added partial codegen

Author: Da Ma

codegen/export_npy

@@ -0,0 +1,75 @@
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <cstring>
+#include <vector>
+#include <cstdint>
+#include "../examples/yaml_qp_parser.h"
+
+// Write raw array as .npy format (little-endian, no compression)
+template<typename T>
+void write_npy(const std::string &filename, const T *data, int64_t len) {
+    std::ofstream fout(filename, std::ios::binary);
+    if (!fout) {
+        std::cerr << "Failed to open file: " << filename << "\n";
+        return;
+    }
+
+    std::string header =
+            "{'descr': '" + std::string((sizeof(T) == 8 ? "<f8" : "<i4")) +
+            "', 'fortran_order': False, 'shape': (" + std::to_string(len) + ",), }";
+
+    size_t pad_len = 16 - (10 + header.size() + 1) % 16;
+    header += std::string(pad_len, ' ');
+    header += '\n';
+
+    fout.write("\x93NUMPY", 6);
+    fout.put(0x01); fout.put(0x00);
+    uint16_t hlen = static_cast<uint16_t>(header.size());
+    fout.write(reinterpret_cast<char *>(&hlen), 2);
+    fout.write(header.c_str(), header.size());
+    fout.write(reinterpret_cast<const char *>(data), sizeof(T) * len);
+    fout.close();
+}
+
+void export_csc(const nasoq::CSC *M, const std::string &prefix) {
+    int ncol = M->ncol;
+    int nnz  = M->p[ncol];
+
+    write_npy(prefix + "_p.npy", M->p, ncol + 1);
+    write_npy(prefix + "_i.npy", M->i, nnz);
+    write_npy(prefix + "_x.npy", M->x, nnz);
+}
+
+int main(int argc, char **argv) {
+    if (argc < 2) {
+        std::cerr << "Usage: ./export_npy <qp_file.yml>\n";
+        return 1;
+    }
+
+    std::string fname = argv[1];
+    QPProblem qp;
+    if (!parse_qp_yaml(fname, qp)) {
+        std::cerr << "Failed to parse the .yml file.\n";
+        return 2;
+    }
+
+    std::cout << "Exporting parsed QP...\n";
+
+    export_csc(qp.H, "H_csc");
+    write_npy("q.npy", qp.q, qp.n);
+
+    if (qp.me > 0 && qp.A && qp.b) {
+        export_csc(qp.A, "A_csc");
+        write_npy("b.npy", qp.b, qp.me);
+    }
+
+    if (qp.mi > 0 && qp.C && qp.l && qp.u) {
+        export_csc(qp.C, "C_csc");
+        write_npy("l.npy", qp.l, qp.mi);
+        write_npy("u.npy", qp.u, qp.mi);
+    }
+
+    std::cout << "Output written as .npy files.\n";
+    return 0;
+}

codegen/export_npy.cpp

@@ -0,0 +1,43 @@
+import numpy as np
+import os
+
+npy_dir = "output/"
+header_file = "qp_data_static.h"
+
+arrays = {
+    "H_p": "H_csc_p.npy",
+    "H_i": "H_csc_i.npy",
+    "H_x": "H_csc_x.npy",
+    "q": "q.npy",
+    "A_p": "A_csc_p.npy",
+    "A_i": "A_csc_i.npy",
+    "A_x": "A_csc_x.npy",
+    "b": "b.npy",
+    "C_p": "C_csc_p.npy",
+    "C_i": "C_csc_i.npy",
+    "C_x": "C_csc_x.npy",
+    "l": "l.npy",
+    "u": "u.npy"
+}
+
+def to_cpp_array(name, arr):
+    cpp_type = "int" if arr.dtype in [np.int32, np.int64] else "double"
+    values = ", ".join(map(str, arr.tolist()))
+    return f"constexpr {cpp_type} {name}[{len(arr)}] = {{ {values} }};\n"
+
+with open(header_file, "w") as f:
+    f.write("// Auto-generated QP data for static NASOQ use\n")
+    f.write("#pragma once\n\n")
+    f.write("#include <cstddef>\n\n")
+    f.write("namespace qp_data {\n\n")
+
+    for var, fname in arrays.items():
+        path = os.path.join(npy_dir, fname)
+        if not os.path.exists(path):
+            print(f"Warning: file not found: {path}")
+            continue
+        arr = np.load(path)
+        f.write(to_cpp_array(var, arr))
+        f.write("\n")
+
+    f.write("} // namespace qp_data\n")