Updating acados recompilation to be a boolean

Author: Federico-PizarroBejarano

mm_control/scripts/mpc_generate_c_code.py

@@ -27,7 +27,7 @@
         config["controller"]["acados"]["name"] = args.name
 
     config["controller"]["acados"]["cython"]["enabled"] = True
-    config["controller"]["acados"]["cython"]["action"] = "generate"
+    config["controller"]["acados"]["cython"]["recompile"] = True
 
     ctrl_config = config["controller"]
     control_class = getattr(MPC, ctrl_config["type"], None)

mm_control/src/mm_control/MPC.py

@@ -463,11 +463,11 @@ def _construct(self, costs, constraints, num_terminal_cost, name="MM"):
         # Construct AcadosOCPSolver
         json_file_name = str(self.output_dir / f"acados_ocp_{name}.json")
         if self.params["acados"]["cython"]["enabled"]:
-            if self.params["acados"]["cython"]["action"] == "generate":
+            if self.params["acados"]["cython"]["recompile"]:
                 AcadosOcpSolver.generate(ocp, json_file=json_file_name)
                 AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
                 ocp_solver = AcadosOcpSolver.create_cython_solver(json_file_name)
-            elif self.params["acados"]["cython"]["action"] == "load":
+            else:
                 ocp_solver = AcadosOcpSolver(
                     ocp, json_file=json_file_name, build=False, generate=False
                 )

mm_control/tests/test_mpc.yaml

@@ -112,7 +112,7 @@ controller:
     name: "MM"
     cython:
       enabled: False
-      action: "generate"
+      recompile: True
     raise_exception_on_failure: False
     use_custom_hess: True
     use_terminal_cost: False

mm_run/config/controller/MPC.yaml

@@ -119,7 +119,7 @@ controller:
     name: "MM"
     cython:
       enabled: True
-      action: "load"      # load or generate
+      recompile: False
     raise_exception_on_failure: False
     use_custom_hess: True
     use_terminal_cost: False

mm_run/config/controller/MPC_SIM.yaml

@@ -101,7 +101,7 @@ controller:
   acados:
     cython:
       enabled: True
-      action: "load"      # load or generate
+      recompile: False
     raise_exception_on_failure: False
     use_custom_hess: True
     use_terminal_cost: False

mm_utils/src/mm_utils/plotting.py

@@ -63,7 +63,7 @@ def __init__(self, data, config=None, process=True):
                 )
 
             config["controller"]["acados"]["cython"]["enabled"] = True
-            config["controller"]["acados"]["cython"]["action"] = "load"
+            config["controller"]["acados"]["cython"]["recompile"] = False
             self.controller = control_class(config["controller"])
             self.model_interface = self.controller.model_interface