Cleanup and modernize the wrapper

.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

@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 +1,208 @@
+%%
+function codegen(this, target_dir, varargin)
+    % CODEGEN generate C code for the parametric problem
+    %
+    %   codegen(target_dir,options)
+
+    % Parse input arguments
+    p = inputParser;
+    defaultProject = '';
+    expectedProject = {'', 'Makefile', 'MinGW Makefiles', 'Unix Makefiles', 'CodeBlocks', 'Xcode'};
+    defaultParams = 'vectors';
+    expectedParams = {'vectors', 'matrices'};
+    defaultMexname = 'emosqp';
+    defaultFloat = false;
+    defaultLong = true;
+    defaultFW = false;
+
+    addRequired(p, 'target_dir', @isstr);
+    addParameter(p, 'project_type', defaultProject, ...
+                 @(x) ischar(validatestring(x, expectedProject)));
+    addParameter(p, 'parameters', defaultParams, ...
+                 @(x) ischar(validatestring(x, expectedParams)));
+    addParameter(p, 'mexname', defaultMexname, @isstr);
+    addParameter(p, 'FLOAT', defaultFloat, @islogical);
+    addParameter(p, 'LONG', defaultLong, @islogical);
+    addParameter(p, 'force_rewrite', defaultFW, @islogical);
+
+    parse(p, target_dir, varargin{:});
+
+    % Set internal variables
+    if strcmp(p.Results.parameters, 'vectors')
+        embedded = 1;
+    else
+        embedded = 2;
+    end
+    if p.Results.FLOAT
+        float_flag = 'ON';
+    else
+        float_flag = 'OFF';
+    end
+    if p.Results.LONG
+        long_flag = 'ON';
+    else
+        long_flag = 'OFF';
+    end
+    if strcmp(p.Results.project_type, 'Makefile')
+        if (ispc)
+            project_type = 'MinGW Makefiles';   % Windows
+        elseif (ismac || isunix)
+            project_type = 'Unix Makefiles';    % Unix
+        end
+    else
+        project_type = p.Results.project_type;
+    end
+
+    % Check whether the specified directory already exists
+    if exist(target_dir, 'dir')
+        if p.Results.force_rewrite
+            rmdir(target_dir, 's');
+        else
+            while(1)
+                prompt = sprintf('Directory "%s" already exists. Do you want to replace it? y/n [y]: ', target_dir);
+                str = input(prompt, 's');
+
+                if any(strcmpi(str, {'','y'}))
+                    rmdir(target_dir, 's');
+                    break;
+                elseif strcmpi(str, 'n')
+                    return;
+                end
+            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');
+
+    % Get workspace structure
+    work = osqp_mex('get_workspace', this.objectHandle);
+
+    % Make target directory
+    fprintf('Creating target directories...\t\t\t\t\t');
+    target_configure_dir = fullfile(target_dir, 'configure');
+    target_include_dir = fullfile(target_dir, 'include');
+    target_src_dir = fullfile(target_dir, 'src');
+
+    if ~exist(target_dir, 'dir')
+        mkdir(target_dir);
+    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');
+
+    % 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', 'include');
+    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);
+
+    % Render CMakeLists.txt
+    fidi = fopen(fullfile(files_to_generate_path, 'CMakeLists.txt'),'r');
+    fido = fopen(fullfile(target_dir, 'CMakeLists.txt'),'w');
+    while ~feof(fidi)
+        l = fgetl(fidi);   % read line
+        % Replace EMBEDDED_FLAG in CMakeLists.txt by a numerical value
+        newl = strrep(l, 'EMBEDDED_FLAG', num2str(embedded));
+        fprintf(fido, '%s\n', newl);
+    end
+    fclose(fidi);
+    fclose(fido);
+
+    % Render workspace.h and workspace.c
+    work_hfile = fullfile(target_include_dir, 'workspace.h');
+    work_cfile = fullfile(target_src_dir, 'osqp', 'workspace.c');
+    fprintf('Generating workspace.h/.c...\t\t\t\t\t\t');
+    render_workspace(work, work_hfile, work_cfile, embedded);
+    fprintf('[done]\n');
+
+    % Create project
+    if ~isempty(project_type)
+
+        % 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
+
+        fprintf('Creating project...\t\t\t\t\t\t\t\t');
+        orig_dir = pwd;
+        cd(target_dir);
+        mkdir('build')
+        cd('build');
+        cmd = sprintf('cmake -G "%s" ..', project_type);
+        [status, output] = system(cmd);
+        if(status)
+            fprintf('\n');
+            fprintf(output);
+            error('Error configuring CMake environment');
+        else
+            fprintf('[done]\n');
+        end
+        cd(orig_dir);
+    end
+
+    % Make mex interface to the generated code
+    mex_cfile  = fullfile(files_to_generate_path, 'emosqp_mex.c');
+    make_emosqp(target_dir, 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