fix solver status from Simulink OSQP block

Davide Barbone · Davide Barbone · commit 04d6bb91e35d · 2024-09-24T10:37:15.000+02:00
diff --git a/toolbox/library/src/OSQP.cpp b/toolbox/library/src/OSQP.cpp
@@ -599,7 +599,8 @@ bool wbt::block::OSQP::output(const BlockInformation* blockInfo)
     }
 
     // Set status
-    if (!statusSignal->set(0, double(solveReturnVal))) {
+    OsqpEigen::Status status = pImpl->sqSolver->getStatus();
+    if (!statusSignal->set(0, double(status))) {
         bfError << "Failed to set status signal.";
         return false;
     }

Original file line number	Diff line number	Diff line change
`@@ -599,7 +599,8 @@ bool wbt::block::OSQP::output(const BlockInformation* blockInfo)`
`599`	`599`	`}`
`600`	`600`
`601`	`601`	`// Set status`
`602`		`- if (!statusSignal->set(0, double(solveReturnVal))) {`
	`602`	`+ OsqpEigen::Status status = pImpl->sqSolver->getStatus();`
	`603`	`+ if (!statusSignal->set(0, double(status))) {`
`603`	`604`	`bfError << "Failed to set status signal.";`
`604`	`605`	`return false;`
`605`	`606`	`}`