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Fix NULL scaling dereference in daqp_apply_Rinv for generated code - #221
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#220 switched the unscaling in daqp_apply_Rinv from a scaling != NULL check to the DAQP_STATE_RINV_NORMALIZED flag. Generated workspaces keep the flag but store scaling = NULL, so generated code (e.g. LinearMPC.jl codegen tests) dereferenced NULL in ldp2qp_solution. Require both. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Fixes the segfault in the downstream LinearMPC.jl CI job (https://github.com/darnstrom/daqp/actions/runs/38648880314/job/116142467566), introduced in #220.
Cause
#220 changed the unscaling guard in
daqp_apply_Rinvfromwork->scaling != NULLtowork->state & DAQP_STATE_RINV_NORMALIZED. Generated workspaces (codegen/codegen.c) keep the normalized flag instatebut always setscaling = NULL, since they store the normalized LDP without the scaling array. When there are simple bounds, generated code then dereferences NULL inldp2qp_solution→daqp_apply_Rinv.Fix
Require both the flag and
scaling != NULL. For generated code this restores the behavior from before #220.Testing
DAQPBase.codegendownloads the C sources frommasteron GitHub, so the downstream CI job won't pick up this fix until it is merged. For the local run I temporarily pointed it at the branch's sources.🤖 Generated with Claude Code