Develop 1.0

.github/workflows/main.yml

@@ -32,7 +32,7 @@ jobs:
       - name: Build OSQP interface
         uses: matlab-actions/run-command@v1
         with:
-          command: make_osqp
+          command: osqp.build('osqp_mex')
 
       - name: Run tests
         uses: matlab-actions/run-tests@v1

.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

@osqp/build.m

@@ -0,0 +1,164 @@
+function build(varargin)
+% Matlab MEX makefile for OSQP.
+%
+%    MAKE_OSQP(VARARGIN) is a make file for OSQP solver. It
+%    builds OSQP and its components from source.
+%
+%    WHAT is the last element of VARARGIN and cell array of strings,
+%    with the following options:
+%
+%    {}, '' (empty string) or 'all': build all components and link.
+%
+%    'osqp_mex': builds the OSQP mex interface and the OSQP library
+%
+%    Additional commands:
+%
+%    'clean': Delete all compiled files
+%    'purge': Delete all compiled files and copied code generation files
+
+    if( nargin == 0 )
+        what = {'all'};
+        verbose = false;
+    elseif ( nargin == 1 && ismember('-verbose', varargin) )
+        what = {'all'};
+        verbose = true;
+    else
+        what = varargin{nargin};
+        if(isempty(strfind(what, 'all'))        && ...
+            isempty(strfind(what, 'osqp_mex'))  && ...
+            isempty(strfind(what, 'clean'))     && ...
+            isempty(strfind(what, 'purge')))
+                fprintf('No rule to make target "%s", exiting.\n', what);
+        end
+
+        verbose = ismember('-verbose', varargin);
+    end
+
+    %% Determine where the various files are all located
+    % Various parts of the build system
+    [osqp_classpath,~,~] = fileparts( mfilename( 'fullpath' ) );
+    osqp_mex_src_dir = fullfile( osqp_classpath, '..', 'c_sources' );
+    osqp_mex_build_dir = fullfile( osqp_mex_src_dir, 'build' );
+    osqp_cg_src_dir = fullfile( osqp_mex_build_dir, 'codegen_src' );
+    osqp_cg_dest_dir = fullfile( osqp_classpath, '..', 'codegen', 'sources' );
+
+    % Determine where CMake should look for MATLAB
+    Matlab_ROOT = strrep( matlabroot, '\', '/' );
+
+    %% Try to unlock any pre-existing version of osqp_mex
+    % this prevents compile errors if a user builds, runs osqp
+    % and then tries to recompile
+    if(mislocked('osqp_mex'))
+        munlock('osqp_mex');
+    end
+
+    %% Configure, build and install the OSQP mex interface
+    if( any(strcmpi(what,'osqp_mex')) || any(strcmpi(what,'all')) )
+       fprintf('Compiling OSQP solver mex interface...\n');
+
+        % Create build for the mex file and go inside
+        if exist( osqp_mex_build_dir, 'dir' )
+            rmdir( osqp_mex_build_dir, 's' );
+        end
+        mkdir( osqp_mex_build_dir );
+    %    cd( osqp_mex_build_dir );
+
+        % Extend path for CMake mac (via Homebrew)
+        PATH = getenv('PATH');
+        if( (ismac) && (isempty(strfind(PATH, '/usr/local/bin'))) )
+            setenv('PATH', [PATH ':/usr/local/bin']);
+        end
+
+
+
+        %% Configure CMake for the mex interface
+        fprintf('  Configuring...' )
+        [status, output] = system( sprintf( 'cmake -B %s -S %s -DCMAKE_BUILD_TYPE=RelWithDebInfo -DMatlab_ROOT_DIR=\"%s\"', osqp_mex_build_dir, osqp_mex_src_dir, Matlab_ROOT ), 'LD_LIBRARY_PATH', '' );
+        if( status )
+            fprintf( '\n' );
+            disp( output );
+            error( 'Error configuring CMake environment' );
+        elseif( verbose )
+            fprintf( '\n' );
+            disp( output );
+        else
+            fprintf( '\t\t\t\t\t[done]\n' );
+        end
+
+        %% Build the mex interface
+        fprintf( '  Building...')
+        [status, output] = system( sprintf( 'cmake --build %s --config Release', osqp_mex_build_dir ), 'LD_LIBRARY_PATH', '' );
+        if( status )
+            fprintf( '\n' );
+            disp( output );
+            error( 'Error compiling OSQP mex interface' );
+        elseif( verbose )
+            fprintf( '\n' );
+            disp( output );
+        else
+            fprintf( '\t\t\t\t\t\t[done]\n' );
+        end
+
+
+        %% Install various files
+        fprintf( '  Installing...' )
+
+        % Copy mex file to root directory for use
+        if( ispc )
+            [err, errmsg, ~] = copyfile( [osqp_mex_build_dir, filesep, 'Release', filesep, 'osqp_mex.mex*'], [osqp_classpath, filesep, 'private'] );
+        else
+            [err, errmsg, ~] = copyfile( [osqp_mex_build_dir, filesep, 'osqp_mex.mex*'],  [osqp_classpath, filesep, 'private'] );
+        end
+        if( ~err )
+            fprintf( '\n' )
+            disp( errmsg )
+            error( '  Error copying mex file' )
+        end
+
+        % Copy the code generation source files
+        % Create build for the mex file and go inside
+        if exist( osqp_cg_dest_dir, 'dir' )
+            rmdir( osqp_cg_dest_dir, 's' );
+        end
+        mkdir( osqp_cg_dest_dir );
+
+        [err, errmsg, ~] = copyfile( [osqp_cg_src_dir, filesep, '*'], osqp_cg_dest_dir );
+        if( ~err )
+            fprintf( '\n' )
+            disp( errmsg )
+            error( '  Error copying code generation source files' )
+        end
+
+        fprintf( '\t\t\t\t\t\t[done]\n' );
+    end
+
+    %% Clean and purge
+    if( any(strcmpi(what,'clean')) || any(strcmpi(what,'purge')) )
+        fprintf('Cleaning OSQP mex files and build directory...');
+
+        % Delete mex file
+        mexfiles = dir(['*.', mexext]);
+        for i = 1 : length(mexfiles)
+            delete(mexfiles(i).name);
+        end
+
+        % Delete OSQP build directory
+        if exist(osqp_mex_build_dir, 'dir')
+            rmdir(osqp_mex_build_dir, 's');
+        end
+
+        fprintf('\t\t[done]\n');
+
+        %% Purge only
+        if( any(strcmpi(what,'purge')) )
+            fprintf('Cleaning OSQP codegen directories...');
+
+            % Delete codegen files
+            if exist(osqp_cg_dest_dir, 'dir')
+                rmdir(osqp_cg_dest_dir, 's');
+            end
+
+            fprintf('\t\t\t[done]\n');
+        end
+    end
+end

@osqp/codegen.m

@@ -0,0 +1,148 @@
+%%
+function codegen(this, out, varargin)
+    % CODEGEN generate C code for the parametric problem
+    %
+    %   codegen(target_dir,options)
+
+    % Parse input arguments
+    p = inputParser;
+    defaultPrefix = 'prob1_';           % Prefix for filenames and C variables; useful if generating multiple problems
+    defaultForceRewrite = true;         % Force rewrite if output folder exists?
+    defaultParameters = 'vectors';      % What do we wish to update in the generated code?
+                                        % One of 'vectors' (allowing update of q/l/u through prob.update_data_vec)
+                                        % or 'matrices' (allowing update of P/A/q/l/u
+                                        % through prob.update_data_vec or prob.update_data_mat)
+    defaultUseFloat = false;            % Use single precision in generated code?
+    defaultPrintingEnable = false;      % Enable solver printing?
+    defaultProfilingEnable = false;     % Enable solver profiling?
+    defaultInterruptEnable = false;     % Enable user interrupt (Ctrl-C)?
+    defaultEnableDerivatives = false;   % Enable derivatives?
+
+    addRequired(p, 'out', @isstr);
+    addOptional(p, 'prefix', defaultPrefix, @isstr);
+    addParameter(p, 'force_rewrite', defaultForceRewrite, @isboolean);
+    addParameter(p, 'parameters', defaultParameters, @isstr);
+    addParameter(p, 'float_type', defaultUseFloat, @isboolean);
+    addParameter(p, 'printing_enable', defaultPrintingEnable, @isboolean);
+    addParameter(p, 'profiling_enable', defaultProfilingEnable, @isboolean);
+    addParameter(p, 'interrupt_enable', defaultInterruptEnable, @isboolean);
+    addParameter(p, 'derivatives_enable', defaultEnableDerivatives, @isboolean);
+
+    parse(p, out, varargin{:});
+
+    % Set internal variables
+    if strcmp(p.Results.parameters, 'vectors')
+        embedded = 1;
+    else
+        embedded = 2;
+    end
+
+
+    % Check whether the specified directory already exists
+    if exist(out, 'dir')
+        while(1)
+            prompt = sprintf('Directory "%s" already exists. Do you want to replace it? y/n [y]: ', out);
+            str = input(prompt, 's');
+
+            if any(strcmpi(str, {'','y'}))
+                rmdir(out, 's');
+                break;
+            elseif strcmpi(str, 'n')
+                return;
+            end
+        end
+    end
+
+    % Import OSQP path
+    [osqp_path,~,~] = fileparts(which('osqp.m'));
+
+    % Add codegen directory to path
+    addpath(fullfile(osqp_path, 'codegen'));
+
+    % Path of osqp module
+    cg_dir = fullfile(osqp_path, '..', 'codegen');
+    files_to_generate_path = fullfile(cg_dir, 'files_to_generate');
+
+    % Make target directory
+    fprintf('Creating target directories...\t\t\t\t\t');
+    target_configure_dir = fullfile(out, 'configure');
+    target_include_dir = fullfile(out, 'include');
+    target_src_dir = fullfile(out, 'src');
+
+    if ~exist(out, 'dir')
+        mkdir(out);
+    end
+    if ~exist(target_configure_dir, 'dir')
+        mkdir(target_configure_dir);
+    end
+    if ~exist(target_include_dir, 'dir')
+        mkdir(target_include_dir);
+    end
+    if ~exist(target_src_dir, 'dir')
+        mkdir(fullfile(target_src_dir, 'osqp'));
+    end
+    fprintf('[done]\n');
+
+    %TODO: Fix the copying stuff
+    % % Copy source files to target directory
+    % fprintf('Copying OSQP source files...\t\t\t\t\t');
+    % cdir   = fullfile(cg_dir, 'sources', 'src');
+    % cfiles = dir(fullfile(cdir, '*.c'));
+    % for i = 1 : length(cfiles)
+    %     if embedded == 1
+    %         % Do not copy kkt.c if embedded is 1
+    %         if ~strcmp(cfiles(i).name, 'kkt.c')
+    %             copyfile(fullfile(cdir, cfiles(i).name), ...
+    %                 fullfile(target_src_dir, 'osqp', cfiles(i).name));    
+    %         end
+    %     else
+    %         copyfile(fullfile(cdir, cfiles(i).name), ...
+    %             fullfile(target_src_dir, 'osqp', cfiles(i).name));
+    %     end
+    % end
+    % configure_dir = fullfile(cg_dir, 'sources', 'configure');
+    % configure_files = dir(fullfile(configure_dir, '*.h.in'));
+    % for i = 1 : length(configure_files)
+    %     copyfile(fullfile(configure_dir, configure_files(i).name), ...
+    %         fullfile(target_configure_dir, configure_files(i).name));
+    % end
+    % hdir   = fullfile(cg_dir, 'sources', 'inc');
+    % hfiles = dir(fullfile(hdir, '*.h'));
+    % for i = 1 : length(hfiles)
+    %     if embedded == 1
+    %         % Do not copy kkt.h if embedded is 1
+    %         if ~strcmp(hfiles(i).name, 'kkt.h')
+    %             copyfile(fullfile(hdir, hfiles(i).name), ...
+    %                 fullfile(target_include_dir, hfiles(i).name));  
+    %         end
+    %     else
+    %         copyfile(fullfile(hdir, hfiles(i).name), ...
+    %             fullfile(target_include_dir, hfiles(i).name));
+    %     end
+    % end
+    % 
+    %     % Copy cmake files
+    % copyfile(fullfile(cdir, 'CMakeLists.txt'), ...
+    %         fullfile(target_src_dir, 'osqp', 'CMakeLists.txt'));
+    % copyfile(fullfile(hdir, 'CMakeLists.txt'), ...
+    %         fullfile(target_include_dir, 'CMakeLists.txt'));
+    % fprintf('[done]\n');
+    % 
+    % % Copy example.c
+    % copyfile(fullfile(files_to_generate_path, 'example.c'), target_src_dir);
+
+    % Update codegen defines
+    update_codegen_defines(this, 'embedded_mode', embedded, 'float_type', p.Results.float_type, 'printing_enable', p.Results.printing_enable, 'profiling_enable', p.Results.profiling_enable, 'interrupt_enable', p.Results.interrupt_enable, 'derivatives_enable', p.Results.derivatives_enable);
+    % Call codegen
+    osqp_mex('codegen', this.objectHandle, out, p.Results.prefix);
+
+    % TODO: Do we want to keep this?
+    % % Make mex interface to the generated code
+    % mex_cfile  = fullfile(files_to_generate_path, 'emosqp_mex.c');
+    % make_emosqp(out, mex_cfile, embedded, float_flag, long_flag);
+    % 
+    % % Rename the mex file
+    % old_mexfile = ['emosqp_mex.', mexext];
+    % new_mexfile = [p.Results.mexname, '.', mexext];
+    % movefile(old_mexfile, new_mexfile);
+end