int Assembler::read_string_parameter(std::string::iterator* it, string* s_val) { // cut off command and following spaces: while(*(*it) != ' ') (*it)++; //(*it)++; while(*(*it) == ' ') (*it)++; if (debug > 1) printf("[FUNCTION: read_string_parameter]\n"); // read at most 10 chars or until non-letter is found: int rsize = 10; char res[rsize+1]; int pos = 0; while(pos <= rsize && (((int)*(*it) > 0x40 && (int)*(*it) < 0x5B) || ((int)*(*it) > 0x60 && (int)*(*it) < 0x7B))) { res[pos] = *(*it); pos++; (*it)++; } string sres(res,pos); if (debug > 1) printf("\tstring is: %s\n",sres.c_str()); *s_val = sres; return 0; }
int main() { printf("\n"); printf("\n"); printf("\n"); printf(" HPMPC -- Library for High-Performance implementation of solvers for MPC.\n"); printf(" Copyright (C) 2014 by Technical University of Denmark. All rights reserved.\n"); printf("\n"); printf(" HPMPC is distributed in the hope that it will be useful,\n"); printf(" but WITHOUT ANY WARRANTY; without even the implied warranty of\n"); printf(" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n"); printf(" See the GNU Lesser General Public License for more details.\n"); printf("\n"); printf("\n"); printf("\n"); printf("Riccati solver performance test - single precision\n"); printf("\n"); // maximum frequency of the processor const float GHz_max = 2.9; //3.6; //2.9; printf("Frequency used to compute theoretical peak: %5.1f GHz (edit test_dricposv.c to modify this value).\n", GHz_max); printf("\n"); // maximum flops per cycle, single precision #if defined(TARGET_X64_AVX) const float flops_max = 16; printf("Testing solvers for AVX instruction set, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #elif defined(TARGET_X64_SSE3) || defined(TARGET_AMD_SSE3) const float flops_max = 8; printf("Testing solvers for SSE3 instruction set, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #elif defined(TARGET_CORTEXA9) const float flops_max = 4; printf("Testing solvers for ARMv7a NEON instruction set: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #elif defined(TARGET_X86_ATOM) const float flops_max = 4; printf("Testing solvers for SSE3 instruction set, 32 bit, optimized for Intel Atom: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #elif defined(TARGET_POWERPC_G2) const float flops_max = 2; printf("Testing solvers for POWERPC instruction set, 32 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #elif defined(TARGET_C99_4X4) const float flops_max = 2; printf("Testing reference solvers, 4x4 kernel: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #elif defined(TARGET_C99_2X2) const float flops_max = 2; printf("Testing reference solvers, 2x2 kernel: theoretical peak %5.1f Gflops\n", flops_max*GHz_max); #endif printf("\n"); printf("Tested solvers:\n"); printf("-sv : Riccati factorization and system solution (prediction step in IP methods)\n"); printf("-trs: system solution after a previous call to Riccati factorization (correction step in IP methods)\n"); printf("\n"); printf("\n"); #if defined(TARGET_X64_AVX) || defined(TARGET_X64_SSE3) || defined(TARGET_X86_ATOM) || defined(TARGET_AMD_SSE3) printf("\nflush to zero on\n"); _MM_SET_FLUSH_ZERO_MODE(_MM_FLUSH_ZERO_ON); // flush to zero subnormals !!! works only with one thread !!! #endif // to throw floating-point exception /*#ifndef __APPLE__*/ /* feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW);*/ /*#endif*/ int err; int i, j, ii, jj, idx; const int bsd = D_MR; //d_get_mr(); const int bss = S_MR; //s_get_mr(); int info = 0; int nn[] = {4, 6, 8, 10, 12, 16, 20, 24, 28, 32, 36, 40, 44, 48, 52, 56, 60, 64, 68, 72, 76, 80, 84, 88, 92, 96, 100, 104, 108, 112, 116, 120, 124, 128, 132, 136, 140, 144, 148, 152, 156, 160, 164, 168, 172, 176, 180, 184, 188, 192, 196, 200, 204, 208, 212, 216, 220, 224, 228, 232, 236, 240, 244, 248, 252, 256, 260, 264, 268, 272, 276, 280, 284, 288, 292, 296, 300}; int nnrep[] = {10000, 10000, 10000, 10000, 10000, 4000, 4000, 2000, 2000, 1000, 1000, 400, 400, 400, 200, 200, 200, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 40, 40, 40, 40, 40, 20, 20, 20, 20, 20, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10}; int vnx[] = {8, 12, 16, 24, 32, 48, 64, 96, 128, 192, 256, 512, 1024}; int vnrep[] = {100, 100, 100, 100, 100, 100, 50, 50, 50, 20, 10, 10}; int vN[] = {4, 8, 12, 16, 24, 32, 48, 64, 96, 128, 192, 256}; int ll; for(ll=0; ll<77; ll++) /* for(ll=0; ll<1; ll++)*/ { int nx = nn[ll];//NX;//16;//nn[ll]; // number of states (it has to be even for the mass-spring system test problem) int nu = 2;//NU;//5; // number of inputs (controllers) (it has to be at least 1 and at most nx/2 for the mass-spring system test problem) int N = 10;//NN;//10; // horizon lenght int nrep = nnrep[ll]; /* int nx = NX;//16;//nn[ll]; // number of states (it has to be even for the mass-spring system test problem)*/ /* int nu = NU;//5; // number of inputs (controllers) (it has to be at least 1 and at most nx/2 for the mass-spring system test problem)*/ /* int N = NN;//10; // horizon lenght*/ /* int nrep = NREP;*/ int rep; int nz = nx+nu+1; int pnz = bss*((nz+bss-nu%bss+bss-1)/bss); /************************************************ * dynamical system ************************************************/ double *A; d_zeros(&A, nx, nx); // states update matrix double *B; d_zeros(&B, nx, nu); // inputs matrix double *b; d_zeros(&b, nx, 1); // states offset double *x0; d_zeros(&x0, nx, 1); // initial state double Ts = 0.5; // sampling time mass_spring_system(Ts, nx, nu, N, A, B, b, x0); for(jj=0; jj<nx; jj++) b[jj] = 0.1; for(jj=0; jj<nx; jj++) x0[jj] = 0; x0[0] = 3.5; x0[1] = 3.5; // d_print_mat(nx, nx, A, nx); // d_print_mat(nx, nu, B, nx); // d_print_mat(nx, 1, b, nx); // d_print_mat(nx, 1, x0, nx); /* packed */ double *BAb; d_zeros(&BAb, nx, nz); dmcopy(nx, nu, B, nx, BAb, nx); dmcopy(nx, nx, A, nx, BAb+nu*nx, nx); dmcopy(nx, 1 , b, nx, BAb+(nu+nx)*nx, nx); // d_print_mat(nx, nx+nu+1, BAb, nx); /* transposed */ double *BAbt; d_zeros_align(&BAbt, pnz, pnz); for(ii=0; ii<nx; ii++) for(jj=0; jj<nz; jj++) { BAbt[jj+pnz*ii] = BAb[ii+nx*jj]; } // d_print_mat(nz, nx+1, BAbt, pnz); // s_print_mat(nz, nx+1, sBAbt, pnz); // return 0; /* packed into contiguous memory */ double *pBAbt; d_zeros_align(&pBAbt, pnz, pnz); d_cvt_mat2pmat(nz, nx, 0, bsd, BAbt, pnz, pBAbt, pnz); float *psBAbt; s_zeros_align(&psBAbt, pnz, pnz); s_cvt_d2s_pmat(nz, nx, bsd, pBAbt, pnz, bss, psBAbt, pnz); // d_print_pmat(nz, nx, bsd, pBAbt, pnz); // s_print_pmat(nz, nx, bss, spBAbt, pnz); /************************************************ * cost function ************************************************/ double *Q; d_zeros_align(&Q, pnz, pnz); for(ii=0; ii<nu; ii++) Q[ii*(pnz+1)] = 2.0; for(; ii<pnz; ii++) Q[ii*(pnz+1)] = 1.0; for(ii=0; ii<nz; ii++) Q[nx+nu+ii*pnz] = 1.0; Q[(nx+nu)*(pnz+1)] = 1e6; /* packed into contiguous memory */ float *pQ; s_zeros_align(&pQ, pnz, pnz); cvt_d2s_mat2pmat(nz, nz, 0, bss, Q, pnz, pQ, pnz); /* matrices series */ float *(hpQ[N+1]); float *(hq[N+1]); float *(hux[N+1]); float *(hpi[N+1]); float *(hpBAbt[N]); float *(hrb[N]); float *(hrq[N+1]); for(jj=0; jj<N; jj++) { s_zeros_align(&hpQ[jj], pnz, pnz); s_zeros_align(&hq[jj], pnz, 1); s_zeros_align(&hux[jj], pnz, 1); s_zeros_align(&hpi[jj], nx, 1); hpBAbt[jj] = psBAbt; s_zeros_align(&hrb[jj], nx, 1); s_zeros_align(&hrq[jj], nx+nu, 1); } s_zeros_align(&hpQ[N], pnz, pnz); s_zeros_align(&hq[N], pnz, 1); s_zeros_align(&hux[N], pnz, 1); s_zeros_align(&hpi[N], nx, 1); s_zeros_align(&hrq[N], nx+nu, 1); // starting guess for(jj=0; jj<nx; jj++) hux[0][nu+jj] = (float) x0[jj]; float *pL; s_zeros_align(&pL, pnz, pnz); float *pBAbtL; s_zeros_align(&pBAbtL, pnz, pnz); /************************************************ * riccati-like iteration ************************************************/ // predictor // restore cost function for(ii=0; ii<N; ii++) { for(jj=0; jj<pnz*pnz; jj++) hpQ[ii][jj]=pQ[jj]; } for(jj=0; jj<pnz*pnz; jj++) hpQ[N][jj]=pQ[jj]; // call the solver sricposv_mpc(nx, nu, N, pnz, hpBAbt, hpQ, hux, pL, pBAbtL, COMPUTE_MULT, hpi, &info); if(PRINTRES==1) { /* print result */ printf("\n\nsv\n\n"); for(ii=0; ii<N; ii++) s_print_mat(1, nu, hux[ii], 1); } if(PRINTRES==1 && COMPUTE_MULT==1) { // print result printf("\n\nsv\n\n"); for(ii=0; ii<N; ii++) s_print_mat(1, nx, hpi[ii+1], 1); } // corrector // clear solution for(ii=0; ii<N; ii++) { for(jj=0; jj<nu; jj++) hux[ii][jj] = 0; for(jj=0; jj<nx; jj++) hux[ii+1][nu+jj] = 0; } // restore linear part of cost function for(ii=0; ii<N; ii++) { for(jj=0; jj<nx+nu; jj++) hq[ii][jj] = Q[nx+nu+pnz*jj]; } for(jj=0; jj<nx+nu; jj++) hq[N][jj] = Q[nx+nu+pnz*jj]; // call the solver sricpotrs_mpc(nx, nu, N, pnz, hpBAbt, hpQ, hq, hux, pBAbtL, COMPUTE_MULT, hpi); if(PRINTRES==1) { // print result printf("\n\ntrs\n\n"); for(ii=0; ii<N; ii++) s_print_mat(1, nu, hux[ii], 1); } if(PRINTRES==1 && COMPUTE_MULT==1) { // print result printf("\n\ntrs\n\n"); for(ii=0; ii<N; ii++) s_print_mat(1, nx, hpi[ii+1], 1); } // restore cost function for(ii=0; ii<N; ii++) { for(jj=0; jj<pnz*pnz; jj++) hpQ[ii][jj]=pQ[jj]; } for(jj=0; jj<pnz*pnz; jj++) hpQ[N][jj]=pQ[jj]; // restore linear part of cost function for(ii=0; ii<N; ii++) { for(jj=0; jj<nx+nu; jj++) hq[ii][jj] = Q[nx+nu+pnz*jj]; } for(jj=0; jj<nx+nu; jj++) hq[N][jj] = Q[nx+nu+pnz*jj]; // residuals computation sres(nx, nu, N, pnz, hpBAbt, hpQ, hq, hux, hpi, hrq, hrb); if(PRINTRES==1 && COMPUTE_MULT==1) { // print result printf("\n\nres\n\n"); for(ii=0; ii<+N; ii++) s_print_mat(1, nx+nu, hrq[ii], 1); for(ii=0; ii<N; ii++) s_print_mat(1, nx, hrb[ii], 1); } // timing struct timeval tv0, tv1, tv2; gettimeofday(&tv0, NULL); // start // double precision for(rep=0; rep<nrep; rep++) { // restore cost function for(ii=0; ii<N; ii++) { for(jj=0; jj<pnz*pnz; jj++) hpQ[ii][jj]=pQ[jj]; } for(jj=0; jj<pnz*pnz; jj++) hpQ[N][jj]=pQ[jj]; // call the solver sricposv_mpc(nx, nu, N, pnz, hpBAbt, hpQ, hux, pL, pBAbtL, COMPUTE_MULT, hpi, &info); } gettimeofday(&tv1, NULL); // start for(rep=0; rep<nrep; rep++) { // clear solution for(ii=0; ii<N; ii++) { for(jj=0; jj<nu; jj++) hux[ii][jj] = 0; for(jj=0; jj<nx; jj++) hux[ii+1][nu+jj] = 0; } // restore linear part of cost function for(ii=0; ii<N; ii++) { for(jj=0; jj<nx+nu; jj++) hq[ii][jj] = Q[nx+nu+pnz*jj]; } for(jj=0; jj<nx+nu; jj++) hq[N][jj] = Q[nx+nu+pnz*jj]; // call the solver sricpotrs_mpc(nx, nu, N, pnz, hpBAbt, hpQ, hq, hux, pBAbtL, COMPUTE_MULT, hpi); } gettimeofday(&tv2, NULL); // start float time_sv = (float) (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6); float flop_sv = (1.0/3.0*nx*nx*nx+3.0/2.0*nx*nx) + N*(7.0/3.0*nx*nx*nx+4.0*nx*nx*nu+2.0*nx*nu*nu+1.0/3.0*nu*nu*nu+13.0/2.0*nx*nx+9.0*nx*nu+5.0/2.0*nu*nu); if(COMPUTE_MULT==1) flop_sv += N*2*nx*nx; float Gflops_sv = 1e-9*flop_sv/time_sv; float time_trs = (float) (tv2.tv_sec-tv1.tv_sec)/(nrep+0.0)+(tv2.tv_usec-tv1.tv_usec)/(nrep*1e6); float flop_trs = N*(8.0*nx*nx+8.0*nx*nu+2.0*nu*nu); if(COMPUTE_MULT==1) flop_trs += N*2*nx*nx; float Gflops_trs = 1e-9*flop_trs/time_trs; float Gflops_max = flops_max * GHz_max; if(ll==0) printf("\nnx\tnu\tN\tsv time\t\tsv Gflops\tsv \%\t\ttrs time\ttrs Gflops\ttrs \%\n\n"); printf("%d\t%d\t%d\t%e\t%f\t%f\t%e\t%f\t%f\n", nx, nu, N, time_sv, Gflops_sv, 100.0*Gflops_sv/Gflops_max, time_trs, Gflops_trs, 100.0*Gflops_trs/Gflops_max); /************************************************ * return ************************************************/ free(A); free(B); free(b); free(x0); free(BAb); free(BAbt); free(pBAbt); free(Q); free(pQ); free(pL); free(pBAbtL); for(jj=0; jj<N; jj++) { free(hpQ[jj]); free(hq[jj]); free(hux[jj]); free(hpi[jj]); } free(hpQ[N]); free(hq[N]); free(hux[N]); free(hpi[N]); } // increase size printf("\n"); printf("\n"); printf("\n"); return 0; }