test_bench.c

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#define _SVID_SOURCE


#include <dirent.h>
#include <string.h>
#include <stdlib.h>
#include <qpOASES_e.h>
#include <qpOASES_e/UnitTesting.h>


int main(int argc, char *argv[])
{
        const real_t TOL = 1e-5;

        /* 1) Define benchmark arguments. */
        BooleanType isSparse = BT_FALSE;
        BooleanType useHotstarts = BT_FALSE;
        static Options options;

        int maxAllowedNWSR;
        real_t maxNWSR, avgNWSR, maxCPUtime, avgCPUtime;
        real_t maxStationarity, maxFeasibility, maxComplementarity;

        int scannedDir = 0;
        int nfail = 0, npass = 0;
        int nproblems, i;
        struct dirent **namelist;
        char resstr[200], OQPproblem[200];
        char *problem;
        returnValue returnvalue;

        Options_setToDefault( &options );
        /*options.enableFlippingBounds = BT_FALSE;*/
        /*Options_setToReliable( &options );*/
        Options_setToMPC( &options );
        /*options.printLevel = PL_DEBUG_ITER;*/
        options.printLevel = PL_LOW;
        /*options.enableRamping = BT_FALSE;*/
        /*options.enableFarBounds = BT_FALSE;*/
        
        if (argc == 1)
        {
                /* 2a) Scan problem directory */
                nproblems = scandir("../testing/c/data/problems", &namelist, NULL, alphasort);
                if (nproblems <= 0)
                {
                        qpOASES_myPrintf( "No test problems found!\n" );
                        return -1;
                }
                scannedDir = 1;
        }
        else
        {
                /* 2b) Use problem list given by arguments */
                nproblems = argc - 1;
                scannedDir = 0;
        }

        /* 3) Run benchmark. */
        printf("%10s %9s %9s %9s %6s  %-12s\n", "problem", "stat",
                        "feas", "compl", "nWSR", "result");
        for (i = 0; i < nproblems; i++)
        {
                if (scannedDir)
                {
                        /* skip special directories and zip file cuter.*bz2 */
                        if (namelist[i]->d_name[0] == '.' || namelist[i]->d_name[0] == 'c')
                        {
                                free(namelist[i]);
                                continue;
                        }
                        problem = namelist[i]->d_name;
                }
                else
                {
                        problem = argv[i+1];
                }

                fprintf(stdout, "%-10s ", problem);
                fflush(stdout);

                snprintf(OQPproblem, 199, "../testing/c/data/problems/%s/", problem);
                maxCPUtime = 300.0;
                maxAllowedNWSR = 3500;
                returnvalue = runOQPbenchmark(  OQPproblem,
                                                                                isSparse,useHotstarts,
                                                                                &options,maxAllowedNWSR,
                                                                                &maxNWSR,&avgNWSR,&maxCPUtime,&avgCPUtime,
                                                                                &maxStationarity,&maxFeasibility,&maxComplementarity
                                                                                );
                if (returnvalue == SUCCESSFUL_RETURN
                                && maxStationarity < TOL
                                && maxFeasibility < TOL
                                && maxComplementarity < TOL)
                {
                        npass++;
                        strncpy(resstr, "pass", 199);
                }
                else
                {
                        nfail++;
                        snprintf (resstr, 199, "fail (%d)", returnvalue);
                }
                fprintf(stdout, "%9.2e %9.2e %9.2e %6d  %-12s\n", maxStationarity,
                                maxFeasibility, maxComplementarity, (int)maxNWSR, resstr);

                if (scannedDir) free(namelist[i]);
        }
        if (scannedDir) free(namelist);

        /* 4) Print results. */
        printf("\n\n" );
        printf("Testbench results:\n" );
        printf("======================\n\n" );
        printf("Pass:  %3d\n", npass);
        printf("Fail:  %3d\n", nfail);
        printf("Ratio: %5.1f%%\n", 100.0 * (real_t)npass / (real_t)(npass+nfail));
        printf("\n" );

        return 0;
}


/*
 *      end of file
 */