DAQP v0.3.3 crashes on Julia 1.10 with `KeyError: key 0 not found`

[franckgaga]

Hello,

This MRE crashes on Julia v1.10 (LTS) since the last update (v0.3.3, PR #104 ):

using ModelPredictiveControl, ControlSystemsBase, LinearAlgebra
using JuMP, DAQP

Ts = 400.0
sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
        tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ]

linmodel = LinModel(sys,Ts,i_u=[1,2], i_d=[3])
linmodel = setop!(linmodel, uop=[10,50], yop=[50,30], dop=[5])

Q̂ = diagm([1/4, 1/4, 1/4, 1/4].^2) 
R̂ = diagm([1, 1].^2)
optim = Model(DAQP.Optimizer)
covestim = SteadyKalmanFilter(linmodel, 1:2, 0, 0, Q̂, R̂)
P̂_0 = covestim.cov.P̂

mhe3 = MovingHorizonEstimator(linmodel, 2, 1:2, 0, 0, P̂_0, Q̂, R̂; optim, covestim)
preparestate!(mhe3, [50, 30], [5])

resulting in:

┌ Warning: The objective is not strictly convex, updating settings with eps_prox=1.0e-7
└ @ DAQP ~/.julia/packages/DAQP/h790x/src/MOI_wrapper/MOI_wrapper.jl:321
ERROR: KeyError: key 0 not found
Stacktrace:
  [1] getindex
    @ ./dict.jl:498 [inlined]
  [2] solve
    @ ~/.julia/packages/DAQPBase/iq2zF/src/api.jl:203 [inlined]
  [3] optimize!(optimizer::Optimizer)
    @ DAQP ~/.julia/packages/DAQP/h790x/src/MOI_wrapper/MOI_wrapper.jl:109
  [4] optimize!
    @ ~/.julia/packages/MathOptInterface/03Qtw/src/MathOptInterface.jl:122 [inlined]
  [5] optimize!(m::MathOptInterface.Utilities.CachingOptimizer{Optimizer, MathOptInterface.Utilities.UniversalFallback{…}})
    @ MathOptInterface.Utilities ~/.julia/packages/MathOptInterface/03Qtw/src/Utilities/cachingoptimizer.jl:370
  [6] optimize!
    @ ~/.julia/packages/MathOptInterface/03Qtw/src/Bridges/bridge_optimizer.jl:367 [inlined]
  [7] optimize!
    @ ~/.julia/packages/MathOptInterface/03Qtw/src/MathOptInterface.jl:122 [inlined]
  [8] optimize!(m::MathOptInterface.Utilities.CachingOptimizer{…})
    @ MathOptInterface.Utilities ~/.julia/packages/MathOptInterface/03Qtw/src/Utilities/cachingoptimizer.jl:370
  [9] optimize!(model::Model; ignore_optimize_hook::Bool, _differentiation_backend::MathOptInterface.Nonlinear.SparseReverseMode, kwargs::@Kwargs{})
    @ JuMP ~/.julia/packages/JuMP/e83v9/src/optimizer_interface.jl:609
 [10] optimize!
    @ ~/.julia/packages/JuMP/e83v9/src/optimizer_interface.jl:560 [inlined]
 [11] optim_objective!(estim::MovingHorizonEstimator{…})
    @ ModelPredictiveControl ~/.julia/packages/ModelPredictiveControl/BbvDn/src/estimator/mhe/execute.jl:482
 [12] correct_estimate!
    @ ~/.julia/packages/ModelPredictiveControl/BbvDn/src/estimator/mhe/execute.jl:37 [inlined]
 [13] preparestate!(estim::MovingHorizonEstimator{…}, ym::Vector{…}, d::Vector{…})
    @ ModelPredictiveControl ~/.julia/packages/ModelPredictiveControl/BbvDn/src/estimator/execute.jl:297
 [14] top-level scope
    @ ~/Dropbox/Programmation/Julia/TestMPC/src/debug_daqp.jl:18
Some type information was truncated. Use `show(err)` to see complete types.

It was working well with DAQP v0.3.2.

Thanks for your time!

edit : and it also works well on the current stable version of Julia v1.12. It shows the warning about convexity but the problem is solved successfully nonetheless.

[darnstrom]

Thanks for reporting this!
I will have a look at this in the coming days. The weird part is that the reason why I did #104 was that I got the same exact same error for DAQP v0.3.2 on Julia 1.10 in some cases, so the aim with it was to fix this error, not introduce it.

[darnstrom]

This should be fixed in v0.3.4 (at least, your MRE works for me after #106). Version 0.3.4 should soon be available in the general registry. If the problem remains, please open this issue again.