You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
110 lines
4.5 KiB
110 lines
4.5 KiB
%
|
|
% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
|
% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
|
% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
|
% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
|
%
|
|
% This file is part of acados.
|
|
%
|
|
% The 2-Clause BSD License
|
|
%
|
|
% Redistribution and use in source and binary forms, with or without
|
|
% modification, are permitted provided that the following conditions are met:
|
|
%
|
|
% 1. Redistributions of source code must retain the above copyright notice,
|
|
% this list of conditions and the following disclaimer.
|
|
%
|
|
% 2. Redistributions in binary form must reproduce the above copyright notice,
|
|
% this list of conditions and the following disclaimer in the documentation
|
|
% and/or other materials provided with the distribution.
|
|
%
|
|
% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
|
% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
% POSSIBILITY OF SUCH DAMAGE.;
|
|
%
|
|
|
|
function make_mex_{{ model.name }}()
|
|
|
|
opts.output_dir = pwd;
|
|
|
|
% get acados folder
|
|
acados_folder = getenv('ACADOS_INSTALL_DIR');
|
|
|
|
% set paths
|
|
acados_include = ['-I' fullfile(acados_folder, 'include')];
|
|
template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}'];
|
|
template_lib_path = ['-L' fullfile(pwd)];
|
|
|
|
acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
|
|
external_include = ['-I', fullfile(acados_folder, 'external')];
|
|
blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
|
|
hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
|
|
|
|
mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
|
|
|
|
mex_names = { ...
|
|
'acados_mex_create_{{ model.name }}' ...
|
|
'acados_mex_free_{{ model.name }}' ...
|
|
'acados_mex_solve_{{ model.name }}' ...
|
|
'acados_mex_set_{{ model.name }}' ...
|
|
};
|
|
|
|
mex_files = cell(length(mex_names), 1);
|
|
for k=1:length(mex_names)
|
|
mex_files{k} = fullfile([mex_names{k}, '.c']);
|
|
end
|
|
|
|
%% octave C flags
|
|
if is_octave()
|
|
if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
|
|
diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
|
|
diary on
|
|
mkoctfile -p CFLAGS
|
|
diary off
|
|
input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
|
|
cflags_tmp = fscanf(input_file, '%[^\n]s');
|
|
fclose(input_file);
|
|
if ~ismac()
|
|
cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
|
|
else
|
|
cflags_tmp = [cflags_tmp, ' -std=c99'];
|
|
end
|
|
input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
|
|
fprintf(input_file, '%s', cflags_tmp);
|
|
fclose(input_file);
|
|
end
|
|
% read cflags from file
|
|
input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
|
|
cflags_tmp = fscanf(input_file, '%[^\n]s');
|
|
fclose(input_file);
|
|
setenv('CFLAGS', cflags_tmp);
|
|
end
|
|
|
|
%% compile mex
|
|
for ii=1:length(mex_files)
|
|
disp(['compiling ', mex_files{ii}])
|
|
if is_octave()
|
|
% mkoctfile -p CFLAGS
|
|
mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
|
|
acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
|
|
else
|
|
if ismac()
|
|
FLAGS = 'CFLAGS=$CFLAGS -std=c99';
|
|
else
|
|
FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
|
|
end
|
|
mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
|
|
acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
|
|
end
|
|
end
|
|
|
|
|
|
end |