def exportPhase2(cgOptions, phase1src):
genfiles = phase1src
# add makefile
genfiles['Makefile'] = mkMakefile( cgOptions )
genfiles['workspace.c'] ='''\
#include "acado_common.h"
ACADOworkspace acadoWorkspace;
ACADOvariables acadoVariables;
'''
# write things in user specified directory if 'export_without_build_path' is not None
# then return without building
if cgOptions['export_without_build_path'] is not None:
codegen.writeDifferentFiles(cgOptions['export_without_build_path'], genfiles)
return
# write things in user specified directory if 'force_export_path' is not None
# then compile as normal
if cgOptions['force_export_path'] is not None:
codegen.writeDifferentFiles(cgOptions['force_export_path'], genfiles)
exportpath = cgOptions['force_export_path']
# otherwise write things in memoized directory, then compile as normal
else:
exportpath = codegen.memoizeFiles(genfiles,prefix=cgOptions['hashPrefix']+'__')
# compile!
(ret, msgs) = subprocess_tee.call(['make',codegen.makeJobs()], cwd=exportpath)
if ret != 0:
raise Exception("ocp compilation failed:\n\n"+msgs)
# return shared object
return exportpath
def exportPhase2(cgOptions, phase1src):
# call pkg-config to get qpoases source and includes
qpoStuff = {}
for name in ["qpOASESsrc", "qpOASESinc"]:
qpoStuff[name] = pkgconfig.call(["--variable", name, "acado"])
qpoStuff["qpOASESsrc"] = qpoStuff["qpOASESsrc"].split(" ")
# get qpoases source as file dictionary
qpoSrcPath = os.path.join(qpoStuff["qpOASESsrc"][0].split("qpoases")[0], "qpoases")
phase2src = codegen.directoryToDict(qpoSrcPath)
# merge qpoases source with phase 1 output
def mergeAll(srcdict, destdict):
for name, src in srcdict.items():
if isinstance(src, dict):
if name not in destdict:
destdict[name] = {}
assert isinstance(
destdict[name], dict
), "dictionary merge failed, source was directory but destination was a file"
destdict[name] = mergeAll(src, destdict[name])
else:
destdict[name] = src
return destdict
genfiles = mergeAll(phase1src, {"qpoases": phase2src})
# add makefile
genfiles["Makefile"] = mkMakefile(cgOptions, qpoStuff["qpOASESsrc"])
genfiles[
"workspace.c"
] = """\
#include "acado_common.h"
ACADOworkspace acadoWorkspace;
ACADOvariables acadoVariables;
"""
# write things in user specified directory if 'export_without_build_path' is not None
# then return without building
if cgOptions["export_without_build_path"] is not None:
codegen.writeDifferentFiles(cgOptions["export_without_build_path"], genfiles)
return
# write things in user specified directory if 'force_export_path' is not None
# then compile as normal
if cgOptions["force_export_path"] is not None:
codegen.writeDifferentFiles(cgOptions["force_export_path"], genfiles)
exportpath = cgOptions["force_export_path"]
# otherwise write things in memoized directory, then compile as normal
else:
exportpath = codegen.memoizeFiles(genfiles, prefix=cgOptions["hashPrefix"] + "__")
# compile!
(ret, msgs) = subprocess_tee.call(["make", codegen.makeJobs()], cwd=exportpath)
if ret != 0:
raise Exception("ocp compilation failed:\n\n" + msgs)
# return shared object
return exportpath
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 exportPhase2(cgOptions, phase1src):
# call pkg-config to get qpoases source and includes
qpoStuff = {}
for name in ['qpOASESsrc', 'qpOASESinc']:
qpoStuff[name] = pkgconfig.call(['--variable', name, 'acado'])
qpoStuff['qpOASESsrc'] = qpoStuff['qpOASESsrc'].split(' ')
# get qpoases source as file dictionary
qpoSrcPath = os.path.join(qpoStuff['qpOASESsrc'][0].split('qpoases')[0],
'qpoases')
phase2src = codegen.directoryToDict(qpoSrcPath)
# merge qpoases source with phase 1 output
def mergeAll(srcdict, destdict):
for name, src in srcdict.items():
if isinstance(src, dict):
if name not in destdict:
destdict[name] = {}
assert isinstance(
destdict[name], dict
), "dictionary merge failed, source was directory but destination was a file"
destdict[name] = mergeAll(src, destdict[name])
else:
destdict[name] = src
return destdict
genfiles = mergeAll(phase1src, {'qpoases': phase2src})
# add makefile
genfiles['Makefile'] = mkMakefile(cgOptions, qpoStuff['qpOASESsrc'])
genfiles['workspace.c'] = '''\
#include "acado_common.h"
ACADOworkspace acadoWorkspace;
ACADOvariables acadoVariables;
'''
# write things in user specified directory if 'export_without_build_path' is not None
if cgOptions['export_without_build_path'] is not None:
codegen.writeDifferentFiles(cgOptions['export_without_build_path'],
genfiles)
return
# otherwise write things in memoized directory, then compile
exportpath = codegen.memoizeFiles(genfiles,
prefix=cgOptions['hashPrefix'] + '__')
# compile!
(ret, msgs) = subprocess_tee.call(['make', codegen.makeJobs()],
cwd=exportpath)
if ret != 0:
raise Exception("ocp compilation failed:\n\n" + msgs)
# return shared object
return exportpath
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 exportPhase2(cgOptions, phase1src):
# call pkg-config to get qpoases source and includes
qpoStuff = {}
for name in ['qpOASESsrc', 'qpOASESinc']:
qpoStuff[name] = pkgconfig.call(['--variable',name,'acado'])
qpoStuff['qpOASESsrc'] = qpoStuff['qpOASESsrc'].split(' ')
# get qpoases source as file dictionary
qpoSrcPath = os.path.join(qpoStuff['qpOASESsrc'][0].split('qpoases')[0], 'qpoases')
phase2src = codegen.directoryToDict(qpoSrcPath)
# merge qpoases source with phase 1 output
def mergeAll(srcdict,destdict):
for name,src in srcdict.items():
if isinstance(src,dict):
if name not in destdict:
destdict[name] = {}
assert isinstance(destdict[name], dict), "dictionary merge failed, source was directory but destination was a file"
destdict[name] = mergeAll(src,destdict[name])
else:
destdict[name] = src
return destdict
genfiles = mergeAll(phase1src, {'qpoases':phase2src})
# add makefile
genfiles['Makefile'] = mkMakefile(cgOptions, qpoStuff['qpOASESsrc'])
genfiles['workspace.c'] ='''\
#include "acado_common.h"
ACADOworkspace acadoWorkspace;
ACADOvariables acadoVariables;
'''
# write things in user specified directory if 'export_without_build_path' is not None
if cgOptions['export_without_build_path'] is not None:
codegen.writeDifferentFiles(cgOptions['export_without_build_path'], genfiles)
return
# otherwise write things in memoized directory, then compile
exportpath = codegen.memoizeFiles(genfiles,prefix=cgOptions['hashPrefix']+'__')
# compile!
(ret, msgs) = subprocess_tee.call(['make',codegen.makeJobs()], cwd=exportpath)
if ret != 0:
raise Exception("ocp compilation failed:\n\n"+msgs)
# return shared object
return exportpath
