diff --git a/.github/workflows/build_cuda.yml b/.github/workflows/build_cuda.yml deleted file mode 100644 index 4fbb108b..00000000 --- a/.github/workflows/build_cuda.yml +++ /dev/null @@ -1,34 +0,0 @@ -name: Build CUDA Linux - -on: - push: - branches: [ master, develop**, ci ] - tags: - - '*' - pull_request: - branches: [ master, develop** ] - -jobs: - build_wheels: - name: Build wheel on ${{ matrix.os }} - runs-on: ${{ matrix.os }} - strategy: - fail-fast: false - matrix: - os: [ubuntu-latest] - - steps: - - uses: actions/checkout@master - - - name: Build wheels - uses: pypa/cibuildwheel@v2.23 - with: - package-dir: backend/cuda - config-file: backend/cuda/cibuildwheel.toml - output-dir: wheelhouse - - - name: Upload artifacts to github - uses: actions/upload-artifact@v5 - with: - name: wheels-cuda-${{ matrix.os }} - path: ./wheelhouse diff --git a/.github/workflows/build_cuda12.yml b/.github/workflows/build_cuda12.yml new file mode 100644 index 00000000..58648849 --- /dev/null +++ b/.github/workflows/build_cuda12.yml @@ -0,0 +1,97 @@ +name: Build CUDA 12 + +on: + push: + branches: [ master, develop**, ci ] + tags: + - '*' + pull_request: + branches: [ master, develop** ] + +env: + CUDATOOLKIT_URL: https://developer.download.nvidia.com/compute/cuda/12.9.0/local_installers/cuda_12.9.0_576.02_windows.exe + CUDATOOLKIT_COMPONENTS: nvcc_12.9 cudart_12.9 cublas_dev_12.9 curand_dev_12.9 cusparse_dev_12.9 thrust_12.9 visual_studio_integration_12.9 + +jobs: + build_wheels_linux: + name: Build wheel on Linux + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@master + + - name: Build wheels + uses: pypa/cibuildwheel@v2.23 + with: + package-dir: backend/cuda12 + config-file: backend/cuda12/cibuildwheel.toml + output-dir: wheelhouse + + - name: Upload artifacts to github + uses: actions/upload-artifact@v5 + with: + name: wheels-cuda12-linux + path: ./wheelhouse + + build_wheels_windows: + name: Build wheel on Windows + runs-on: windows-2025 + defaults: + run: + shell: cmd + steps: + - uses: actions/checkout@master + + - name: Add msbuild to PATH + uses: microsoft/setup-msbuild@v2.0.0 + + - name: Add Windows SDK + run: | + choco install windows-sdk-8.1 + + - name: cache install cuda + id: cache-install + uses: actions/cache@v4 + with: + path: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v12.9 + key: install-cuda-12.9.0 + + - name: install cuda + if: steps.cache-install.outputs.cache-hit != 'true' + run: | + curl.exe --output %TEMP%\cuda.exe --url %CUDATOOLKIT_URL% --retry 5 --retry-delay 5 + start /b /wait %TEMP%\cuda.exe -s %CUDATOOLKIT_COMPONENTS% + del %TEMP%\cuda.exe + + - name: Build wheels + uses: pypa/cibuildwheel@v2.23 + with: + package-dir: backend/cuda12 + config-file: backend/cuda12/cibuildwheel.toml + output-dir: wheelhouse + + - name: Upload artifacts to github + uses: actions/upload-artifact@v5 + with: + name: wheels-cuda12-windows + path: ./wheelhouse + + publish_to_pypi: + name: Publish CUDA 12 wheels to PyPI + if: github.event_name == 'push' && startsWith(github.event.ref, 'refs/tags') + needs: [build_wheels_linux, build_wheels_windows] + runs-on: ubuntu-latest + steps: + - name: Download packages + uses: actions/download-artifact@v4 + with: + pattern: wheels-cuda12-* + path: dist + merge-multiple: true + + - name: Upload wheels to PyPI + env: + TWINE_USERNAME: __token__ + TWINE_PASSWORD: ${{ secrets.pypi_password }} + run: | + python -m pip install --upgrade twine + twine upload dist/* diff --git a/.github/workflows/build_cuda13.yml b/.github/workflows/build_cuda13.yml new file mode 100644 index 00000000..a624d653 --- /dev/null +++ b/.github/workflows/build_cuda13.yml @@ -0,0 +1,97 @@ +name: Build CUDA 13 + +on: + push: + branches: [ master, develop**, ci ] + tags: + - '*' + pull_request: + branches: [ master, develop** ] + +env: + CUDATOOLKIT_URL: https://developer.download.nvidia.com/compute/cuda/13.1.0/local_installers/cuda_13.1.0_windows.exe + CUDATOOLKIT_COMPONENTS: nvcc_13.1 nvvm_13.1 crt_13.1 cudart_13.1 cublas_13.1 cublas_dev_13.1 curand_13.1 curand_dev_13.1 cusparse_13.1 cusparse_dev_13.1 thrust_13.1 visual_studio_integration_13.1 + +jobs: + build_wheels_linux: + name: Build wheel on Linux + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@master + + - name: Build wheels + uses: pypa/cibuildwheel@v2.23 + with: + package-dir: backend/cuda13 + config-file: backend/cuda13/cibuildwheel.toml + output-dir: wheelhouse + + - name: Upload artifacts to github + uses: actions/upload-artifact@v5 + with: + name: wheels-cuda13-linux + path: ./wheelhouse + + build_wheels_windows: + name: Build wheel on Windows + runs-on: windows-2025 + defaults: + run: + shell: cmd + steps: + - uses: actions/checkout@master + + - name: Add msbuild to PATH + uses: microsoft/setup-msbuild@v2.0.0 + + - name: Add Windows SDK + run: | + choco install windows-sdk-8.1 + + - name: cache install cuda + id: cache-install + uses: actions/cache@v4 + with: + path: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v13.1 + key: install-cuda-13.1.0 + + - name: install cuda + if: steps.cache-install.outputs.cache-hit != 'true' + run: | + curl.exe --output %TEMP%\cuda.exe --url %CUDATOOLKIT_URL% --retry 5 --retry-delay 5 + start /b /wait %TEMP%\cuda.exe -s %CUDATOOLKIT_COMPONENTS% + del %TEMP%\cuda.exe + + - name: Build wheels + uses: pypa/cibuildwheel@v2.23 + with: + package-dir: backend/cuda13 + config-file: backend/cuda13/cibuildwheel.toml + output-dir: wheelhouse + + - name: Upload artifacts to github + uses: actions/upload-artifact@v5 + with: + name: wheels-cuda13-windows + path: ./wheelhouse + + publish_to_pypi: + name: Publish CUDA 13 wheels to PyPI + if: github.event_name == 'push' && startsWith(github.event.ref, 'refs/tags') + needs: [build_wheels_linux, build_wheels_windows] + runs-on: ubuntu-latest + steps: + - name: Download packages + uses: actions/download-artifact@v4 + with: + pattern: wheels-cuda13-* + path: dist + merge-multiple: true + + - name: Upload wheels to PyPI + env: + TWINE_USERNAME: __token__ + TWINE_PASSWORD: ${{ secrets.pypi_password }} + run: | + python -m pip install --upgrade twine + twine upload dist/* diff --git a/.github/workflows/build_cuda_windows.yml b/.github/workflows/build_cuda_windows.yml deleted file mode 100644 index 7204ce91..00000000 --- a/.github/workflows/build_cuda_windows.yml +++ /dev/null @@ -1,62 +0,0 @@ -name: Build CUDA Windows - -on: - push: - branches: [ master, develop**, ci ] - tags: - - '*' - pull_request: - branches: [ master, develop** ] - -env: - CUDATOOLKIT_URL: https://developer.download.nvidia.com/compute/cuda/12.6.3/local_installers/cuda_12.6.3_561.17_windows.exe - CUDATOOLKIT_COMPONENTS: nvcc_12.6 cudart_12.6 cublas_dev_12.6 curand_dev_12.6 cusparse_dev_12.6 thrust_12.6 visual_studio_integration_12.6 - -jobs: - build_wheels: - name: Build wheel on ${{ matrix.os }} - runs-on: ${{ matrix.os }} - defaults: - run: - shell: cmd - strategy: - fail-fast: false - matrix: - os: [windows-2022] - - steps: - - uses: actions/checkout@master - - - name: Add msbuild to PATH - uses: microsoft/setup-msbuild@v2.0.0 - - - name: Add Windows SDK - run: | - choco install windows-sdk-8.1 - - - name: cache install cuda - id: cache-install - uses: actions/cache@v4 - with: - path: C:\Program Files (x86)\Intel\oneAPI\ - key: install-${{ env.CUDATOOLKIT_URL }}-${{ env.CUDATOOLKIT_COMPONENTS }} - - - name: install cuda - if: steps.cache-install.outputs.cache-hit != 'true' - run: | - curl.exe --output %TEMP%\cuda.exe --url %CUDATOOLKIT_URL% --retry 5 --retry-delay 5 - start /b /wait %TEMP%\cuda.exe -s %CUDATOOLKIT_COMPONENTS% - del %TEMP%\cuda.exe - - - name: Build wheels - uses: pypa/cibuildwheel@v2.23 - with: - package-dir: backend/cuda - config-file: backend/cuda/cibuildwheel.toml - output-dir: wheelhouse - - - name: Upload artifacts to github - uses: actions/upload-artifact@v5 - with: - name: wheels-cuda-${{ matrix.os }} - path: ./wheelhouse diff --git a/.github/workflows/build_default.yml b/.github/workflows/build_default.yml index 58bba78d..09944ece 100644 --- a/.github/workflows/build_default.yml +++ b/.github/workflows/build_default.yml @@ -2,11 +2,11 @@ name: Build Default on: push: - branches: [ master, develop**, ci ] + branches: [master, develop**, ci] tags: - - '*' + - "*" pull_request: - branches: [ master, develop** ] + branches: [master, develop**] jobs: build_sdist: @@ -15,21 +15,21 @@ jobs: strategy: fail-fast: false steps: - - uses: actions/checkout@master - with: - submodules: 'recursive' + - uses: actions/checkout@master + with: + submodules: "recursive" - - name: Build source - run: | - python -m pip install build - python -m build --sdist --outdir=wheelhouse + - name: Build source + run: | + python -m pip install build + python -m build --sdist --outdir=wheelhouse - - name: Upload sdist to github - uses: actions/upload-artifact@v5 - with: - name: wheels-sdist - path: wheelhouse/*.tar.gz - if-no-files-found: error + - name: Upload sdist to github + uses: actions/upload-artifact@v5 + with: + name: wheels-sdist + path: wheelhouse/*.tar.gz + if-no-files-found: error build_wheels: name: Build wheel on ${{ matrix.os }} for ${{ matrix.cibw_archs }} @@ -44,29 +44,29 @@ jobs: cibw_archs: "auto" - os: windows-2022 cibw_archs: "auto64" - # Include macos-13 to get Intel x86_64 macs and maos-latest to get the Aaarch64 macs - - os: macos-13 + # Include macos-15 to get Intel x86_64 macs and maos-latest to get the Aaarch64 macs + - os: macos-15-intel cibw_archs: "x86_64" - os: macos-latest cibw_archs: "arm64" steps: - - uses: actions/checkout@master + - uses: actions/checkout@master - - name: Build wheels - uses: pypa/cibuildwheel@v2.23 - with: - config-file: cibuildwheel.toml - output-dir: wheelhouse - env: - CIBW_ENVIRONMENT_MACOS: CMAKE_OSX_ARCHITECTURES=${{ matrix.cibw_archs }} + - name: Build wheels + uses: pypa/cibuildwheel@v2.23 + with: + config-file: cibuildwheel.toml + output-dir: wheelhouse + env: + CIBW_ENVIRONMENT_MACOS: CMAKE_OSX_ARCHITECTURES=${{ matrix.cibw_archs }} - - name: Upload artifacts to github - uses: actions/upload-artifact@v5 - with: - name: wheels-${{ runner.os }}-${{ matrix.cibw_archs }} - path: ./wheelhouse/*.whl - if-no-files-found: error + - name: Upload artifacts to github + uses: actions/upload-artifact@v5 + with: + name: wheels-${{ runner.os }}-${{ matrix.cibw_archs }} + path: ./wheelhouse/*.whl + if-no-files-found: error publish_to_pypi: name: Publish wheels to PyPi diff --git a/.github/workflows/build_mkl.yml b/.github/workflows/build_mkl.yml index fc1c0109..734d0e08 100644 --- a/.github/workflows/build_mkl.yml +++ b/.github/workflows/build_mkl.yml @@ -2,11 +2,11 @@ name: Build MKL Mac/Linux on: push: - branches: [ master, develop**, ci ] + branches: [master, develop**, ci] tags: - - '*' + - "*" pull_request: - branches: [ master, develop** ] + branches: [master, develop**] jobs: build_wheels: @@ -15,22 +15,21 @@ jobs: strategy: fail-fast: false matrix: - # macos-latest now uses arm64 runners, but MKL is x86_64 only, so restrict to the macos-13 runners - # to get x86_64 architecture. - os: [ubuntu-latest, macos-13] + # macos-latest now uses arm64 runners, but MKL is x86_64 only, so restrict to the macos-15-intel runners to get x86_64 architecture. + os: [ubuntu-latest, macos-15-intel] steps: - - uses: actions/checkout@master + - uses: actions/checkout@master - - name: Build wheels - uses: pypa/cibuildwheel@v2.23 - with: - package-dir: backend/mkl - config-file: backend/mkl/cibuildwheel.toml - output-dir: wheelhouse + - name: Build wheels + uses: pypa/cibuildwheel@v2.23 + with: + package-dir: backend/mkl + config-file: backend/mkl/cibuildwheel.toml + output-dir: wheelhouse - - name: Upload artifacts to github - uses: actions/upload-artifact@v5 - with: - name: wheels-mkl-${{ matrix.os }} - path: ./wheelhouse + - name: Upload artifacts to github + uses: actions/upload-artifact@v5 + with: + name: wheels-mkl-${{ matrix.os }} + path: ./wheelhouse diff --git a/.gitignore b/.gitignore index 8587415a..15f36cb7 100644 --- a/.gitignore +++ b/.gitignore @@ -144,4 +144,3 @@ ext.sln ext_builtin.vcxproj ext_builtin.vcxproj.filters src/bindings.cpp -CLAUDE.md diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 00000000..eeea84f0 --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,176 @@ +# CLAUDE.md + +This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository. + +## Overview + +This is the Python wrapper for OSQP (Operator Splitting Quadratic Program solver), a numerical optimization package. The package uses scikit-build-core with CMake to build C/C++ extensions via pybind11. + +## Build System Architecture + +### Multi-Backend System +OSQP supports multiple algebra backends with different performance characteristics: +- **builtin**: Default CPU backend, always available (built into main package) +- **mkl**: Intel MKL-accelerated backend (separate package: `osqp-mkl`) +- **cuda**: CUDA GPU backend (separate packages: `osqp-cu12` for CUDA 12.x, `osqp-cu13` for CUDA 13.x) + +The backend selection happens at runtime via: +1. `OSQP_ALGEBRA_BACKEND` environment variable (if set) +2. Auto-detection in priority order: cuda → mkl → builtin (see `src/osqp/interface.py:14-18`) + +Each backend compiles to a separate extension module: +- `ext_builtin` (in osqp package) +- `osqp_mkl` (in osqp-mkl package) +- `osqp_cuda` (in osqp-cu12 or osqp-cu13 packages - mutually exclusive) + +### Build Configuration +The root `CMakeLists.txt` fetches OSQP from https://github.com/lb3825/osqp.git (branch: `b/cuda-13-blackwell-support`), not the official repo. Custom memory/printing routines are injected via `cmake/printing.h` and `cmake/memory.h`. + +The `bindings.cpp.in` template is configured at build time to create `src/bindings.cpp`, which is the pybind11 module source. + +## Development Commands + +### Important: Always activate venv before using uv pip +When using `uv pip`, you MUST first activate the virtual environment. Otherwise `uv pip` may install to a different environment (e.g., conda). + +```bash +source .venv/bin/activate # ALWAYS do this first +uv pip install . # Then run uv pip commands +``` + +### Installing from Source +The recommended approach is to use `uv` for environment management and installation. Avoid editable installs (`-e`) as they can break other parts of the build system. + +```bash +# Recommended: use uv +uv venv # Create virtual environment +source .venv/bin/activate # Activate it (REQUIRED before uv pip) +uv pip install . # Install main package with builtin backend +uv pip install .[dev] # Install with development dependencies + +# Alternative: standard pip (after activating venv) +pip install . # Install main package with builtin backend +pip install .[dev] # Install with development dependencies +``` + +### Building Backend Packages + +#### Building Wheels +Use `uv build` to create wheel files: + +```bash +# Build main package wheel +uv build --wheel --out-dir dist + +# Build CUDA 12 backend wheel (requires CUDA 12.x toolkit) +uv build backend/cuda12 --wheel --out-dir dist + +# Build CUDA 13 backend wheel (requires CUDA 13.x toolkit) +uv build backend/cuda13 --wheel --out-dir dist + +# Build MKL backend wheel (requires Intel MKL) +uv build backend/mkl --wheel --out-dir dist +``` + +#### Installing Backend Wheels +After building wheels, install them: + +```bash +source .venv/bin/activate +uv pip install dist/osqp_cu12-*.whl # Install CUDA 12 wheel +uv pip install dist/osqp_cu13-*.whl # Install CUDA 13 wheel (mutually exclusive with cu12) +uv pip install dist/osqp_mkl-*.whl # Install MKL wheel +``` + +**Note:** `osqp-cu12` and `osqp-cu13` both provide the same `osqp_cuda` module and cannot be installed simultaneously. Choose the one matching your CUDA version. + +#### Direct Installation (for development) +```bash +source .venv/bin/activate + +# Install MKL backend directly +uv pip install backend/mkl + +# Install CUDA 12 backend directly +uv pip install backend/cuda12 + +# Install CUDA 13 backend directly +uv pip install backend/cuda13 +``` + +### Testing +```bash +# Run all tests +pytest src/osqp/tests + +# Run single test file +pytest src/osqp/tests/basic_test.py + +# Run with specific algebra backend +OSQP_TEST_ALGEBRA_INCLUDE="builtin" pytest src/osqp/tests + +# Skip specific backends +OSQP_TEST_ALGEBRA_SKIP="cuda" pytest src/osqp/tests +``` + +Test parametrization is configured in `src/osqp/tests/conftest.py`, which generates test variations for different algebra backends and solver types (direct/indirect). Environment variables `OSQP_TEST_ALGEBRA_INCLUDE` and `OSQP_TEST_ALGEBRA_SKIP` control which backends are tested. + +### Linting and Formatting +```bash +pre-commit run --all-files # Run all pre-commit hooks +flake8 # Run flake8 linter +blue --line-length=120 . # Run blue formatter +``` + +Code style: uses `blue` formatter (120 char line length) and `absolufy-imports` for absolute imports. + +### Building Wheels +```bash +# Build source distribution +python -m build --sdist + +# Build wheel for current platform +python -m build --wheel +``` + +CI uses cibuildwheel (config in `cibuildwheel.toml`) to build wheels for multiple platforms. + +## Key Architecture Points + +### Extension Module Loading +The `interface.py` module contains the algebra backend loading logic: +- `_ALGEBRAS` tuple defines priority order (cuda > mkl > builtin) +- `_ALGEBRA_MODULES` maps algebra names to importable module names +- `algebra_available()` checks if a backend can be imported +- `default_algebra()` selects backend based on env var or availability + +### Python Interface +- Main class: `OSQP` in `src/osqp/interface.py` (algebra-agnostic) +- Convenience classes: `osqp.builtin.OSQP`, `osqp.mkl.OSQP`, `osqp.cuda.OSQP` (pre-set algebra) +- All convenience classes inherit from the main `OSQP` class, just passing the `algebra` kwarg + +### Code Generation +The package supports generating standalone C code from a problem. Codegen templates are in `src/osqp/codegen/pywrapper/` and controlled by the `OSQP_CODEGEN` environment variable during build. + +### CMake Build Variables +Key CMake defines (set in `pyproject.toml` or backend-specific configs): +- `OSQP_ALGEBRA_BACKEND`: builtin/mkl/cuda +- `OSQP_EXT_MODULE_NAME`: Name of the compiled extension module +- `OSQP_ENABLE_INTERRUPT`: Enable interrupt handling (default ON) +- `OSQP_CODEGEN`: Enable code generation support +- `OSQP_USE_LONG`: Use long integers (currently ON in CMakeLists.txt:7) +- `OSQP_CUSTOM_PRINTING/MEMORY`: Paths to custom header files + +## Important File Locations + +- `src/osqp/interface.py`: Main Python interface, backend selection logic +- `src/bindings.cpp.in`: Pybind11 binding template (becomes src/bindings.cpp) +- `CMakeLists.txt`: Root CMake configuration +- `src/osqp/tests/conftest.py`: Pytest parametrization for multi-backend testing +- `backend/{cuda12,cuda13,mkl}/pyproject.toml`: Backend-specific build configs +- `pyproject.toml`: Main package configuration + +## Notes on Current Branch + +Current branch: `feature/pr8-compat` (main branch for PRs: `master`) +Recent commits indicate work on updating the Python wrapper for PR #8 (diagonal step sizes), CUDA backends, and GitHub workflow fixes. diff --git a/CMakeLists.txt b/CMakeLists.txt index a18c12e4..337c5089 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -48,7 +48,7 @@ FetchContent_Declare( osqp # GIT_REPOSITORY https://github.com/osqp/osqp.git GIT_REPOSITORY https://github.com/lb3825/osqp.git - GIT_TAG develop-halpern + GIT_TAG b/cuda-13-blackwell-support ) list(POP_BACK CMAKE_MESSAGE_INDENT) FetchContent_MakeAvailable(osqp) diff --git a/backend/cuda/cibuildwheel.toml b/backend/cuda12/cibuildwheel.toml similarity index 68% rename from backend/cuda/cibuildwheel.toml rename to backend/cuda12/cibuildwheel.toml index 6f670d40..1fb216b7 100644 --- a/backend/cuda/cibuildwheel.toml +++ b/backend/cuda12/cibuildwheel.toml @@ -9,9 +9,9 @@ repair-wheel-command = "" before-all = [ "yum-config-manager --add-repo https://developer.download.nvidia.com/compute/cuda/repos/rhel9/x86_64/cuda-rhel9.repo", "yum search cuda-toolkit*", - "yum install -y cuda-toolkit-12-6" + "yum install -y cuda-toolkit-12-9" ] -environment = { CMAKE_CUDA_COMPILER = "/usr/local/cuda-12.6/bin/nvcc" } +environment = { CMAKE_CUDA_COMPILER = "/usr/local/cuda-12.9/bin/nvcc" } [tool.cibuildwheel.windows] -environment = { CMAKE_CUDA_COMPILER = "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.6/bin/nvcc.exe", CUDA_TOOLKIT_ROOT_DIR = "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.6", CMAKE_GENERATOR_TOOLSET = "cuda=C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.6" } +environment = { CMAKE_CUDA_COMPILER = "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.9/bin/nvcc.exe", CUDA_TOOLKIT_ROOT_DIR = "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.9", CMAKE_GENERATOR_TOOLSET = "cuda=C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.9" } diff --git a/backend/cuda/pyproject.toml b/backend/cuda12/pyproject.toml similarity index 100% rename from backend/cuda/pyproject.toml rename to backend/cuda12/pyproject.toml diff --git a/backend/cuda13/cibuildwheel.toml b/backend/cuda13/cibuildwheel.toml new file mode 100644 index 00000000..2cf406ba --- /dev/null +++ b/backend/cuda13/cibuildwheel.toml @@ -0,0 +1,19 @@ +[tool.cibuildwheel] +build = "cp3*" +skip = ["cp36-*", "cp37-*", "cp38-*", "*-win32", "*-manylinux_i686", "*-musllinux_*"] +build-verbosity = 1 +before-build = "rm -rf {package}/osqp_sources/build" +repair-wheel-command = "" + +[tool.cibuildwheel.linux] +before-all = [ + "yum-config-manager --add-repo https://developer.download.nvidia.com/compute/cuda/repos/rhel9/x86_64/cuda-rhel9.repo", + "yum search cuda-toolkit*", + "yum install -y cuda-toolkit-13-1" +] +# CUDA 13 requires C++17 +environment = { CMAKE_CUDA_COMPILER = "/usr/local/cuda-13.1/bin/nvcc", CMAKE_CUDA_STANDARD = "17", CMAKE_CXX_STANDARD = "17" } + +[tool.cibuildwheel.windows] +# CUDA 13 requires C++17 +environment = { CMAKE_CUDA_COMPILER = "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v13.1/bin/nvcc.exe", CUDA_TOOLKIT_ROOT_DIR = "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v13.1", CMAKE_GENERATOR_TOOLSET = "cuda=C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v13.1", CMAKE_CUDA_STANDARD = "17", CMAKE_CXX_STANDARD = "17" } diff --git a/backend/cuda13/pyproject.toml b/backend/cuda13/pyproject.toml new file mode 100644 index 00000000..7b4e39f6 --- /dev/null +++ b/backend/cuda13/pyproject.toml @@ -0,0 +1,41 @@ +[build-system] +requires = ["scikit-build-core", "pybind11"] +build-backend = "scikit_build_core.build" + +[project] +name = "osqp-cu13" +dynamic = ["version"] +description = "OSQP: The Operator Splitting QP Solver" +requires-python = ">=3.8" +authors = [ + { name = "Bartolomeo Stellato", email = "bartolomeo.stellato@gmail.com" }, + { name = "Goran Banjac" }, + { name = "Vineet Bansal", email = "vineetbansal@protonmail.com" }, + { name = "Amit Solomon", email = "as3993@princeton.edu" }, + { name = "Henry Schreiner", email = "HenrySchreinerIII@gmail.com" }, +] +dependencies = [ + "osqp>=1.0.0a0", +] + +[project.urls] +Homepage = "https://osqp.org/" + +[tool.scikit-build] +install.components = ["python"] +metadata.version.provider = "scikit_build_core.metadata.setuptools_scm" +minimum-version = "0.8" +cmake.source-dir = "../.." + +[tool.scikit-build.cmake.define] +OSQP_ALGEBRA_BACKEND = "cuda" +OSQP_EXT_MODULE_NAME = "osqp_cuda" +CMAKE_CUDA_COMPILER = {env="CMAKE_CUDA_COMPILER"} +CUDA_TOOLKIT_ROOT_DIR = {env="CUDA_TOOLKIT_ROOT_DIR"} +OSQP_USE_FLOAT = {env="OSQP_USE_FLOAT"} +# CUDA 13 requires C++17 +CMAKE_CUDA_STANDARD = "17" +CMAKE_CXX_STANDARD = "17" + +[tool.setuptools_scm] +root = "../.." diff --git a/pyproject.toml b/pyproject.toml index c52e0fc7..8bd7bd87 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -46,6 +46,9 @@ dev = [ cu12 = [ "osqp-cu12", ] +cu13 = [ + "osqp-cu13", +] [dependency-groups] # Exclude scipy 1.12 because the random sparse array function started returning diff --git a/src/bindings.cpp.in b/src/bindings.cpp.in index 391a6c8a..3614f150 100644 --- a/src/bindings.cpp.in +++ b/src/bindings.cpp.in @@ -113,7 +113,7 @@ class PyOSQPSolver { OSQPInfo* get_info(); OSQPInt update_settings(const OSQPSettings&); - OSQPInt update_rho(OSQPFloat); + OSQPInt update_step_sizes(py::object, py::object); OSQPInt update_data_vec(py::object, py::object, py::object); OSQPInt update_data_mat(py::object, py::object, py::object, py::object); OSQPInt warm_start(py::object, py::object); @@ -206,8 +206,22 @@ OSQPInt PyOSQPSolver::update_settings(const OSQPSettings& new_settings) { } } -OSQPInt PyOSQPSolver::update_rho(OSQPFloat rho_new) { - return osqp_update_rho(this->_solver, rho_new); +OSQPInt PyOSQPSolver::update_step_sizes(py::object rho_new, py::object sigma_new) { + OSQPFloat _rho; + OSQPFloat _sigma; + + if (rho_new.is_none()) { + _rho = -1; // Negative value signals to skip rho update + } else { + _rho = rho_new.cast(); + } + if (sigma_new.is_none()) { + _sigma = -1; // Negative value signals to skip sigma update + } else { + _sigma = sigma_new.cast(); + } + + return osqp_update_step_sizes(this->_solver, _rho, _sigma); } OSQPInt PyOSQPSolver::update_data_vec(py::object q, py::object l, py::object u) { @@ -433,9 +447,8 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) { .def_readwrite("polishing", &OSQPSettings::polishing) // Settings - ADMM - .def_readwrite("rho", &OSQPSettings::rho) - .def_readwrite("rho_is_vec", &OSQPSettings::rho_is_vec) - .def_readwrite("sigma", &OSQPSettings::sigma) + .def_readwrite("rho_init", &OSQPSettings::rho_init) + .def_readwrite("sigma_init", &OSQPSettings::sigma_init) .def_readwrite("alpha", &OSQPSettings::alpha) .def_readwrite("beta", &OSQPSettings::beta) .def_readwrite("lambd", &OSQPSettings::lambd) @@ -445,8 +458,6 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) { .def_readwrite("restart_type", &OSQPSettings::restart_type) //.def_readwrite("halpern_scheme", &OSQPSettings::halpern_scheme) .def_readwrite("halpern_anchor", &OSQPSettings::halpern_anchor) - .def_readwrite("adaptive_rho_tolerance_greater", &OSQPSettings::adaptive_rho_tolerance_greater) - .def_readwrite("adaptive_rho_tolerance_less", &OSQPSettings::adaptive_rho_tolerance_less) .def_readwrite("adaptive_rest", &OSQPSettings::adaptive_rest) //.def_readwrite("alpha_adjustment_reflected_halpern", &OSQPSettings::alpha_adjustment_reflected_halpern) //.def_readwrite("rho_custom_condition", &OSQPSettings::rho_custom_condition) @@ -471,13 +482,6 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) { .def_readwrite("restart_check_interval", &OSQPSettings::restart_check_interval) //.def_readwrite("adaptive_rho_fraction", &OSQPSettings::adaptive_rho_fraction) .def_readwrite("adaptive_rho_tolerance", &OSQPSettings::adaptive_rho_tolerance) - .def_readwrite("pid_controller", &OSQPSettings::pid_controller) - //.def_readwrite("pid_controller_sqrt", &OSQPSettings::pid_controller_sqrt) - //.def_readwrite("pid_controller_log", &OSQPSettings::pid_controller_log) - .def_readwrite("KP", &OSQPSettings::KP) - .def_readwrite("KI", &OSQPSettings::KI) - .def_readwrite("KD", &OSQPSettings::KD) - .def_readwrite("negate_K", &OSQPSettings::negate_K) // Settings - Termination parameters @@ -532,7 +536,6 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) { .def_readonly("restart", &OSQPInfo::restart) .def_readonly("iter", &OSQPInfo::iter) .def_readonly("rho_updates", &OSQPInfo::rho_updates) - .def_readonly("rho_estimate", &OSQPInfo::rho_estimate) .def_readonly("setup_time", &OSQPInfo::setup_time) .def_readonly("solve_time", &OSQPInfo::solve_time) .def_readonly("update_time", &OSQPInfo::update_time) @@ -555,7 +558,7 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) { .def("update_data_vec", &PyOSQPSolver::update_data_vec, "q"_a.none(true), "l"_a.none(true), "u"_a.none(true)) .def("update_data_mat", &PyOSQPSolver::update_data_mat, "P_x"_a.none(true), "P_i"_a.none(true), "A_x"_a.none(true), "A_i"_a.none(true)) .def("update_settings", &PyOSQPSolver::update_settings) - .def("update_rho", &PyOSQPSolver::update_rho) + .def("update_step_sizes", &PyOSQPSolver::update_step_sizes, "rho"_a.none(true), "sigma"_a.none(true)) .def("get_settings", &PyOSQPSolver::get_settings, py::return_value_policy::reference) .def("adjoint_derivative_compute", &PyOSQPSolver::adjoint_derivative_compute, "dx"_a.none(true), "dy"_a.none(true)) diff --git a/src/osqp/interface.py b/src/osqp/interface.py index 22194264..8bac0fd1 100644 --- a/src/osqp/interface.py +++ b/src/osqp/interface.py @@ -284,7 +284,19 @@ def update_settings(self, **kwargs): renamed_settings = { 'polish': 'polishing', 'warm_start': 'warm_starting', + 'rho': 'rho_init', + 'sigma': 'sigma_init', } + + # Step size settings that have been removed - warn and ignore + removed_step_size_settings = {'rho_is_vec'} + for k in list(kwargs.keys()): + if k in removed_step_size_settings: + warnings.warn( + f'"{k}" has been removed (step sizes are now always vectorized). This setting will be ignored.', + DeprecationWarning, + ) + del kwargs[k] for k, v in renamed_settings.items(): if k in kwargs: warnings.warn( @@ -296,8 +308,8 @@ def update_settings(self, **kwargs): settings_changed = False - if 'rho' in kwargs and self._solver is not None: - self._solver.update_rho(kwargs.pop('rho')) + if 'rho_init' in kwargs and self._solver is not None: + self.update_step_sizes(rho_init=kwargs.pop('rho_init')) if 'solver_type' in kwargs: value = kwargs.pop('solver_type') assert value in ('direct', 'indirect') @@ -394,13 +406,26 @@ def setup(self, P, q, A, l, u, **settings): self.n, self.settings, ) - if 'rho' in settings: - self._solver.update_rho(settings['rho']) + if 'rho_init' in settings: + self.update_step_sizes(rho_init=settings['rho_init']) def warm_start(self, x=None, y=None): # TODO: sanity checks on types/dimensions return self._solver.warm_start(x, y) + def update_step_sizes(self, rho_init=None, sigma_init=None): + """ + Update the step sizes (rho and/or sigma) for the solver. + + Parameters + ---------- + rho_init : float, optional + New value for rho step size. If None, rho is not updated. + sigma_init : float, optional + New value for sigma step size. If None, sigma is not updated. + """ + return self._solver.update_step_sizes(rho_init, sigma_init) + def solve(self, raise_error=None): if raise_error is None: warnings.warn( diff --git a/src/osqp/tests/basic_test.py b/src/osqp/tests/basic_test.py index 0f862205..77d349ce 100644 --- a/src/osqp/tests/basic_test.py +++ b/src/osqp/tests/basic_test.py @@ -22,7 +22,7 @@ def self(algebra, solver_type, atol, rtol, decimal_tol): "eps_abs": 1e-09, "eps_rel": 1e-09, "max_iter": 2500, - "rho": 0.1, + "rho_init": 0.1, "adaptive_rho": False, "polishing": False, "check_termination": 1, @@ -110,15 +110,15 @@ def test_update_check_termination(self): assert res.info.iter == self.opts["max_iter"] -def test_update_rho(self): +def test_update_step_sizes(self): res_default = self.model.solve() - # Setup with different rho and update + # Setup with different rho_init and update using update_step_sizes default_opts = self.opts.copy() - default_opts["rho"] = 0.7 + default_opts["rho_init"] = 0.7 model = 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