def exportOcp(ocp, CXX):
# write the ocp exporter cpp file
genfiles = [('export_ocp.cpp', writeAcadoOcpExport.generateAcadoOcp(ocp)),
('Makefile',makeMakefile(CXX))]
exportpath = memoizeFiles(genfiles)
# compile the ocp exporter
p = subprocess.Popen(['make'], stdout=subprocess.PIPE, cwd=exportpath)
ret = p.wait()
if ret != 0:
print "stdout: "+p.stdout.read()
raise Exception("integrator compilation failed, return code "+str(ret))
# load the ocp exporter
Ni = 5
print os.path.join(exportpath, 'export_ocp.so')
lib = ctypes.cdll.LoadLibrary(os.path.join(exportpath, 'export_ocp.so'))
# run the ocp exporter
def runOcpExporter(path):
ret = lib.exportOcp(ocp._nk,
Ni,
ctypes.c_double(ocp._ts),
ctypes.c_char_p(path))
if ret != 0:
raise Exception("call to export_ocp.so failed")
files = withTempdir(runOcpExporter)
print "exported files: "+str([name for (name,_) in files])
def runPhase1(ocp, phase1Options, integratorOptions, ocpOptions):
# write the ocp exporter cpp file
genfiles = {
'export_ocp.cpp':
writeAcadoOcpExport.generateAcadoOcp(ocp, integratorOptions,
ocpOptions),
'Makefile':
makeExportMakefile(phase1Options)
}
# add a file which just runs the export in the current directory
genfiles['run_export.cpp'] = '''\
extern "C" int exportOcp(const char * exportDir);
int main(void){
return exportOcp(".");
}
'''
exportpath = codegen.memoizeFiles(genfiles,
prefix=phase1Options['hashPrefix'] +
'_phase1__')
# compile the ocp exporter
(ret, msgs) = subprocess_tee.call(['make', codegen.makeJobs()],
cwd=exportpath)
if ret != 0:
raise Exception("exportOcp phase 1 compilation failed:\n\n" + msgs)
# run the ocp exporter
def runOcpExporter(path):
lib = ctypes.cdll.LoadLibrary(os.path.join(exportpath,
'export_ocp.so'))
ret = lib.exportOcp(ctypes.c_char_p(path))
if ret != 0:
print open(os.path.join(path, '_stdout.txt')).read()
raise Exception("call to export_ocp.so failed")
def callExporterInProcess(q):
try:
q.put(codegen.withTempdir(runOcpExporter))
finally:
q.put(None)
q = Queue()
p = Process(target=callExporterInProcess, args=(q, ))
p.start()
ret = q.get()
p.join()
assert (0 == p.exitcode) and (ret is not None), \
"error exporting ocp, see stdout/stderr above"
return ret
def runPhase1(ocp, phase1Options, integratorOptions, ocpOptions):
# write the ocp exporter cpp file
genfiles = {'export_ocp.cpp': writeAcadoOcpExport.generateAcadoOcp(ocp, integratorOptions, ocpOptions),
'Makefile': makeExportMakefile(phase1Options)}
# add a file which just runs the export in the current directory
genfiles['run_export.cpp'] = '''\
extern "C" int exportOcp(const char * exportDir);
int main(void){
return exportOcp(".");
}
'''
exportpath = codegen.memoizeFiles(genfiles,prefix=phase1Options['hashPrefix']+'_phase1__')
# compile the ocp exporter
(ret, msgs) = subprocess_tee.call(['make',codegen.makeJobs()], cwd=exportpath)
if ret != 0:
raise Exception("exportOcp phase 1 compilation failed:\n\n"+msgs)
# run the ocp exporter
def runOcpExporter(path):
lib = ctypes.cdll.LoadLibrary(os.path.join(exportpath, 'export_ocp.so'))
ret = lib.exportOcp(ctypes.c_char_p(path))
if ret != 0:
print open(os.path.join(path, '_stdout.txt')).read()
raise Exception("call to export_ocp.so failed")
def callExporterInProcess(q):
try:
q.put(codegen.withTempdir(runOcpExporter))
finally:
q.put(None)
q = Queue()
p = Process(target = callExporterInProcess, args=(q, ))
p.start()
ret = q.get()
p.join()
assert (0 == p.exitcode) and (ret is not None), \
"error exporting ocp, see stdout/stderr above"
return ret
