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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(casadi C CXX)
set(CASADI_MAJOR_VERSION 3)
set(CASADI_MINOR_VERSION 6)
set(CASADI_PATCH_VERSION 5)
set(CASADI_IS_RELEASE 0)
set(CASADI_VERSION ${CASADI_MAJOR_VERSION}.${CASADI_MINOR_VERSION}.${CASADI_PATCH_VERSION})
set(CASADI_VERSION_PYTHON ${CASADI_MAJOR_VERSION}.${CASADI_MINOR_VERSION}.${CASADI_PATCH_VERSION})
if(NOT CASADI_IS_RELEASE)
set(CASADI_VERSION "${CASADI_VERSION}+")
set(CASADI_VERSION_PYTHON ${CASADI_VERSION_PYTHON}.post0)
endif()
set(CASADI_VERSION "${CASADI_VERSION}")
set(PACKAGE_NAME "CasADi")
set(PACKAGE_VERSION ${CASADI_VERSION})
set(PACKAGE_SO_VERSION "3.7")
set(PACKAGE_DESCRIPTION "CasADi is a symbolic framework for automatic differentation and numeric optimization")
set(PACKAGE_AUTHOR "Joel Andersson and Joris Gillis")
set(PACKAGE_MAINTAINER "Joel Andersson and Joris Gillis")
set(PACKAGE_URL "http://casadi.org")
set(CASADI_TP_SHARED_PREFIX casadi-tp-)
############################################################
####################### Policies ###########################
############################################################
# Enforce cmake2.4+ style behaviour for
# mixed filename/full path linker directives
cmake_policy(SET CMP0003 NEW)
# cmake_policy propagation rules
if(POLICY CMP0011)
cmake_policy(SET CMP0011 NEW)
endif()
# cmake_policy avoid escaping in add_definitions
cmake_policy(SET CMP0005 NEW)
# cmake_policy how to interpret string arguments
if(POLICY CMP0054)
cmake_policy(SET CMP0054 NEW)
endif()
#############################################################
########################## Version ##########################
#############################################################
# For systems with git installed, find out revision and description.
execute_process(COMMAND git rev-parse HEAD
OUTPUT_VARIABLE git_revision
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_QUIET
)
execute_process(COMMAND git describe --first-parent HEAD
OUTPUT_VARIABLE git_describe
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_QUIET
)
string(REPLACE "+-" "+" git_describe "${git_describe}")
string(REPLACE "-g" "." git_describe "${git_describe}")
set(PACKAGE_VERSION_FULL "${git_describe}")
# overwrite version numbers for official release
if((PACKAGE_VERSION_FULL STREQUAL "") OR (NOT PACKAGE_VERSION MATCHES "\\+"))
set(PACKAGE_VERSION_FULL "${PACKAGE_VERSION}")
endif()
# We use the FeatureSummary module to get a more readable CMake output
include(FeatureSummary)
set_property(GLOBAL APPEND PROPERTY FeatureSummary_PKG_TYPES BUILD)
if(NOT COMMAND add_feature_info)
function(add_feature_info _name _enabled _description)
message(STATUS "Detected: ${_name} ${_description}")
endfunction()
function(feature_summary)
endfunction()
endif()
# Default build type is Release
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type (default Release)" FORCE)
endif()
########################################################################
############################# Fortran ##################################
########################################################################
option(FORTRAN_REQUIRED "Make fortran a required dependency" OFF)
# http://public.kitware.com/Bug/print_bug_page.php?bug_id=9220
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
include(language_support)
workaround_9220(Fortran Fortran_language_works)
if(FORTRAN_REQUIRED)
enable_language(Fortran)
set(Fortran_language_works ON)
else()
if(Fortran_language_works)
enable_language(Fortran OPTIONAL)
endif()
endif()
########################################################################
############################# C++11 ####################################
########################################################################
# Check if the compiler supports C++11
foreach(CXX11FLAG_TEST "" "-std=c++11" "-std=c++0x")
if(NOT USE_CXX11)
# Try to compile test with the proposed flag
try_compile(USE_CXX11
${CMAKE_BINARY_DIR}
${CMAKE_MODULE_PATH}/check_cxx11.cpp
CMAKE_FLAGS -DCOMPILE_DEFINITIONS:STRING=${CXX11FLAG_TEST}
OUTPUT_VARIABLE OUTPUT)
# Save flag, if successful
if(USE_CXX11)
set(CXX11FLAG ${CXX11FLAG_TEST} CACHE INTERNAL "C++11 compile flag")
endif()
endif()
endforeach()
# If found, set flag
if(USE_CXX11)
if(CXX11FLAG)
message(STATUS "Flag needed for enabling C++11 features: ${CXX11FLAG}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11FLAG}")
else()
message(STATUS "No flag needed for enabling C++11 features.")
endif()
add_definitions(-DUSE_CXX11)
else()
message(FATAL_ERROR "Cannot enable C++11 features.")
endif()
if(CXX11FLAG)
try_compile(HAS_ERFINV
${CMAKE_BINARY_DIR}
${CMAKE_MODULE_PATH}/check_erfinv.cpp
CMAKE_FLAGS -DCOMPILE_DEFINITIONS:STRING=${CXX11FLAG}
OUTPUT_VARIABLE OUTPUT)
if(HAS_ERFINV)
add_definitions(-DHAS_ERFINV)
endif()
endif()
# Check if mkstemps is available
if(WIN32)
add_definitions(-DHAVE_SIMPLE_MKSTEMPS)
else()
file(WRITE ${CMAKE_BINARY_DIR}/mkstemps_test.cxx
"#include <cstdlib>\n"
"#include <unistd.h>\n"
"int main() {\n"
" char tmp[] = \"mkstempstestXXXXXX.so\";\n"
" int flag = mkstemps(tmp, 3);\n"
" return flag;\n"
"}\n")
try_compile(HAVE_MKSTEMPS ${CMAKE_BINARY_DIR} ${CMAKE_BINARY_DIR}/mkstemps_test.cxx
OUTPUT_VARIABLE HAVE_MKSTEMPS_OUTPUT)
file(WRITE ${CMAKE_BINARY_DIR}/simple_mkstemps_test.cxx
"#include <sys/stat.h>\n"
"#include <fcntl.h>\n"
"#include <errno.h>\n"
"int main() {\n"
" int fd = open(\"test.c\", O_RDWR | O_CREAT | O_EXCL, S_IRUSR | S_IWUSR);\n"
"}\n")
try_compile(HAVE_SIMPLE_MKSTEMPS ${CMAKE_BINARY_DIR} ${CMAKE_BINARY_DIR}/simple_mkstemps_test.cxx
OUTPUT_VARIABLE HAVE_SIMPLE_MKSTEMPS_OUTPUT)
if(HAVE_MKSTEMPS)
add_definitions(-DHAVE_MKSTEMPS)
else()
if(HAVE_SIMPLE_MKSTEMPS)
add_definitions(-DHAVE_SIMPLE_MKSTEMPS)
else()
message(WARNING "mkstemp is not available, falling back on tmpnam. "
"Test compilation returned the following:\n"
"${HAVE_MKSTEMPS_OUTPUT}"
"Test compilation returned the following:\n"
"${HAVE_SIMPLE_MKSTEMPS_OUTPUT}")
endif()
endif()
endif()
############################################################
####################### macports python ####################
############################################################
# find the macports python libs if they exist
if(APPLE)
set(CMAKE_LIBRARY_PATH /opt/local/lib ${CMAKE_LIBRARY_PATH})
endif()
# Disabled by default
set(WITH_LAPACK_DEF OFF)
set(WITH_QPOASES_DEF OFF)
set(WITH_BLOCKSQP_DEF OFF)
set(WITH_IPOPT_DEF OFF)
set(WITH_SUPERSCS_DEF OFF)
set(DEPENDENT_LIBRARIES)
include(ExternalProject)
set(CROSS_FLAGS_CONFIGURE "")
set(CROSS_FLAGS_C "")
set(CROSS_FLAGS_FORTRAN "")
set(CROSS_FLAGS_CMAKE)
if(CMAKE_CROSS_COMPILING OR DEFINED ENV{CROSS_TRIPLE})
set(CROSS_FLAGS_CONFIGURE "--host=$ENV{CROSS_TRIPLE}")
if("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
# See issue https://github.com/casadi/casadi/issues/2887
set(CROSS_FLAGS_CONFIGURE ${CROSS_FLAGS_CONFIGURE} "ADD_CXXFLAGS=-Wl,--unresolved-symbols=ignore-all")
set(EXTRA_CASADI_CXX_FLAGS "-Wl,--unresolved-symbols=ignore-all")
set(EXTRA_CASADI_C_FLAGS "-Wl,--unresolved-symbols=ignore-all")
#set(CROSS_FLAGS_CMAKE ${CROSS_FLAGS_CMAKE} "-DCMAKE_EXE_LINKER_FLAGS_INIT=--unresolved-symbols=ignore-all")
endif()
if("$ENV{CROSS_TRIPLE}" MATCHES "mingw32")
# https://github.com/casadi/artifacts/issues/3
set(CROSS_FLAGS_FORTRAN "lt_cv_deplibs_check_method=pass_all")
endif()
endif()
set(EXTERNAL_CMAKE_COMMAND "${CMAKE_COMMAND}")
if("$ENV{CROSS_TRIPLE}" MATCHES "mingw32")
string(REPLACE "-gcc" "-cmake" EXTERNAL_CMAKE_COMMAND "$ENV{CC}")
endif()
message("EXTERNAL_CMAKE_COMMAND: ${EXTERNAL_CMAKE_COMMAND}")
set(WHOLE_ARCHIVE_ON "")
set(WHOLE_ARCHIVE_OFF "")
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
set(WHOLE_ARCHIVE_ON "-Wl,--whole-archive ")
set(WHOLE_ARCHIVE_OFF "-Wl,--no-whole-archive ")
if(APPLE)
set(WHOLE_ARCHIVE_ON "-Wl,-all_load ")
set(WHOLE_ARCHIVE_OFF "-Wl,-noall_load")
endif()
elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
set(WHOLE_ARCHIVE_ON "-Wl,-force_load, ")
set(WHOLE_ARCHIVE_OFF "")
if(APPLE)
set(WHOLE_ARCHIVE_ON "-Wl,-all_load ")
set(WHOLE_ARCHIVE_OFF "-Wl,-noall_load ")
endif()
endif()
message("CXX $ENV{CXX}")
message("FC $ENV{FC}")
message("CC $ENV{CC}")
#####################################################
######################### swig ######################
#####################################################
option(WITH_PYTHON "Compile the Python front-end" OFF)
option(WITH_MATLAB "Compile the MATLAB front-end" OFF)
option(WITH_OCTAVE "Compile the Octave front-end (experimental)" OFF)
option(WITH_JSON "Compile the JSON front-end" OFF)
option(WITH_OCTAVE_IMPORT "[DEPRECATED] Copy import.m file to install directory" OFF)
option(WITH_PYTHON3 "Use Python 3.*" OFF)
############################################################
################# Misc options #############################
############################################################
option(INSTALL_INTERNAL_HEADERS "Install all headers" OFF)
option(ENABLE_EXPORT_ALL "Export all symbols to a shared library" OFF)
option(ENABLE_STATIC "Compile static libraries (.a on Linux)" OFF)
option(ENABLE_SHARED "Compile shared libraries (.so on Linux)" ON)
option(SWIG_EXPORT "Export SWIG" OFF)
option(SWIG_IMPORT "Import SWIG" OFF)
# enabling OpenMP support if requested
option(WITH_OPENMP "Compile with parallelization support using OpenMP" OFF)
if(WITH_OPENMP)
find_package(OpenMP REQUIRED)
if(OPENMP_FOUND)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -DWITH_OPENMP")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS} -DWITH_OPENMP")
endif()
endif()
# enabling Threads support if requested
option(WITH_THREAD "Compile with parallelization support using POSIX Threads" OFF)
option(WITH_THREAD_MINGW "For MINGW, use mingw-std-threads" OFF)
if(WITH_THREAD)
add_definitions(-DCASADI_WITH_THREAD)
endif()
if(MINGW AND WITH_THREAD_MINGW)
add_definitions(-DCASADI_WITH_THREAD_MINGW)
else()
if(WITH_THREAD)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
endif()
endif()
# OpenCL
option(WITH_OPENCL "Compile with OpenCL support (experimental)" OFF)
if(WITH_OPENCL)
# Core depends on OpenCL for GPU calculations
find_package(OpenCL REQUIRED)
add_definitions(-DWITH_OPENCL)
include_directories(${OPENCL_INCLUDE_DIRS})
endif()
add_feature_info(opencl-support WITH_OPENCL "Enable just-in-time compiliation to CPUs and GPUs with OpenCL.")
# Enable: RTLD_DEEPBIND
option(WITH_DEEPBIND "Load plugins with RTLD_DEEPBIND (can be used to resolve conflicting libraries in e.g. MATLAB)" ON)
if(WITH_DEEPBIND)
add_definitions(-DWITH_DEEPBIND)
endif()
# Suppress warnings for refcounting failures (at program closure)
option(WITH_REFCOUNT_WARNINGS "Issue warnings upon reference counting failure" OFF)
if(WITH_REFCOUNT_WARNINGS)
add_definitions(-DWITH_REFCOUNT_WARNINGS)
endif()
# Have an so version?
option(WITH_SO_VERSION "Use an so version for the library (version suffix) when applicable" ON)
set(WITH_COPYSIGN_UNDEF_DEFAULT OFF)
if(WITH_PYTHON AND MSVC)
set(WITH_COPYSIGN_UNDEF_DEFAULT OFF)
endif()
option(WITH_COPYSIGN_UNDEF "On Windows, in Python.h #defines copysign to be _copysign. This option inserts an #undef" WITH_COPYSIGN_UNDEF_DEFAULT)
############################################################
################# Installation location ####################
############################################################
# Flat hierarchy if self-contained and on Windows
option(WITH_SELFCONTAINED "Make the install directory self-contained" OFF)
if(WITH_SELFCONTAINED OR (WIN32 AND NOT CYGWIN))
set(DEF_LIB_PREFIX casadi)
set(DEF_BIN_PREFIX casadi)
set(DEF_CMAKE_PREFIX casadi/cmake)
set(DEF_PYTHON_PREFIX) # Note: Files installed in a casadi subdirectory
set(DEF_MATLAB_PREFIX casadi)
set(DEF_INCLUDE_PREFIX casadi/include)
else()
set(DEF_LIB_PREFIX lib)
set(DEF_BIN_PREFIX bin)
set(DEF_CMAKE_PREFIX lib/cmake/casadi)
set(DEF_PYTHON_PREFIX python)
if (WITH_PYTHON)
set(PYTHON_VERSION_REQ "")
if (WITH_PYTHON3)
set(PYTHON_VERSION_REQ "3")
endif()
find_package(PythonInterp ${PYTHON_VERSION_REQ} REQUIRED)
execute_process ( COMMAND ${PYTHON_EXECUTABLE} -c "from __future__ import print_function; from distutils.sysconfig import get_python_lib; print(get_python_lib())"
OUTPUT_VARIABLE PYTHON_SITE_PACKAGES OUTPUT_STRIP_TRAILING_WHITESPACE)
set(DEF_PYTHON_PREFIX ${PYTHON_SITE_PACKAGES})
endif()
set(DEF_MATLAB_PREFIX matlab)
set(DEF_INCLUDE_PREFIX include)
endif()
# Installation directories are cache entries that can be modified
set(LIB_PREFIX ${DEF_LIB_PREFIX} CACHE PATH "Installation directory for libraries")
set(BIN_PREFIX ${DEF_BIN_PREFIX} CACHE PATH "Installation directory for executables")
set(INCLUDE_PREFIX ${DEF_INCLUDE_PREFIX} CACHE PATH "Installation directory for header files")
set(CMAKE_PREFIX ${DEF_CMAKE_PREFIX} CACHE PATH "Installation directory for CMake files")
set(PYTHON_PREFIX ${DEF_PYTHON_PREFIX} CACHE PATH "Installation directory for Python files")
set(MATLAB_PREFIX ${DEF_MATLAB_PREFIX} CACHE PATH "Installation directory for MATLAB/Octave files")
install(DIRECTORY "${CMAKE_BINARY_DIR}/external_projects/bin/" OPTIONAL DESTINATION ${LIB_PREFIX})
install(DIRECTORY "${CMAKE_BINARY_DIR}/external_projects/lib/" OPTIONAL DESTINATION ${LIB_PREFIX})
install(DIRECTORY "${CMAKE_BINARY_DIR}/external_projects/lib64/" OPTIONAL DESTINATION ${LIB_PREFIX})
if(CMAKE_CROSS_COMPILING)
install(DIRECTORY ${CMAKE_FIND_ROOT_PATH}/bin/ DESTINATION ${LIB_PREFIX} FILES_MATCHING PATTERN "*${CMAKE_SHARED_LIBRARY_SUFFIX}")
endif()
# Make relative paths absolute (needed later on)
foreach(p LIB BIN INCLUDE CMAKE PYTHON MATLAB)
set(var ${p}_PREFIX)
if(${var})
if(NOT IS_ABSOLUTE "${${var}}")
# Turn relative path into absolute
set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
endif()
else()
# Flat installation hierarchy
set(${var} "${CMAKE_INSTALL_PREFIX}")
endif()
endforeach()
# Set rpath
if(WITH_SELFCONTAINED)
if(APPLE)
set(CMAKE_INSTALL_RPATH "@loader_path/")
else()
set(CMAKE_INSTALL_RPATH "$ORIGIN")
endif()
else()
# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# the RPATH to be used when installing, but only if it's not a system directory
list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${LIB_PREFIX}" isSystemDir)
if("${isSystemDir}" STREQUAL "-1")
set(CMAKE_INSTALL_RPATH "${LIB_PREFIX}")
endif()
endif()
################################################################################
############################### compiler warnings ##############################
################################################################################
# add compiler warnings
option(WITH_EXTRA_WARNINGS "Add extra warnings (like -Wall -Wextra)" OFF)
option(WITH_WERROR "Add -Werror" OFF)
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
if(WITH_EXTRA_WARNINGS)
set(EXTRA_CASADI_CXX_FLAGS "${EXTRA_CASADI_CXX_FLAGS} -Wall -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-attributes")
set(EXTRA_CASADI_C_FLAGS "${EXTRA_CASADI_C_FLAGS} -Wall -Wextra -Wformat-security -Wno-unused-parameter -Wno-maybe-uninitialized -Wno-unused-but-set-variable -Wno-unused-function -Wno-unused-value")
endif()
if(WITH_WERROR)
set(EXTRA_CASADI_CXX_FLAGS "${EXTRA_CASADI_CXX_FLAGS} -Werror")
set(EXTRA_CASADI_C_FLAGS "${EXTRA_CASADI_C_FLAGS} -Werror")
endif()
elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
if(WITH_EXTRA_WARNINGS)
set(EXTRA_CASADI_CXX_FLAGS "-Wall -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-mismatched-tags -Wno-tautological-compare")
set(EXTRA_CASADI_C_FLAGS "-Wall -Wextra -Wformat-security -Wno-unused-parameter -Wno-unused-function -Wno-unused-value")
endif()
if(WITH_WERROR)
set(EXTRA_CASADI_CXX_FLAGS "${EXTRA_CASADI_CXX_FLAGS} -Werror")
set(EXTRA_CASADI_C_FLAGS "${EXTRA_CASADI_C_FLAGS} -Werror")
endif()
elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Intel")
if(WITH_EXTRA_WARNINGS)
set(EXTRA_CASADI_CXX_FLAGS "-Wall -Wextra -Wno-unused-parameter -Wno-sign-compare")
set(EXTRA_CASADI_C_FLAGS "-Wall -Wextra -Wformat-security -Wno-unused-parameter -Wno-maybe-uninitialized -Wno-unused-but-set-variable -Wno-unused-function -Wno-unused-value")
endif()
if(WITH_WERROR)
set(EXTRA_CASADI_CXX_FLAGS "${EXTRA_CASADI_CXX_FLAGS} -Werror")
set(EXTRA_CASADI_C_FLAGS "${EXTRA_CASADI_C_FLAGS} -Werror")
endif()
elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
# I don't know the MSVC warnings, so do nothing for now
endif()
#######################################################################
############################### Extra runtime checks ##################
#######################################################################
option(WITH_EXTRA_CHECKS "Compile in extra runtime checks (for developers)" OFF)
if(WITH_EXTRA_CHECKS)
add_definitions(-DWITH_EXTRA_CHECKS)
endif()
#######################################################################
############################# -fPIC ###################################
#######################################################################
# the following commands are needed to fix a problem with the libraries
# for linux 64 bits
if("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "x86_64" OR "${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
message(STATUS "x86_64 architecture detected - setting flag -fPIC")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fPIC")
endif()
#######################################################################
########################### code coverage #############################
#######################################################################
option(WITH_COVERAGE "Create coverage report" OFF)
if(WITH_COVERAGE)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -fprofile-arcs -ftest-coverage")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -fprofile-arcs -ftest-coverage")
set(CMAKE_EXE_LINKER_FLAGS " -lgcov -fprofile-arcs --coverage ${CMAKE_EXE_LINKER_FLAGS}")
endif()
if(MINGW)
# Circumventing a bug in MinGW g++ v4.7.2, evoked by 752fa89355ffa
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-ipa-cp-clone")
endif()
# Tentative fix for https://github.com/casadi/casadi/issues/1665
if(MINGW OR ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Intel"))
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fkeep-inline-functions")
endif()
# Make CasADi version available to the compiler
add_definitions("-DCASADI_MAJOR_VERSION=${CASADI_MAJOR_VERSION}")
add_definitions("-DCASADI_MINOR_VERSION=${CASADI_MINOR_VERSION}")
add_definitions("-DCASADI_PATCH_VERSION=${CASADI_PATCH_VERSION}")
add_definitions("-DCASADI_IS_RELEASE=${CASADI_IS_RELEASE}")
# Plugin version
add_definitions(-DCASADI_VERSION=31)
# Necessary for Visual C++
add_definitions(-D_USE_MATH_DEFINES)
add_definitions(-D_SCL_SECURE_NO_WARNINGS)
# Dynamic loading (needed for loading plugins and external functions)
option(WITH_DL "Enable dynamic loading of functions" ON)
if(WITH_DL)
add_definitions(-DWITH_DL)
endif()
add_feature_info(dynamic-loading WITH_DL "Compile with support for dynamic loading of generated functions (needed for ExternalFunction)")
# Support for import of FMI 2.0 binaries
option(WITH_FMI2 "Compile with support for import of FMI 2.0 binaries" ON)
if(WITH_FMI2)
set(FMI2_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/external_packages/FMI-Standard-2.0.2/headers)
endif()
add_feature_info(dynamic-loading WITH_FMI2 "Support for import of FMI 2.0 binaries")
# Include support for deprecated features (to be removed in the next release)
option(WITH_DEPRECATED_FEATURES "Compile with syntax that is scheduled to be deprecated" ON)
if (WITH_DEPRECATED_FEATURES)
add_definitions(-DWITH_DEPRECATED_FEATURES)
endif()
include_directories(.)
include_directories(${PROJECT_BINARY_DIR})
#######################################################################
################# 3rd party interface #################################
#######################################################################
option(WITH_BUILD_REQUIRED "Build any requirements that are not found on your system")
# Sundials: Solve initial-value problems in ODE and DAE
option(WITH_BUILD_SUNDIALS "Compile the included source code for Sundials 2.6.1" ON)
option(WITH_SUNDIALS "Compile the interface to Sundials" ON)
if(WITH_SUNDIALS)
if(WITH_BUILD_SUNDIALS)
# build the included sundials
set(SUNDIALS_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/external_packages/casadi-sundials)
set(SUNDIALS_LIBRARIES casadi_sundials)
else()
# try to find system sundials
add_definitions(-DWITH_SYSTEM_SUNDIALS)
find_package(SUNDIALS REQUIRED)
endif()
endif()
add_feature_info(sundials-interface WITH_SUNDIALS "Interface to the ODE/DAE integrator suite SUNDIALS.")
# CSparse: A sparse direct linear solver (included in the source)
option(WITH_BUILD_CSPARSE "Compile the included source code for CSparse" ON)
option(WITH_CSPARSE "Compile the interface to CSparse" ON)
if(WITH_CSPARSE)
if(WITH_BUILD_CSPARSE)
# build the included csparse
set(CSPARSE_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/external_packages/CSparse/Include)
set(CSPARSE_LIBRARIES casadi_csparse)
else()
# try to find system csparse
find_package(CSPARSE REQUIRED)
endif()
endif()
add_feature_info(csparse-interface WITH_CSPARSE "Interface to the sparse direct linear solver CSparse.")
# BLASFEO
option(WITH_BLASFEO "Compile the interface to BLASFEO" OFF)
set(BUILD_BLASFEO_VERSION "edf92b396adddd9e548b9786f87ad290a0971329" CACHE STRING "Tag/branch/hash to be used for BUILD_BLASFEO_GIT_REPO")
set(BUILD_BLASFEO_GIT_REPO "https://github.com/giaf/blasfeo.git" CACHE STRING "Git repo used together with BUILD_BLASFEO_VERSION")
option(WITH_BUILD_BLASFEO "Build BLASFEO (BUILD_BLASFEO_VERSION=${BUILD_BLASFEO_VERSION}) from downloaded source (BUILD_BLASFEO_GIT_REPO=${BUILD_BLASFEO_GIT_REPO})." OFF)
# HPIPM
option(WITH_HPIPM "Compile the interface to HPIPM" OFF)
set(BUILD_HPIPM_VERSION "0e0c9f4e0d4081dceafa9b37c396db50bce0e81a" CACHE STRING "Tag/branch/hash to be used for BUILD_HPIPM_GIT_REPO")
set(BUILD_HPIPM_GIT_REPO "https://github.com/jgillis/hpipm.git" CACHE STRING "Git repo used together with BUILD_HPIPM_VERSION")
option(WITH_BUILD_HPIPM "Build HPIPM (BUILD_HPIPM_VERSION=${BUILD_HPIPM_VERSION}) from downloaded source (BUILD_HPIPM_GIT_REPO=${BUILD_HPIPM_GIT_REPO})." OFF)
set(BUILD_HPIPM_DEPENDENCIES BLASFEO)
# FATROP
option(WITH_FATROP "Compile the interface to FATROP" OFF)
set(BUILD_FATROP_VERSION "42e3fee797e8685f1b0b12a692890277a1fc4e2d" CACHE STRING "Tag/branch/hash to be used for BUILD_FATROP_GIT_REPO")
set(BUILD_FATROP_GIT_REPO "https://gitlab.kuleuven.be/robotgenskill/fatrop/fatrop.git" CACHE STRING "Git repo used together with BUILD_FATROP_VERSION")
option(WITH_BUILD_FATROP "Build FATROP (BUILD_FATROP_VERSION=${BUILD_FATROP_VERSION}) from downloaded source (BUILD_FATROP_GIT_REPO=${BUILD_FATROP_GIT_REPO})." OFF)
# SuperSCS: An conic solver
option(WITH_SUPERSCS "Compile the interface to SuperSCS (the source code for SuperSCS is included)" ${WITH_SUPERSCS_DEF})
set(BUILD_SUPERSCS_VERSION "4d2d1bd03ed4cf93e684a880b233760ce34ca69c" CACHE STRING "Tag/branch/hash to be used for BUILD_SUPERSCS_GIT_REPO")
set(BUILD_SUPERSCS_GIT_REPO "https://github.com/jgillis/scs.git" CACHE STRING "Git repo used together with BUILD_SUPERSCS_VERSION")
option(WITH_BUILD_SUPERSCS "Build SuperSCS (BUILD_SUPERSCS_VERSION=${BUILD_SUPERSCS_VERSION}) from downloaded source (BUILD_SUPERSCS_GIT_REPO=${BUILD_SUPERSCS_GIT_REPO})." OFF)
add_feature_info(superscs-interface WITH_SUPERSCS "Interface to Conic solver SuperSCS.")
# OSQP: An operator-splitting QP solver
option(WITH_OSQP "Compile the interface to OSQP" OFF)
set(BUILD_OSQP_VERSION "v0.6.2" CACHE STRING "Tag/branch/hash to be used for BUILD_OSQP_GIT_REPO")
set(BUILD_OSQP_GIT_REPO "https://github.com/osqp/osqp.git" CACHE STRING "Git repo used together with BUILD_OSQP_VERSION")
option(WITH_BUILD_OSQP "Build OSQP (BUILD_OSQP_VERSION=${BUILD_OSQP_VERSION}) from downloaded source (BUILD_OSQP_GIT_REPO=${BUILD_OSQP_GIT_REPO})." OFF)
add_feature_info(osqp-interface WITH_OSQP "Interface to QP solver OSQP.")
set(BUILD_EIGEN3_VERSION "3.4.0" CACHE STRING "Tag/branch/hash to be used for BUILD_EIGEN3_GIT_REPO")
set(BUILD_EIGEN3_GIT_REPO "https://gitlab.com/libeigen/eigen.git" CACHE STRING "Git repo used together with BUILD_EIGEN3_VERSION")
option(WITH_BUILD_EIGEN3 "Build Eigen (BUILD_EIGEN3_VERSION=${BUILD_EIGEN3_VERSION}) from downloaded source (BUILD_EIGEN3_GIT_REPO=${BUILD_EIGEN3_GIT_REPO})." OFF)
set(BUILD_SIMDE_VERSION "v0.7.2" CACHE STRING "Tag/branch/hash to be used for BUILD_SIMDE_GIT_REPO")
set(BUILD_SIMDE_GIT_REPO "https://github.com/simd-everywhere/simde.git" CACHE STRING "Git repo used together with BUILD_BLASFEO_VERSION")
option(WITH_BUILD_SIMDE "Build Simde (BUILD_SIMDE_VERSION=${BUILD_SIMDE_VERSION}) from downloaded source (BUILD_SIMDE_GIT_REPO=${BUILD_SIMDE_GIT_REPO})." OFF)
# PROXQP: A QP solver based on proximal methods
option(WITH_PROXQP "Compile the interface to PROXQP" OFF)
set(BUILD_PROXQP_VERSION "v0.3.2" CACHE STRING "Tag/branch/hash to be used for BUILD_PROXQP_GIT_REPO")
set(BUILD_PROXQP_GIT_REPO "https://github.com/Simple-Robotics/proxsuite.git" CACHE STRING "Git repo used together with BUILD_PROXQP_VERSION")
option(WITH_BUILD_PROXQP "Build PROXQP (BUILD_PROXQP_VERSION=${BUILD_PROXQP_VERSION}) from downloaded source (BUILD_PROXQP_GIT_REPO=${BUILD_PROXQP_GIT_REPO})." OFF)
set(BUILD_PROXQP_DEPENDENCIES EIGEN3 SIMDE)
# TinyXML: An XML reader, needed e.g. by the Modelica interface
option(WITH_BUILD_TINYXML "Compile the included TinyXML source code" ON)
option(WITH_TINYXML "Compile the interface to TinyXML" ON)
if(WITH_TINYXML)
if(NOT WITH_BUILD_TINYXML)
# try to find system tinyxml
find_package(TINYXML REQUIRED)
endif()
endif()
add_feature_info(tinyxml-interface WITH_TINYXML "Interface to the XML parser TinyXML.")
# DSDP
option(WITH_BUILD_DSDP "Compile the the included source code for DSDP" OFF)
option(WITH_DSDP "Compile the interface to DSDP" OFF)
if(WITH_DSDP)
if(WITH_BUILD_DSDP)
# build the included dsdp
set(DSDP_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/external_packages/DSDP/include)
set(DSDP_LIBRARIES casadi_dsdp)
else()
# try to find system dsdp
find_package(DSDP REQUIRED)
endif()
endif()
add_feature_info(dsdp-interface WITH_DSDP "Interface to the interior point SDP solver DSDP.")
# CLANG: A just-in-time compiler
option(OLD_LLVM "Use pre-3.5 LLVM" OFF)
option(WITH_CLANG "Compile the interface to clang JIT" OFF)
if(WITH_CLANG)
# try to find system CLANG
find_package(CLANG REQUIRED)
add_definitions("-DCASADI_DEFAULT_COMPILER_PLUGIN=clang")
else()
add_definitions("-DCASADI_DEFAULT_COMPILER_PLUGIN=shell")
endif()
add_feature_info(clang-interface WITH_CLANG "Interface to the Clang JIT compiler.")
# Lapack: Dense linear solvers
option(WITH_LAPACK "Compile the interface to LAPACK" ${WITH_LAPACK_DEF})
option(WITH_BUILD_LAPACK "Download and install OpenBLAS for LAPACK+BLAS" OFF)
set(BUILD_LAPACK_GIT_REPO https://github.com/xianyi/OpenBLAS.git CACHE STRING "Git repo used together with BUILD_LAPACK_VERSION")
set(BUILD_LAPACK_VERSION v0.3.21 CACHE STRING "Tag/branch/hash to be used for BUILD_LAPACK_GIT_REPO")
# qpOASES: An active-set QP solver
option(WITH_QPOASES "Compile the interface to qpOASES (the source code for qpOASES is included)" ${WITH_QPOASES_DEF})
option(WITH_NO_QPOASES_BANNER "Add -D__NO_COPYRIGHT__ to qpOASES definitions" OFF)
if(WITH_QPOASES)
if (NOT WITH_LAPACK)
message(FATAL_ERROR "WITH_QPOASES requires WITH_LAPACK.")
endif()
set(QPOASES_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/external_packages/qpOASES/include)
set(QPOASES_LIBRARIES casadi_qpoases)
endif()
add_feature_info(qpoases-interface WITH_QPOASES "Interface to the active-set QP solver qpOASES.")
# blockSQP: A block-structure-exploiting SQP method
option(WITH_BLOCKSQP "Compile the interface to blockSQP (the source code for blockSQP is included)" ${WITH_BLOCKSQP_DEF})
if(WITH_BLOCKSQP)
if (NOT WITH_QPOASES)
message(FATAL_ERROR "WITH_BLOCKSQP requires WITH_QPOASES.")
endif()
endif()
add_feature_info(blocksqp-interface WITH_BLOCKSQP "Interface to the NLP solver blockSQP.")
set(BUILD_TRLIB_VERSION "c7632b8b14152e78bc21721a3bd1a2432586b824" CACHE STRING "Tag/branch/hash to be used for BUILD_TRLIB_GIT_REPO")
set(BUILD_TRLIB_GIT_REPO "https://github.com/jgillis/trlib.git" CACHE STRING "Git repo used together with BUILD_TRLIB_VERSION")
option(WITH_BUILD_TRLIB "Build TRLIB (BUILD_TRLIB_VERSION=${BUILD_TRLIB_VERSION}) from downloaded source (BUILD_TRLIB_GIT_REPO=${BUILD_TRLIB_GIT_REPO})." OFF)
# SLEQP: An active set-based NLP solver
option(WITH_SLEQP "Compile the interface to SLEQP" OFF)
set(BUILD_SLEQP_GIT_REPO "https://github.com/jgillis/sleqp.git" CACHE STRING "Git repo used together with BUILD_SLEQ_VERSION")
set(BUILD_SLEQP_VERSION "patch-1" CACHE STRING "Tag/branch/hash to be used for BUILD_SLEQ_GIT_REPO")
option(WITH_BUILD_SLEQP "Build SLEQP (BUILD_SLEQP_VERSION=${BUILD_SLEQP_VERSION}) from downloaded source (BUILD_SLEQP_GIT_REPO=${BUILD_SLEQP_GIT_REPO})." OFF)
set(BUILD_SLEQP_DEPENDENCIES HIGHS TRLIB MUMPS)
# IPOPT: A sparse interior point NLP solver with filter line-search
option(WITH_IPOPT "Compile the interface to IPOPT" ${WITH_IPOPT_DEF})
set(BUILD_IPOPT_GIT_REPO "https://github.com/jgillis/Ipopt-1.git" CACHE STRING "Git repo used together with BUILD_IPOPT_VERSION")
set(BUILD_IPOPT_VERSION "3.14.11.mod" CACHE STRING "Tag/branch/hash to be used for BUILD_IPOPT_GIT_REPO")
option(WITH_BUILD_IPOPT "Build IPOPT (BUILD_IPOPT_VERSION=${BUILD_IPOPT_VERSION}) from downloaded source (BUILD_IPOPT_GIT_REPO=${BUILD_IPOPT_GIT_REPO})." OFF)
set(BUILD_IPOPT_DEPENDENCIES MUMPS)
option(WITH_MOCKUP_REQUIRED ON)
set(BUILD_MOCKUPS_GIT_REPO https://github.com/casadi/mockups.git CACHE STRING "Git repo used together with BUILD_MOCKUPS_VERSION")
set(BUILD_MOCKUPS_VERSION v65 CACHE STRING "Tag/branch/hash to be used for BUILD_MOCKUPS_GIT_REPO")
# Knitro: An NLP solver
option(WITH_KNITRO "Compile the interface to KNITRO" OFF)
option(WITH_MOCKUP_KNITRO "Use mockup KNITRO (BUILD_MOCKUPS_VERSION=${BUILD_MOCKUPS_VERSION}) from downloaded source (BUILD_MOCKUPS_GIT_REPO=${BUILD_MOCKUPS_GIT_REPO})." OFF)
# SNOPT: An SQP solver
option(WITH_SNOPT "Compile the interface to SNOPT" OFF)
option(WITH_MOCKUP_SNOPT "Use mockup SNOPT (BUILD_MOCKUPS_VERSION=${BUILD_MOCKUPS_VERSION}) from downloaded source (BUILD_MOCKUPS_GIT_REPO=${BUILD_MOCKUPS_GIT_REPO})." OFF)
# Worhp: A sparse SQP method
option(WITH_WORHP "Compile the WORHP interface" OFF)
option(WITH_MOCKUP_WORHP "Use mockup WORHP (BUILD_MOCKUPS_VERSION=${BUILD_MOCKUPS_VERSION}) from downloaded source (BUILD_MOCKUPS_GIT_REPO=${BUILD_MOCKUPS_GIT_REPO})." OFF)
# CPLEX: A sparse mixed-integer QP solver
option(WITH_CPLEX "Compile the interface to CPLEX" OFF)
option(WITH_CPLEX_SHARED "Use shared cplex libraries" OFF)
option(WITH_MOCKUP_CPLEX "Use mockup CPLEX (BUILD_MOCKUPS_VERSION=${BUILD_MOCKUPS_VERSION}) from downloaded source (BUILD_MOCKUPS_GIT_REPO=${BUILD_MOCKUPS_GIT_REPO})." OFF)
# GUROBI: A sparse mixed-integer QP solver
option(WITH_GUROBI "Compile the interface to GUROBI" OFF)
option(WITH_MOCKUP_GUROBI "Use mockup GUROBI (BUILD_MOCKUPS_VERSION=${BUILD_MOCKUPS_VERSION}) from downloaded source (BUILD_MOCKUPS_GIT_REPO=${BUILD_MOCKUPS_GIT_REPO})." OFF)
# Bonmin: An MINLP solver
option(WITH_BONMIN "Compile the interface to BONMIN" OFF)
set(BUILD_BONMIN_GIT_REPO https://github.com/coin-or/Bonmin.git CACHE STRING "Git repo used together with BUILD_BONMIN_VERSION")
set(BUILD_BONMIN_VERSION "releases/1.8.9" CACHE STRING "Tag/branch/hash to be used for BUILD_BONMIN_GIT_REPO")
option(WITH_BUILD_BONMIN "Build BONMIN (BUILD_BONMIN_VERSION=${BUILD_BONMIN_VERSION}) from downloaded source (BUILD_BONMIN_GIT_REPO=${BUILD_BONMIN_GIT_REPO})." OFF)
set(BUILD_BONMIN_DEPENDENCIES IPOPT CBC)
# CBC: A sparse mixed-integer linear solver
option(WITH_CBC "Compile the CBC interface" OFF)
set(BUILD_CBC_VERSION "releases/2.10.11" CACHE STRING "Tag/branch/hash to be used for BUILD_CBC_GIT_REPO")
set(BUILD_CBC_GIT_REPO "https://github.com/coin-or/Cbc.git" CACHE STRING "Git repo used together with BUILD_CBC_VERSION")
option(WITH_BUILD_CBC "Build CBC (BUILD_CBC_VERSION=${BUILD_CBC_VERSION}) from downloaded source." OFF)
set(BUILD_CBC_DEPENDENCIES CLP)
# CLP: A sparse linear solver
option(WITH_CLP "Compile the CLP interface" OFF)
set(BUILD_CLP_VERSION "releases/1.17.9" CACHE STRING "Tag/branch/hash to be used for BUILD_CLP_GIT_REPO")
set(BUILD_CLP_GIT_REPO "https://github.com/coin-or/Clp.git" CACHE STRING "Git repo used together with BUILD_CLP_VERSION")
set(BUILD_COINUTILS_VERSION "releases/2.11.10" CACHE STRING "Tag/branch/hash to be used for BUILD_COINUTILS_GIT_REPO")
set(BUILD_COINUTILS_GIT_REPO "https://github.com/coin-or/CoinUtils.git" CACHE STRING "Git repo used together with BUILD_COINUTILS_VERSION")
set(BUILD_CGL_VERSION "releases/0.60.8" CACHE STRING "Tag/branch/hash to be used for BUILD_CGL_GIT_REPO")
set(BUILD_CGL_GIT_REPO "https://github.com/coin-or/Cgl.git" CACHE STRING "Git repo used together with BUILD_CGL_VERSION")
set(BUILD_OSI_VERSION "releases/0.108.9" CACHE STRING "Tag/branch/hash to be used for BUILD_OSI_GIT_REPO")
set(BUILD_OSI_GIT_REPO "https://github.com/coin-or/Osi.git" CACHE STRING "Git repo used together with BUILD_OSI_VERSION")
option(WITH_BUILD_CLP "Build CLP (BUILD_CLP_VERSION=${BUILD_CLP_VERSION}) from downloaded source (BUILD_CLP_GIT_REPO=${BUILD_CLP_GIT_REPO})." OFF)
set(BUILD_CLP_DEPENDENCIES MUMPS LAPACK)
# MUMPS: Sparse direct linear solver
option(WITH_MUMPS "Enable MUMPS interface" OFF)
set(BUILD_MUMPS_TP_VERSION "releases/3.0.2" CACHE STRING "Tag/branch/hash to be used for BUILD_MUMPS_TP_GIT_REPO")
set(BUILD_METIS_TP_VERSION "releases/2.0.0" CACHE STRING "Tag/branch/hash to be used for BUILD_BETIS_TP_GIT_REPO")
set(BUILD_METIS_TP_GIT_REPO "https://github.com/coin-or-tools/ThirdParty-Metis.git" CACHE STRING "Git repo used together with BUILD_METIS_TP_VERSION")
option(WITH_BUILD_METIS "Build Metis from downloaded source." OFF)
set(BUILD_MUMPS_TP_GIT_REPO "https://github.com/coin-or-tools/ThirdParty-Mumps.git" CACHE STRING "Git repo used together with BUILD_MUMPS_TP_VERSION")
option(WITH_BUILD_MUMPS "Build MUMPS (BUILD_MUMPS_TP_VERSION=${BUILD_MUMPS_TP_VERSION}) from downloaded source (BUILD_MUMPS_TP_GIT_REPO=${BUILD_MUMPS_TP_GIT_REPO})." OFF)
set(BUILD_MUMPS_DEPENDENCIES LAPACK METIS)
# SPRAL
option(WITH_SPRAL "Enable SPRAL interface" OFF)
set(BUILD_SPRAL_VERSION "d385d2c9e858366d257cafaaf05760ffa6543e26" CACHE STRING "Tag/branch/hash to be used for BUILD_SPRAL_GIT_REPO")
set(BUILD_SPRAL_GIT_REPO "https://github.com/ralna/spral.git" CACHE STRING "Git repo used together with BUILD_SPRAL_VERSION")
option(WITH_BUILD_SPRAL "Build SPRAL (BUILD_SPRAL_VERSION=${BUILD_SPRAL_VERSION}) from downloaded source (BUILD_SPRAL_GIT_REPO=${BUILD_SPRAL_GIT_REPO})." OFF)
set(BUILD_SPRAL_DEPENDENCIES LAPACK METIS)
# HSL: Sparse direct linear solvers
option(WITH_HSL "Enable HSL interface" OFF)
option(WITH_MOCKUP_HSL "Use mockup WORHP (BUILD_MOCKUPS_VERSION=${BUILD_MOCKUPS_VERSION}) from downloaded source (BUILD_MOCKUPS_GIT_REPO=${BUILD_MOCKUPS_GIT_REPO})." OFF)
option(WITH_BUILD_HSL "Build HSL from supplied source directory (BUILD_HSL_SRC=${BUILD_HSL_SRC})." OFF)
if(WITH_BUILD_HSL AND WITH_MOCKUP_HSL)
message(FATAL_ERROR "WITH_BUILD_HSL and WITH_MOCKUP_HSL are mutually exclusive.")
endif()
set(BUILD_HSL_SRC "." CACHE STRING "Source loction of coinhsl")
set(BUILD_HSL_DEPENDENCIES LAPACK METIS)
# HIGHS: A MILP / QP solver
option(WITH_HIGHS "Compile the HiGHS interface" OFF)
set(BUILD_HIGHS_GIT_REPO "https://github.com/ERGO-Code/HiGHS" CACHE STRING "Git repo used together with BUILD_HIGHS_VERSION")
set(BUILD_HIGHS_VERSION "v1.6.0" CACHE STRING "Tag/branch/hash to be used for BUILD_HIGHS_GIT_REPO")
option(WITH_BUILD_HIGHS "Build HiGHS (BUILD_HIGHS_VERSION=${BUILD_HIGHS_VERSION}) from downloaded source (BUILD_HIGHS_GIT_REPO=${BUILD_HIGHS_GIT_REPO})." OFF)
# ALPAQA: An open source NLP solver based on Augmented Lagrangian
option(WITH_ALPAQA "Compile the Alpaqa interface" OFF)
set(BUILD_ALPAQA_GIT_REPO "https://github.com/jgillis/alpaqa" CACHE STRING "Git repo used together with BUILD_ALPAQA_VERSION")
set(BUILD_ALPAQA_VERSION "develop" CACHE STRING "Tag/branch/hash to be used for BUILD_ALPAQA_GIT_REPO")
option(WITH_BUILD_ALPAQA "Build Alpaqa (BUILD_ALPAQA_VERSION=${BUILD_ALPAQA_VERSION}) from downloaded source (BUILD_ALPAQA_GIT_REPO=${BUILD_ALPAQA_GIT_REPO})." OFF)
set(BUILD_ALPAQA_DEPENDENCIES EIGEN3)
option(ALLOW_DOCKER "System has docker installed" OFF)
function(libraries2flags libraries out)
# libtool cannot handle absoulte paths (i.e. it omits the library from the list of dependencies)
set(local "")
foreach(LIB ${libraries})
if (LIB MATCHES "^-")
# Pass -l, -L as-is
set(local "${local} ${LIB}")
else()
if (LIB MATCHES "System/Library/Frameworks/Accelerate.framework")
#set(${out} "-framework Accelerate" PARENT_SCOPE)
set(local "${local} -framework Accelerate")
else()
get_filename_component(LIB_DIR "${LIB}" DIRECTORY)
get_filename_component(LIB_NAME "${LIB}" NAME)
string(REGEX REPLACE "${CMAKE_SHARED_LIBRARY_PREFIX}([A-Za-z0-9_-]+)${CMAKE_SHARED_LIBRARY_SUFFIX}" "\\1" LIB_NAME_MOD ${LIB_NAME})
if(LIB_NAME STREQUAL LIB_NAME_MOD)
set(local "${local} ${LIB}")
else()
set(local "${local} -L${LIB_DIR} -l${LIB_NAME_MOD}")
endif()
endif()
endif()
set(${out} "${local}" PARENT_SCOPE)
endforeach()
endfunction()
macro(create_import_library TARGET LIB_NAME)
if(CMAKE_CROSS_COMPILING AND MINGW)
# Get target in lowercase
string(TOLOWER ${LIB_NAME} TARGET_LOWER)
set(TARGET_LIB "${CMAKE_CURRENT_BINARY_DIR}/${TARGET_LOWER}.lib")
get_target_property(IMPORTED_LOCATION ${TARGET} IMPORTED_LOCATION)
add_custom_command(OUTPUT "${TARGET_LIB}" DEPENDS ${TARGET}
COMMAND gendef "${IMPORTED_LOCATION}" - > lib${TARGET_LOWER}.def
COMMAND $ENV{DLLTOOL} --dllname "${IMPORTED_LOCATION}" --def lib${TARGET_LOWER}.def --output-lib ${TARGET_LOWER}.lib
)
add_custom_target(create_import_library_${TARGET_LOWER} ALL
DEPENDS "${TARGET_LIB}"
)
set("TARGET_LIB: ${TARGET_LIB}")
install(FILES "${TARGET_LIB}"
DESTINATION ${DEF_LIB_PREFIX}
)
endif()
endmacro()
macro(eager_update DEP_NAME)
set(VERSION "VERSION:${BUILD_${DEP_NAME}_VERSION}\nREPO:${BUILD_${DEP_NAME}_GIT_REPO}")
set(VERSION_FILE "${CMAKE_BINARY_DIR}/external_projects/versions/${DEP_NAME}_version.txt")
# Get lowercase version of DEP_NAME
string(TOLOWER "${DEP_NAME}" DEP_NAME_LOWERCASE)
if(NOT EXISTS ${VERSION_FILE})
file(WRITE ${VERSION_FILE} "${VERSION}")
endif()
# Read the version file
file(READ ${VERSION_FILE} VERSION_FILE_CONTENTS)
if(NOT VERSION STREQUAL VERSION_FILE_CONTENTS)
message("${DEP_NAME} is out of date. Removing old version.")
file(WRITE ${VERSION_FILE} "${VERSION}")
file(GLOB TO_REMOVE LIST_DIRECTORIES true "${CMAKE_BINARY_DIR}/external_projects/src/${DEP_NAME_LOWERCASE}-*")
if(TO_REMOVE)
file(REMOVE_RECURSE ${TO_REMOVE})
endif()
endif()
endmacro()
set(WITH_BUILD_MOCKUPS OFF)
# Packages must be sorted from high to low in the dependency graph
foreach(PKG CPLEX SNOPT KNITRO GUROBI WORHP HSL)
string(TOLOWER ${PKG} PKG_LOWER)
if(WITH_${PKG} AND NOT WITH_BUILD_${PKG})
if(NOT WITH_MOCKUP_${PKG})
get_property(PACKAGES_NOT_FOUND_BACKUP GLOBAL PROPERTY PACKAGES_NOT_FOUND)
get_property(PACKAGES_FOUND_BACKUP GLOBAL PROPERTY PACKAGES_FOUND)
find_package(${PKG})
endif()
if (WITH_MOCKUP_${PKG} OR (WITH_MOCKUP_REQUIRED AND NOT ${PKG}_FOUND))
# Add it to FeatureSummary
get_property(PKG_HELP CACHE WITH_MOCKUP_${PKG} PROPERTY HELPSTRING)
set(WITH_MOCKUP_${PKG} ON CACHE BOOL "${PKG_HELP}" FORCE)
add_feature_info(${PKG_LOWER}-mockup-build ON ${PKG_HELP})
# Remove from PACKAGES_NOT_FOUND
set_property(GLOBAL PROPERTY PACKAGES_NOT_FOUND ${PACKAGES_NOT_FOUND_BACKUP})
set_property(GLOBAL PROPERTY PACKAGES_FOUND ${PACKAGES_FOUND_BACKUP})
# We are going to need build dependencies
foreach(DEP ${BUILD_${PKG}_DEPENDENCIES})
set(WITH_${DEP} ON)
endforeach()
set(${PKG}_FOUND ON)
set(WITH_BUILD_MOCKUPS ON)
eager_update(MOCKUPS)
endif()
if(NOT ${PKG}_FOUND)
message(FATAL_ERROR "${PKG} not found on your system yet required. Set WITH_MOCKUP_${PKG} or WITH_MOCKUP_REQUIRED ON to build a mockup version such that the CasADi build can proceed.")
endif()
endif()
endforeach()
# Packages must be sorted from high to low in the dependency graph
foreach(PKG ALPAQA HIGHS PROXQP OSQP SUPERSCS SLEQP BONMIN IPOPT CBC CLP MUMPS SPRAL HSL METIS FATROP HPIPM TRLIB BLASFEO LAPACK EIGEN3 SIMDE)
string(TOLOWER ${PKG} PKG_LOWER)
if(WITH_${PKG} AND NOT WITH_MOCKUP_${PKG})
if(NOT WITH_BUILD_${PKG})
get_property(PACKAGES_NOT_FOUND_BACKUP GLOBAL PROPERTY PACKAGES_NOT_FOUND)
get_property(PACKAGES_FOUND_BACKUP GLOBAL PROPERTY PACKAGES_FOUND)
find_package(${PKG})
endif()
if (WITH_BUILD_${PKG} OR (WITH_BUILD_REQUIRED AND NOT ${PKG}_FOUND))
# Add it to FeatureSummary
message("get_property(PKG_HELP CACHE WITH_BUILD_${PKG} PROPERTY HELPSTRING)")
get_property(PKG_HELP CACHE WITH_BUILD_${PKG} PROPERTY HELPSTRING)
set(WITH_BUILD_${PKG} ON CACHE BOOL "${PKG_HELP}" FORCE)
add_feature_info(${PKG_LOWER}-sourcebuild ON ${PKG_HELP})
# Remove from PACKAGES_NOT_FOUND
set_property(GLOBAL PROPERTY PACKAGES_NOT_FOUND ${PACKAGES_NOT_FOUND_BACKUP})
set_property(GLOBAL PROPERTY PACKAGES_FOUND ${PACKAGES_FOUND_BACKUP})
# We are going to need build dependencies
foreach(DEP ${BUILD_${PKG}_DEPENDENCIES})
set(WITH_${DEP} ON)
endforeach()
set(${PKG}_FOUND ON)
eager_update(${PKG})
endif()
if(NOT ${PKG}_FOUND)
message(FATAL_ERROR "${PKG} not found on your system yet required. Set WITH_BUILD_${PKG} or WITH_BUILD_REQUIRED ON to build this required package from source.")
endif()
endif()
endforeach()
set(SHARED_LIBRARY_RELDIR lib)
set(SHARED_LIBRARY64_RELDIR lib64)
set(CMAKE_SHARED_LIBRARY_PREFIX_SHORT ${CMAKE_SHARED_LIBRARY_PREFIX})
if (WIN32)
set(SHARED_LIBRARY_RELDIR bin)
set(SHARED_LIBRARY64_RELDIR bin)
set(CMAKE_SHARED_LIBRARY_PREFIX_SHORT "")
else()
if (CMAKE_SIZEOF_VOID_P EQUAL 4)
set(SHARED_LIBRARY64_RELDIR lib)
endif()
endif()
if (WITH_BUILD_MOCKUPS)
ExternalProject_Add(mockups-external
GIT_REPOSITORY ${BUILD_MOCKUPS_GIT_REPO}
GIT_TAG ${BUILD_MOCKUPS_VERSION}
PREFIX "${CMAKE_BINARY_DIR}/external_projects"
UPDATE_COMMAND ""
BUILD_ALWAYS ON
CMAKE_COMMAND "${EXTERNAL_CMAKE_COMMAND}"
CMAKE_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>/mockups)
endif()
if(WITH_CPLEX AND WITH_MOCKUP_CPLEX)
add_library(cplex::cplex SHARED IMPORTED)
add_dependencies(cplex::cplex mockups-external)
set(CPLEX_ADAPTOR_LIB "${CMAKE_BINARY_DIR}/external_projects/mockups/cplex/${SHARED_LIBRARY_RELDIR}/${CMAKE_SHARED_LIBRARY_PREFIX}cplex_adaptor${CMAKE_SHARED_LIBRARY_SUFFIX}")
file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/external_projects/mockups/cplex/include")
set_target_properties(cplex::cplex PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_BINARY_DIR}/external_projects/mockups/cplex/include"
IMPORTED_LOCATION "${CPLEX_ADAPTOR_LIB}"
IMPORTED_IMPLIB "${CMAKE_BINARY_DIR}/external_projects/mockups/cplex/lib/${CMAKE_IMPORT_LIBRARY_PREFIX}cplex_adaptor${CMAKE_IMPORT_LIBRARY_SUFFIX}"
)
install(FILES
${CPLEX_ADAPTOR_LIB}
DESTINATION "${LIB_PREFIX}")
endif()
add_feature_info(cplex-interface WITH_CPLEX "Interface to the QP solver CPLEX.")
if(WITH_GUROBI AND WITH_MOCKUP_GUROBI)
add_library(gurobi::gurobi SHARED IMPORTED)
add_dependencies(gurobi::gurobi mockups-external)
set(GUROBI_ADAPTOR_LIB "${CMAKE_BINARY_DIR}/external_projects/mockups/gurobi/${SHARED_LIBRARY_RELDIR}/${CMAKE_SHARED_LIBRARY_PREFIX}gurobi_adaptor${CMAKE_SHARED_LIBRARY_SUFFIX}")
file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/external_projects/mockups/gurobi/include")
set_target_properties(gurobi::gurobi PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_BINARY_DIR}/external_projects/mockups/gurobi/include"
IMPORTED_LOCATION "${GUROBI_ADAPTOR_LIB}"
IMPORTED_IMPLIB "${CMAKE_BINARY_DIR}/external_projects/mockups/gurobi/lib/${CMAKE_IMPORT_LIBRARY_PREFIX}gurobi_adaptor${CMAKE_IMPORT_LIBRARY_SUFFIX}"
)
install(FILES
${GUROBI_ADAPTOR_LIB}
DESTINATION "${LIB_PREFIX}")
endif()
add_feature_info(gurobi-interface WITH_GUROBI "Interface to the (mixed-integer) QP solver GUROBI")
if(WITH_KNITRO AND WITH_MOCKUP_KNITRO)
add_library(knitro::knitro SHARED IMPORTED)
add_dependencies(knitro::knitro mockups-external)
file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/external_projects/mockups/knitro/include")
set_target_properties(knitro::knitro PROPERTIES