Fixed const-correctness and С++ linkage errors

CMakeLists.txt

@@ -1,199 +1,12 @@
-################################################################################
-#
-# Project settings
-#
-################################################################################
+cmake_minimum_required (VERSION 2.8)
+project (HPMPC)
 
-#
-# Minimum required version of cmake 
-#
-CMAKE_MINIMUM_REQUIRED( VERSION 2.8 )
+SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules;${CMAKE_MODULE_PATH})
 
-#
-# Project name and programming languages used
-#
-PROJECT( HPMPC C )
+#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+#set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+#set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 
-#
-# Folder path for generated executables
-#
-SET( EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin )
+include(CompilerOptions.cmake)
 
-#
-# Folder path for generated libraries
-#
-SET( LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib )
-
-################################################################################
-#
-# User configuration
-#
-################################################################################
-
-IF( NOT CMAKE_VERBOSE_MAKEFILE )
-	SET( CMAKE_VERBOSE_MAKEFILE OFF )
-ENDIF( NOT CMAKE_VERBOSE_MAKEFILE )
-
-#
-# Build type
-#
-IF( NOT CMAKE_BUILD_TYPE )
-	SET(CMAKE_BUILD_TYPE Release CACHE STRING
-		"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
-		FORCE
-	)
-ENDIF( NOT CMAKE_BUILD_TYPE )
-
-#
-# Target type
-#
-IF ( NOT HPMPC_TARGET )
-    SET( HPMPC_TARGET X64_AVX CACHE STRING
-   	    "Choose build target: X64_AVX2, X64_AVX, X64_SSE3, CORTEX_A57, CORTEX_A15, CORTEX_A9, CORTEX_A7, C99_4x4"
-    )
-ENDIF( )
-
-################################################################################
-#
-# Compiler settings
-#
-################################################################################
-
-SET( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC" )
-
-IF ( ${HPMPC_TARGET} STREQUAL "X64_AVX2" )
-    ADD_DEFINITIONS( -DTARGET_X64_AVX2 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -m64 -mavx2 -mfma")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "X64_AVX" )
-    ADD_DEFINITIONS( -DTARGET_X64_AVX )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -m64 -mavx")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "X64_SSE3" )
-    ADD_DEFINITIONS( -DTARGET_X64_SSE3 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -m64 -msse3")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A57" )
-    ADD_DEFINITIONS( -DTARGET_CORTEX_A57 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=armv8-a+fp+simd -mcpu=cortex-a57")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A15" )
-    ADD_DEFINITIONS( -DTARGET_CORTEX_A15 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -marm -mfloat-abi=hard -mfpu=neon-vfpv4 -mcpu=cortex-a15")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A9" )
-    ADD_DEFINITIONS( -DTARGET_CORTEX_A9 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -marm -mfloat-abi=hard -mfpu=neon -mcpu=cortex-a9")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A7" )
-    ADD_DEFINITIONS( -DTARGET_CORTEX_A7 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -marm -mfloat-abi=hard -mfpu=neon-vfpv4 -mcpu=cortex-a7")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "C99_4X4" )
-    ADD_DEFINITIONS( -DTARGET_C99_4X4 )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
-
-ELSEIF ( ${HPMPC_TARGET} STREQUAL "C99_4X4_PREFETCH" )
-    ADD_DEFINITIONS( -DTARGET_C99_4X4_PREFETCH )
-	SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
-
-ELSE( )
-    MESSAGE( ERROR "You chose unsupported target ${HPMPC_TARGET}")	  
-ENDIF( )
-
-# Link math library against all targets
-LINK_LIBRARIES( m )
-
-# This will add the "make test" target
-ENABLE_TESTING()
-
-################################################################################
-#
-# Configure the target header file
-#
-################################################################################
-
-STRING(TOUPPER ${HPMPC_TARGET} TARGET_DEF)
-SET( TARGET_DEF TARGET_${TARGET_DEF})
-
-CONFIGURE_FILE(
-	"${PROJECT_SOURCE_DIR}/include/target.h.in"
-	"${PROJECT_SOURCE_DIR}/include/target.h"
-	@ONLY
-)
-
-################################################################################
-#
-# Include directories
-#
-################################################################################
-
-INCLUDE_DIRECTORIES( include )
-
-################################################################################
-#
-# Build the library
-#
-################################################################################
-
-MESSAGE( STATUS "Compiling the library for ${HPMPC_TARGET} target")
-
-#
-# Macro for adding source files
-#
-MACRO( HPMPC_ADD_SOURCE_FILES )
-#	MESSAGE( STATUS "${ARGV}" )
-	UNSET( _SRC )
-    FOREACH( SRC ${ARGV} )
-        GET_FILENAME_COMPONENT(ABS_SRC ${SRC} REALPATH)		
-		SET( _SRC ${_SRC} ${ABS_SRC} )
-	ENDFOREACH()
-	SET ( SOURCES ${SOURCES} ${_SRC} PARENT_SCOPE )
-ENDMACRO( HPMPC_ADD_SOURCE_FILES )
-
-#
-# Add source folders
-#
-UNSET( SOURCES )
-ADD_SUBDIRECTORY( kernel )
-ADD_SUBDIRECTORY( blas )
-ADD_SUBDIRECTORY( auxiliary )
-ADD_SUBDIRECTORY( lqcp_solvers )
-ADD_SUBDIRECTORY( mpc_solvers )
-ADD_SUBDIRECTORY( interfaces )
-ADD_SUBDIRECTORY( reference_code )
-#ADD_SUBDIRECTORY( codegen )
-
-#
-# Add library
-#
-ADD_LIBRARY( hpmpc STATIC ${SOURCES} )
-
-################################################################################
-#
-# Installation rules
-#
-################################################################################
-
-INSTALL(
-    DIRECTORY
-	    include/
-    DESTINATION
-        include/hpmpc
-	PATTERN "*.h.in*" EXCLUDE
-)
-
-INSTALL(
-	TARGETS
-	    hpmpc
-    DESTINATION
-        lib
-)
-
-################################################################################
-#
-# Build examples
-#
-################################################################################
-
-ADD_SUBDIRECTORY( test_problems )
+add_subdirectory(test)

CompilerOptions.cmake

@@ -0,0 +1,56 @@
+################################################################################
+#
+# Compiler settings - General
+#
+################################################################################
+
+INCLUDE( CheckCXXCompilerFlag )
+
+################################################################################
+#
+# Compiler settings - GCC/G++; Linux, Apple
+#
+################################################################################
+MESSAGE(CMAKE_CXX_COMPILER_ID = ${CMAKE_CXX_COMPILER_ID})
+IF (    "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" )
+
+	SET( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -fPIC" )
+
+################################################################################
+#
+# Compiler settings - MS Visual Studio; Windows
+#
+################################################################################
+ELSEIF( MSVC )
+    # On MSVC, use statically linked C runtime for release builds (to avoid problems with missing runtime).
+	SET(CMAKE_CXX_FLAGS_RELEASE "/MT /O2 /Ob2 /D NDEBUG")
+	SET(CMAKE_CXX_FLAGS_DEBUG "/MDd /Zi /Ob0 /Od /RTC1")
+
+	SET( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -nologo -EHsc " )
+
+	#
+	# Some common definitions
+	#
+	ADD_DEFINITIONS( -DWIN32 )
+	#ADD_DEFINITIONS( -D__NO_COPYRIGHT__ )
+	#ADD_DEFINITIONS( -Dsnprintf=_snprintf )
+	#ADD_DEFINITIONS( -Dusleep=Sleep )
+	#ADD_DEFINITIONS( -Dsleep=Sleep )
+	#ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
+	#ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
+	#ADD_DEFINITIONS(-D_CRT_SECURE_NO_DEPRECATE)
+	#ADD_DEFINITIONS(-D_SCL_SECURE_NO_DEPRECATE)
+	#ADD_DEFINITIONS(-D_SECURE_SCL=0)
+	#ADD_DEFINITIONS(-D_ITERATOR_DEBUG_LEVEL=0)
+	#ADD_DEFINITIONS( -D__NO_PIPES__ )
+	#ADD_DEFINITIONS( "/wd4068")
+
+	#
+	# Enable project grouping when making Visual Studio solution
+	# NOTE: This feature is NOT supported in Express editions
+	#
+	SET_PROPERTY( GLOBAL PROPERTY USE_FOLDERS ON )
+
+ENDIF( )
+
+

include/c_interface.h

@@ -26,7 +26,9 @@
 #include "target.h"
 #include "block_size.h"
 
-
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 // work space: dynamic definition as function return value
 
@@ -46,8 +48,23 @@ int fortran_order_d_ip_mpc_hard_tv( int *kk, int k_max, double mu0, double mu_to
 
 
 // new interfaces
-int c_order_d_ip_ocp_hard_tv(int *kk, int k_max, double mu0, double mu_tol,	int N, int *nx, int *nu, int *nb, int *ng, int warm_start, double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, double **lb, double **ub, double **C, double **D, double **lg, double **ug, double **x, double **u, double **pi, double **lam, double **t, double *inf_norm_res, void *work0, double *stat);
+int c_order_d_ip_ocp_hard_tv(
+							int *kk, int k_max, double mu0, double mu_tol,
+							int N, int const *nx, int const *nu, int const *nb, int const *ng,
+							int warm_start,
+							double const * const *A, double const * const *B, double const * const *b,
+							double const * const *Q, double const * const *S, double const * const *R, double const * const *q, double const * const *r,
+							double const * const *lb, double const * const *ub,
+							double const * const *C, double const * const *D, double const * const *lg, double const * const *ug,
+							double * const *x, double * const *u, double * const *pi, double * const *lam, double * const *t,
+							double *inf_norm_res,
+							void *work0,
+							double *stat);
+
 int fortran_order_d_ip_ocp_hard_tv(int *kk, int k_max, double mu0, double mu_tol, int N, int *nx, int *nu, int *nb, int *ng, int warm_start, double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, double **lb, double **ub, double **C, double **D, double **lg, double **ug, double **x, double **u, double **pi, double **lam, double **t, double *inf_norm_res, void *work0, double *stat);
-int hpmpc_d_ip_ocp_hard_tv_work_space_size_bytes(int N, int *nx, int *nu, int *nb, int *ng);
+int hpmpc_d_ip_ocp_hard_tv_work_space_size_bytes(int N, int const *nx, int const *nu, int const *nb, int const *ng);
 
 
+#ifdef __cplusplus
+}	// extern "C"
+#endif

interfaces/c/c_interface_work_space.c

@@ -60,7 +60,7 @@ int hpmpc_d_ip_mpc_hard_tv_work_space_size_bytes(int N, int nx, int nu, int nb,
 
 
 
-int hpmpc_d_ip_ocp_hard_tv_work_space_size_bytes(int N, int *nx, int *nu, int *nb, int *ng)
+int hpmpc_d_ip_ocp_hard_tv_work_space_size_bytes(int N, int const *nx, int const *nu, int const *nb, int const *ng)
 	{
 
 	const int bs  = D_MR; //d_get_mr();

interfaces/c/c_order_interface.c

@@ -45,13 +45,13 @@
 // TODO add indx to the interface ????
 int c_order_d_ip_ocp_hard_tv( 
 							int *kk, int k_max, double mu0, double mu_tol,
-							int N, int *nx, int *nu_N, int *nb, int *ng,
+							int N, int const *nx, int const *nu_N, int const *nb, int const *ng,
 							int warm_start,
-							double **A, double **B, double **b, 
-							double **Q, double **S, double **R, double **q, double **r, 
-							double **lb, double **ub,
-							double **C, double **D, double **lg, double **ug,
-							double **x, double **u, double **pi, double **lam, double **t,
+							double const * const *A, double const * const *B, double const * const *b,
+							double const * const *Q, double const * const *S, double const * const *R, double const * const *q, double const * const *r,
+							double const * const *lb, double const * const *ub,
+							double const * const *C, double const * const *D, double const * const *lg, double const * const *ug,
+							double * const *x, double * const *u, double * const *pi, double * const *lam, double * const *t,
 							double *inf_norm_res,
 							void *work0, 
 							double *stat)
@@ -477,6 +477,8 @@ int c_order_d_ip_ocp_hard_tv(
 
 	inf_norm_res[3] = mu;
 
+d_print_mat(1, 4, inf_norm_res, 1);
+
 
 
 	// copy back multipliers

test/CMakeLists.txt

@@ -0,0 +1,24 @@
+#
+# HPMPC/test
+#
+
+#enable_testing()
+find_package(GTest REQUIRED)
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+set(SRC 
+    hpmpc_test.cpp
+    test_qp.cpp
+   )
+
+add_executable(hpmpc_test ${SRC})
+
+target_link_libraries(hpmpc_test ${PROJECT_SOURCE_DIR}/libhpmpc.a ${GTEST_BOTH_LIBRARIES})
+
+if (UNIX)
+	# On UNIX, link to pthread -- gtest requires it.
+	target_link_libraries(hpmpc_test pthread)
+endif (UNIX)
+
+#add_test(AllTests mpc_test)