openpilot_comma/pyextra/acados_template/c_templates_tera/make_mex.in.m

%
% 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
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% Redistribution and use in source and binary forms, with or without
% modification, are permitted provided that the following conditions are met:
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% 1. Redistributions of source code must retain the above copyright notice,
% this list of conditions and the following disclaimer.
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% 2. Redistributions in binary form must reproduce the above copyright notice,
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%

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