C bindings error handling

docs/python-c.mdx

@@ -77,7 +77,7 @@ The generated C/C++ bindings are in the auto-generated solver library.
 In particular
 
 * The header files are at `the_optimizer/the_optimizer_bindings.{h,hpp}` 
-* The static and dynamical library files are located in `the_optimizer/target/{debug,release}` (depending on whether it was a [*debug*] or [*release*] build) 
+* The static and dynamic library files are located in `the_optimizer/target/{debug,release}` (depending on whether it was a [*debug*] or [*release*] build) 
 
 Note that `the_optimizer` is the name given to the optimizer in the Python codegen above.
 
@@ -112,13 +112,16 @@ typedef struct exampleCache exampleCache;
 
 typedef struct {
   exampleExitStatus exit_status;
+  int error_code;
+  char error_message[1024];
   unsigned long num_outer_iterations;
   unsigned long num_inner_iterations;
-  double last_problem_norm_fpr;  
+  double last_problem_norm_fpr;
   unsigned long long solve_time_ns;
   double penalty;
   double delta_y_norm_over_c;
   double f2_norm;
+  double cost;
   const double *lagrange;
 } exampleSolverStatus;
 
@@ -137,10 +140,61 @@ This is designed to follow a new-use-free pattern.
 
 Function `{optimizer-name}_new` will allocate memory and setup a new solver instance and can be used to create as many solvers as necessary. Each solver instance can be used with `{optimizer-name}_solve` to solve the corresponding problem as many times as needed. 
 
-Parameter `u` is the starting guess and also the return of the decision variables and `params` is the array of static parameters. The size of `u` and `params` are `{optimizer-name}_NUM_DECISION_VARIABLES` and `{optimizer-name}_NUM_PARAMETERS` respectively. 
+Parameter `u` is the starting guess and also the return of the decision variables and `params` is the array of static parameters. The size of `u` and `params` are `{optimizer-name}_NUM_DECISION_VARIABLES` and `{optimizer-name}_NUM_PARAMETERS` respectively. Arguments `y0` and `c0` are optional: pass `0` (or `NULL`) to use the default initial Lagrange multipliers and penalty parameter.
+
+The returned `exampleSolverStatus` always contains a coarse solver outcome in
+`exit_status`. On success it also contains `error_code = 0` and an empty
+`error_message`. If the solver fails internally, the bindings return a
+structured error report with a nonzero `error_code` and a descriptive
+`error_message`.
 
 Finally, when done with the solver, use `{optimizer-name}_free` to release the memory allocated by `{optimizer-name}_new`.
 
+## Handling errors
+
+The C bindings always return a value of type `exampleSolverStatus`. This means
+that solver calls do not report failure by returning `NULL` or by using a
+separate exception-like mechanism. Instead, callers should inspect both
+`exit_status` and `error_code`.
+
+- `error_code = 0` means the solver call completed without an internal error
+- `error_code != 0` means the solver failed and `error_message` contains a
+  descriptive explanation
+- `exit_status` gives the coarse outcome of the solve attempt, such as
+  converged, reached the iteration limit, or failed because of a numerical
+  issue
+
+The recommended pattern is:
+
+1. Call `{optimizer-name}_solve(...)`
+2. Check whether `status.error_code != 0`
+3. If so, report `status.error_message` and treat the call as failed
+4. Otherwise, inspect `status.exit_status` to determine whether the solver
+   converged or returned the best available non-converged iterate
+
+For example:
+
+```c
+exampleSolverStatus status = example_solve(cache, u, p, 0, &initial_penalty);
+
+if (status.error_code != 0) {
+    fprintf(stderr, "Solver failed: [%d] %s\n",
+            status.error_code, status.error_message);
+    example_free(cache);
+    return EXIT_FAILURE;
+}
+
+if (status.exit_status != exampleConverged) {
+    fprintf(stderr, "Warning: solver did not converge fully\n");
+}
+```
+
+The generated C example follows exactly this pattern.
+
+At the ABI level, callers are still responsible for passing valid pointers and
+correctly sized arrays for `u`, `params`, and optional arguments such as `y0`.
+Those are contract violations, not recoverable solver errors.
+
 
 ## Using the bindings in an app
 
@@ -155,26 +209,41 @@ The auto-generated example has the following form:
 /* File: the_optimizer/example_optimizer.c  */
 
 #include <stdio.h>
+#include <stdlib.h>
 #include "example_bindings.h"
 
-int main() {
-	double p[EXAMPLE_NUM_PARAMETERS] = {1.0, 10.0};  // parameter
+int main(void) {
+	double p[EXAMPLE_NUM_PARAMETERS] = {0};          // parameter
 	double u[EXAMPLE_NUM_DECISION_VARIABLES] = {0};  // initial guess
+	double initial_penalty = 15.0;
 
 	exampleCache *cache = example_new();
-	exampleSolverStatus status = example_solve(cache, u, p);
-	example_free(cache);
-
-	for (int i = 0; i < EXAMPLE_NUM_DECISION_VARIABLES; ++i) {
-		printf("u[%d] = %g\n", i, u[i]);
+	if (cache == NULL) {
+		fprintf(stderr, "Could not allocate solver cache\n");
+		return EXIT_FAILURE;
 	}
 
+	exampleSolverStatus status = example_solve(cache, u, p, 0, &initial_penalty);
+
 	printf("exit status = %d\n", status.exit_status);
+	printf("error code = %d\n", status.error_code);
+	printf("error message = %s\n", status.error_message);
 	printf("iterations = %lu\n", status.num_inner_iterations);
 	printf("outer iterations = %lu\n", status.num_outer_iterations);
 	printf("solve time = %f ms\n", (double)status.solve_time_ns / 1e6);
 
-	return 0;
+	if (status.error_code != 0) {
+		example_free(cache);
+		return EXIT_FAILURE;
+	}
+
+	for (int i = 0; i < EXAMPLE_NUM_DECISION_VARIABLES; ++i) {
+		printf("u[%d] = %g\n", i, u[i]);
+	}
+
+	example_free(cache);
+
+	return EXIT_SUCCESS;
 }
 ```
 
@@ -185,19 +254,18 @@ int main() {
 To compile your C program you need to link to the auto-generated
 C bindings (see [next section](#compile-your-own-code)). 
 However, OpEn generates automatically a `CMakeLists.txt` file
-to facilitate the compilation/linking procedure. To build the
-auto-generated example run
+to facilitate the compilation/linking procedure. A typical build is:
 
 ```bash
-cmake .
-make
+cmake -S . -B build
+cmake --build build
 ```
 
-once you build your optimizer you can run the executable (`optimizer`)
-with 
+Once you build your optimizer you can run the executable (`optimizer`)
+with:
 
 ```bash
-make run
+cmake --build build --target run
 ```
 
 #### Compile your own code 
@@ -260,14 +328,18 @@ LD_LIBRARY_PATH=./target/release ./optimizer
 The output looks like this:
 
 ```text
+exit status = 0
+error code = 0
+error message =
+iterations = 69
+outer iterations = 5
+solve time = 0.140401 ms
 u[0] = 0.654738
 u[1] = 0.982045
 u[2] = 0.98416
 u[3] = 0.984188
 u[4] = 0.969986
-exit status = 0
-iterations = 69
-outer iterations = 5
-solve time = 0.140401 ms
 ```
 
+If `error_code` is nonzero, the solver failed to produce a valid result and
+`error_message` contains the propagated reason from the generated Rust solver.

open-codegen/CHANGELOG.md

@@ -21,7 +21,7 @@ Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 - Extended `RosConfiguration` so it can be used for both ROS and ROS2 package generation
 - Breaking change: the direct interface (Python bindings) now has an API which mirrors that of the TCP interface: the method `solve` returns either a solution or an error object. Website documentation is updated. New unit tests are implemented. Note that `solver.run()` does not return the solution object directly, but rather works in the same way as the TCP interface: it returns a response object (instance of `SolverResponse`), on which the method `.get()` returns either a `SolverStatus` or `SolverError`.
 - Added helpful `__repr__` methods to generated Python binding response/status/error objects, TCP solver response/error objects, and `GeneratedOptimizer` for easier inspection and debugging
-- Updated generated TCP server and C interface templates to work with the richer Rust solver error model and expose better failure information to clients
+- Updated generated TCP server and C interface templates to work with the richer Rust solver error model and expose better failure information to clients. Updated auto-generated `CMakeLists.txt` file. Tighter unit tests.
 - ROS2 generated packages now publish detailed `error_code` and `error_message` fields, plus `STATUS_INVALID_REQUEST`, so invalid requests and solver failures are reported explicitly instead of being silently ignored
 
 

open-codegen/opengen/templates/c/example_cmakelists.txt

@@ -3,17 +3,40 @@ cmake_minimum_required(VERSION 3.5)
 # Project name
 project({{meta.optimizer_name}})
 
+# Build the generated example as C99.
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+# Resolve the generated static library name for the current platform.
+if(WIN32)
+  set(OPEN_STATIC_LIB ${CMAKE_CURRENT_SOURCE_DIR}/target/{{ build_config.build_mode }}/{{meta.optimizer_name}}.lib)
+else()
+  set(OPEN_STATIC_LIB ${CMAKE_CURRENT_SOURCE_DIR}/target/{{ build_config.build_mode }}/lib{{meta.optimizer_name}}.a)
+endif()
+
+find_package(Threads REQUIRED)
+
 # Add the executable
 add_executable(optimizer example_optimizer.c)
 
 # Add libraries to the executable
-target_link_libraries(optimizer ${CMAKE_SOURCE_DIR}/target/{{ build_config.build_mode }}/lib{{meta.optimizer_name}}.a)
-target_link_libraries(optimizer m)
-target_link_libraries(optimizer dl)
-target_link_libraries(optimizer pthread)
+target_link_libraries(
+  optimizer
+  PRIVATE
+    ${OPEN_STATIC_LIB}
+    Threads::Threads
+)
+
+if(UNIX)
+  target_link_libraries(optimizer PRIVATE m)
+endif()
+
+if(CMAKE_DL_LIBS)
+  target_link_libraries(optimizer PRIVATE ${CMAKE_DL_LIBS})
+endif()
 
 add_custom_target(run
-    COMMAND optimizer
+    COMMAND $<TARGET_FILE:optimizer>
     DEPENDS optimizer
-    WORKING_DIRECTORY ${CMAKE_PROJECT_DIR}
-)
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)

open-codegen/opengen/templates/c/example_optimizer_c_bindings.c

@@ -20,17 +20,35 @@
  */
 
 #include <stdio.h>
+#include <stdlib.h>
 #include "{{meta.optimizer_name}}_bindings.h"
 
 /*
  * Feel free to customize the following code...
  */
 
+static const char *exit_status_to_string({{meta.optimizer_name}}ExitStatus exit_status) {
+    switch (exit_status) {
+        case {{meta.optimizer_name}}Converged:
+            return "Converged";
+        case {{meta.optimizer_name}}NotConvergedIterations:
+            return "NotConvergedIterations";
+        case {{meta.optimizer_name}}NotConvergedOutOfTime:
+            return "NotConvergedOutOfTime";
+        case {{meta.optimizer_name}}NotConvergedCost:
+            return "NotConvergedCost";
+        case {{meta.optimizer_name}}NotConvergedNotFiniteComputation:
+            return "NotConvergedNotFiniteComputation";
+        default:
+            return "Unknown";
+    }
+}
+
 int main(void) {
     int i;
 
     /* parameters             */
-    double p[{{meta.optimizer_name|upper}}_NUM_PARAMETERS] = {2.0, 10.0};
+    double p[{{meta.optimizer_name|upper}}_NUM_PARAMETERS] = {0};
 
     /* initial guess          */
     double u[{{meta.optimizer_name|upper}}_NUM_DECISION_VARIABLES] = {0};
@@ -45,28 +63,18 @@ int main(void) {
 
     /* obtain cache           */
     {{meta.optimizer_name}}Cache *cache = {{meta.optimizer_name}}_new();
+    if (cache == NULL) {
+        fprintf(stderr, "Could not allocate solver cache\n");
+        return EXIT_FAILURE;
+    }
 
     /* solve                  */
     {{meta.optimizer_name}}SolverStatus status = {{meta.optimizer_name}}_solve(cache, u, p, {% if problem.dim_constraints_aug_lagrangian() > 0 %}y{% else %}0{% endif %}, &init_penalty);
 
-    /* print results */
-    printf("\n\n-------------------------------------------------\n");
-    printf("  Solution\n");
-    printf("-------------------------------------------------\n");
-
-    for (i = 0; i < {{meta.optimizer_name|upper}}_NUM_DECISION_VARIABLES; ++i) {
-        printf("u[%d] = %g\n", i, u[i]);
-    }
-
-    printf("\n");
-    for (i = 0; i < {{meta.optimizer_name|upper}}_N1; ++i) {
-        printf("y[%d] = %g\n", i, status.lagrange[i]);
-    }
-
     printf("\n\n-------------------------------------------------\n");
     printf("  Solver Statistics\n");
     printf("-------------------------------------------------\n");
-    printf("exit status      : %d\n", status.exit_status);
+    printf("exit status      : %d (%s)\n", status.exit_status, exit_status_to_string(status.exit_status));
     printf("error code       : %d\n", status.error_code);
     printf("error message    : %s\n", status.error_message);
     printf("iterations       : %lu\n", status.num_inner_iterations);
@@ -78,10 +86,34 @@ int main(void) {
     printf("Cost             : %f\n", status.cost);
     printf("||FRP||          : %f\n\n", status.last_problem_norm_fpr);
 
+    if (status.error_code != 0) {
+        fprintf(stderr, "Solver returned an error; solution vector is not printed.\n");
+        {{meta.optimizer_name}}_free(cache);
+        return EXIT_FAILURE;
+    }
+
+    if (status.exit_status != {{meta.optimizer_name}}Converged) {
+        fprintf(stderr, "Warning: solver did not converge, printing best available iterate.\n");
+    }
+
+    /* print results */
+    printf("\n\n-------------------------------------------------\n");
+    printf("  Solution\n");
+    printf("-------------------------------------------------\n");
+
+    for (i = 0; i < {{meta.optimizer_name|upper}}_NUM_DECISION_VARIABLES; ++i) {
+        printf("u[%d] = %g\n", i, u[i]);
+    }
+
+    printf("\n");
+    for (i = 0; i < {{meta.optimizer_name|upper}}_N1; ++i) {
+        printf("y[%d] = %g\n", i, status.lagrange[i]);
+    }
+
 
 
     /* free memory */
     {{meta.optimizer_name}}_free(cache);
 
-    return 0;
+    return EXIT_SUCCESS;
 }

open-codegen/opengen/templates/c/optimizer_cinterface.rs.jinja

@@ -1,5 +1,6 @@
 {% if activate_clib_generation -%}
-// ---Export functionality from Rust to C/C++------------------------------------------------------------
+{% set error_message_capacity = 1024 -%}
+// ---Export functionality from Rust to C/C++ --------------
 
 /// Solver cache (structure `{{meta.optimizer_name}}Cache`)
 ///
@@ -10,21 +11,21 @@ pub struct {{meta.optimizer_name}}Cache {
 
 const {{meta.optimizer_name|upper}}_NO_ERROR_CODE: c_int = 0;
 const {{meta.optimizer_name|upper}}_SOLVER_ERROR_CODE: c_int = 2000;
-const {{meta.optimizer_name|upper}}_ERROR_MESSAGE_CAPACITY: usize = 256;
+const {{meta.optimizer_name|upper}}_ERROR_MESSAGE_CAPACITY: usize = {{ error_message_capacity }};
 
 impl {{meta.optimizer_name}}Cache {
     pub fn new(cache: AlmCache) -> Self {
         {{meta.optimizer_name}}Cache { cache }
     }
 }
 
-fn empty_error_message() -> [c_char; 256] {
-    [0 as c_char; 256]
+fn empty_error_message() -> [c_char; {{ error_message_capacity }}] {
+    [0 as c_char; {{ error_message_capacity }}]
 }
 
 fn error_message_to_c_array(
     message: &str,
-) -> [c_char; 256] {
+) -> [c_char; {{ error_message_capacity }}] {
     let mut buffer = empty_error_message();
     let max_len = {{meta.optimizer_name|upper}}_ERROR_MESSAGE_CAPACITY - 1;
     for (idx, byte) in message.as_bytes().iter().copied().take(max_len).enumerate() {
@@ -63,7 +64,7 @@ pub struct {{meta.optimizer_name}}SolverStatus {
     /// Detailed error code (0 on success)
     error_code: c_int,
     /// Detailed error message (empty string on success)
-    error_message: [c_char; 256],
+    error_message: [c_char; {{ error_message_capacity }}],
     /// Number of outer iterations
     num_outer_iterations: c_ulong,
     /// Total number of inner iterations