int _errorCount)
Definition: MessageHandling.h:529
MessageHandlingCPY
void MessageHandlingCPY(MessageHandling *FROM, MessageHandling *TO)
Definition: MessageHandling.c:252
MessageHandling_setOutputFile
static void MessageHandling_setOutputFile(MessageHandling *_THIS, FILE *_outputFile)
Definition: MessageHandling.h:520
Constants.h
returnValue
Allows to pass back messages to the calling function.
Definition: acado_types.hpp:1139
VisibilityStatus
VisibilityStatus
Definition: acado_message_handling.hpp:51
MessageHandling_getOutputFile
static FILE * MessageHandling_getOutputFile(MessageHandling *_THIS)
Definition: MessageHandling.h:475
MessageHandling_throwMessage
returnValue MessageHandling_throwMessage(MessageHandling *_THIS, returnValue RETnumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus, const char *RETstring)
Definition: MessageHandling.c:386
MessageHandling_throwWarning
returnValue MessageHandling_throwWarning(MessageHandling *_THIS, returnValue Wnumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus)
Definition: MessageHandling.c:293
MessageHandling_throwInfo
returnValue MessageHandling_throwInfo(MessageHandling *_THIS, returnValue Inumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus)
Definition: MessageHandling.c:317
MessageHandling_getErrorCodeMessage
const char * MessageHandling_getErrorCodeMessage(MessageHandling *_THIS, const returnValue _returnValue)
Definition: MessageHandling.c:497
MessageHandling_reset
returnValue MessageHandling_reset(MessageHandling *_THIS)
Definition: MessageHandling.c:341
MessageHandling_setInfoVisibilityStatus
static void MessageHandling_setInfoVisibilityStatus(MessageHandling *_THIS, VisibilityStatus _infoVisibility)
Definition: MessageHandling.h:511
MessageHandling_getInfoVisibilityStatus
static VisibilityStatus MessageHandling_getInfoVisibilityStatus(MessageHandling *_THIS)
Definition: MessageHandling.h:466
MessageHandling
Handles all kind of error messages, warnings and other information.
Definition: examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/MessageHandling.hpp:188
ReturnValueList
Data structure for entries in returnValueList.
Definition: acado_message_handling.cpp:52
MessageHandling_getErrorVisibilityStatus
static VisibilityStatus MessageHandling_getErrorVisibilityStatus(MessageHandling *_THIS)
Definition: MessageHandling.h:448
MessageHandlingCON
void MessageHandlingCON(MessageHandling *_THIS, FILE *_outputFile, VisibilityStatus _errorVisibility, VisibilityStatus _warningVisibility, VisibilityStatus _infoVisibility)
Definition: MessageHandling.c:232
MessageHandling_throwError
returnValue MessageHandling_throwError(MessageHandling *_THIS, returnValue Enumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus)
Definition: MessageHandling.c:269
MessageHandling_setErrorVisibilityStatus
static void MessageHandling_setErrorVisibilityStatus(MessageHandling *_THIS, VisibilityStatus _errorVisibility)
Definition: MessageHandling.h:493
MessageHandling_setWarningVisibilityStatus
static void MessageHandling_setWarningVisibilityStatus(MessageHandling *_THIS, VisibilityStatus _warningVisibility)
Definition: MessageHandling.h:502
END_NAMESPACE_QPOASES
#define END_NAMESPACE_QPOASES
Definition: external_packages/qpOASES-3.0beta/include/qpOASES/Types.hpp:120
MessageHandling_listAllMessages
returnValue MessageHandling_listAllMessages(MessageHandling *_THIS)
Definition: MessageHandling.c:357
qpOASES_getGlobalMessageHandler
MessageHandling * qpOASES_getGlobalMessageHandler()
Definition: MessageHandling.c:545
MessageHandling_getWarningVisibilityStatus
static VisibilityStatus MessageHandling_getWarningVisibilityStatus(MessageHandling *_THIS)
Definition: MessageHandling.h:457
returnValue
returnValue
Defines all symbols for global return values.
Definition: MessageHandling.h:67
MessageHandling_getErrorCount
static int MessageHandling_getErrorCount(MessageHandling *_THIS)
Definition: MessageHandling.h:484
BEGIN_NAMESPACE_QPOASES
#define BEGIN_NAMESPACE_QPOASES
Definition: external_packages/qpOASES-3.0beta/include/qpOASES/Types.hpp:117

acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:53