lib/osqp/solver.rb in osqp-0.2.1 vs lib/osqp/solver.rb in osqp-0.2.2

@@ -9,21 +9,21 @@
       u = u.map { |v| v > FFI::OSQP_INFTY ? FFI::OSQP_INFTY : v }
 
       # data
       # do not assign directly to struct to keep refs
       p = csc_matrix(p, upper: true)
-      q = Utils.float_array(q)
+      q = float_array(q)
       a = csc_matrix(a)
-      l = Utils.float_array(l)
-      u = Utils.float_array(u)
+      l = float_array(l)
+      u = float_array(u)
 
       data = FFI::Data.malloc
       data.n = a.n
       data.m = a.m
-      data.p = p
+      data.p = matrix_ptr(p)
       data.q = q
-      data.a = a
+      data.a = matrix_ptr(a)
       data.l = l
       data.u = u
 
       # work
       work = FFI::Workspace.malloc
@@ -71,15 +71,15 @@
       m, n = dimensions
       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, Utils.float_array(x), Utils.float_array(y))
+        check_result FFI.osqp_warm_start(@work, float_array(x), float_array(y))
       elsif x
-        check_result FFI.osqp_warm_start_x(@work, Utils.float_array(x))
+        check_result FFI.osqp_warm_start_x(@work, float_array(x))
       elsif y
-        check_result FFI.osqp_warm_start_y(@work, Utils.float_array(y))
+        check_result FFI.osqp_warm_start_y(@work, float_array(y))
       else
         raise Error, "Must set x or y"
       end
     end
 
@@ -111,10 +111,20 @@
 
         raise Error, message
       end
     end
 
+    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
+
     def read_float_array(ptr, size)
       # OSQP float = double
       ptr[0, size * Fiddle::SIZEOF_DOUBLE].unpack("d*")
     end
 
@@ -125,17 +135,32 @@
 
     def csc_matrix(mtx, upper: false)
       mtx = Matrix.from_dense(mtx) unless mtx.is_a?(Matrix)
 
       if upper
+        # TODO improve performance
+        mtx = mtx.dup
         mtx.m.times do |i|
           mtx.n.times do |j|
             mtx[i, j] = 0 if i > j
           end
         end
       end
 
       mtx
+    end
+
+    def matrix_ptr(mtx)
+      csc = mtx.to_csc
+      nnz = csc[:value].size
+      cx = float_array(csc[:value])
+      ci = int_array(csc[:index])
+      cp = int_array(csc[:start])
+
+      ptr = FFI.csc_matrix(mtx.m, mtx.n, nnz, cx, ci, cp)
+      # 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]