Merge pull request #50 from osqp/matlab-interface

.gitignore

@@ -2,6 +2,7 @@
 # -------------------------------------------------------------------
 # Out folder
 out/
+c_sources/build/
 
 # Prerequisites
 *.d

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "osqp_sources"]
-	path = osqp_sources
+	path = c_sources/osqp_sources
 	url = https://github.com/osqp/osqp

c_sources/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required( VERSION 3.18 )
+
+project( osqp-matlab )
+
+
+# Find the MATLAB installation directory and various settings for it
+find_package( Matlab REQUIRED COMPONENTS MEX_COMPILER)
+
+message( STATUS "Matlab root is " ${Matlab_ROOT_DIR} )
+
+include_directories( ${Matlab_INCLUDE_DIRS} )
+
+if( CMAKE_COMPILER_IS_GNUCXX )
+    # Add debug symbols and optimizations to the build
+    set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -O2" )
+    set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O2" )
+endif()
+
+# Insist on the pre-2018 complex data API so that mxGetPr will work correctly
+    add_compile_definitions( MATLAB_MEXSRC_RELEASE=R2017b )
+message( STATUS "Using Matlab pre-2018a API for mxGetPr compatibility" )
+
+# Some parts of the main libraries need to know we are building for MATLAB
+# So pass a definition to let them know
+add_compile_definitions( MATLAB )
+
+# Configure the settings of the OSQP library
+set( OSQP_ALGEBRA_BACKEND    "builtin" )
+set( OSQP_USE_FLOAT          OFF )
+set( OSQP_CODEGEN            ON )
+set( OSQP_ENABLE_DERIVATIVES ON )
+set( OSQP_ENABLE_PRINTING    ON )
+set( OSQP_ENABLE_PROFILING   ON )
+set( OSQP_ENABLE_INTERRUPT   ON )
+
+# Configure the build outputs for the OSQP library
+set( OSQP_BUILD_STATIC_LIB ON )
+set( OSQP_BUILD_SHARED_LIB OFF )
+set( OSQP_BUILD_UNITTESTS  OFF )
+set( OSQP_BUILD_DEMO_EXE   OFF )
+
+# Add the custom MATLAB memory handling
+set( OSQP_CUSTOM_MEMORY "memory_matlab.h" )
+include_directories( ${CMAKE_CURRENT_SOURCE_DIR} )
+
+# Actually pull in the OSQP targets
+add_subdirectory( osqp_sources )
+
+# Add OSQP include directories that are needed
+include_directories( ${CMAKE_CURRENT_SOURCE_DIR}/osqp_sources/include/public
+                     ${CMAKE_CURRENT_SOURCE_DIR}/osqp_sources/include/private )
+
+# Interrupt support requires the libut library
+get_filename_component( Matlab_LIB_DIR ${Matlab_MEX_LIBRARY} DIRECTORY )
+
+if( WIN32 )
+    set( UT_LIBRARY "${Matlab_LIB_DIR}/libut.lib" )
+else()
+    set( UT_LIBRARY "-L${Matlab_LIB_DIR} -lut" )
+endif()
+
+matlab_add_mex( NAME osqp_mex
+                SRC ${CMAKE_CURRENT_SOURCE_DIR}/osqp_mex.cpp
+                    ${CMAKE_CURRENT_SOURCE_DIR}/interrupt_matlab.c
+                LINK_TO osqpstatic
+                        ${UT_LIBRARY}
+                # Force compilation in the traditional C API (equivalent to the -R2017b flag)
+                R2017b )

c_sources/interrupt_matlab.c

@@ -0,0 +1,25 @@
+/*
+ * Implements interrupt handling using ctrl-c for MATLAB mex files.
+ */
+
+#include "interrupt.h"
+
+#include <stdbool.h>
+
+/* No header file available here; define the prototypes ourselves */
+bool utIsInterruptPending(void);
+bool utSetInterruptEnabled(bool);
+
+static int istate;
+
+void osqp_start_interrupt_listener(void) {
+  istate = utSetInterruptEnabled(1);
+}
+
+void osqp_end_interrupt_listener(void) {
+  utSetInterruptEnabled(istate);
+}
+
+int osqp_is_interrupted(void) {
+  return utIsInterruptPending();
+}

c_sources/memory_matlab.h

@@ -0,0 +1,22 @@
+/* Memory managment for MATLAB */
+#include "mex.h"
+
+static void* c_calloc(size_t num, size_t size) {
+  void *m = mxCalloc(num, size);
+  mexMakeMemoryPersistent(m);
+  return m;
+}
+
+static void* c_malloc(size_t size) {
+  void *m = mxMalloc(size);
+  mexMakeMemoryPersistent(m);
+  return m;
+}
+
+static void* c_realloc(void *ptr, size_t size) {
+  void *m = mxRealloc(ptr, size);
+  mexMakeMemoryPersistent(m);
+  return m;
+}
+
+#define c_free mxFree