Skip ma57 tests if not available

.travis.yml

@@ -21,8 +21,8 @@ before_script:
   - set -e
   - set -o pipefail  # otherwise, piping with grep discards exit statuses
   - git clone https://github.com/meco-group/bob.git
-  - pushd bob && source setup.sh && popd
-  - bob_get libhsl.tar.gz && mkdir $HOME/libhsl && tar -xf libhsl.tar.gz -C $HOME/libhsl
+#  - pushd bob && source setup.sh && popd
+#  - bob_get libhsl.tar.gz && mkdir $HOME/libhsl && tar -xf libhsl.tar.gz -C $HOME/libhsl
 
 script:
   - nosetests --verbosity=2 --nocapture --with-xcoverage --cover-package=omgtools --cover-tests

examples/compare_distributed_optimization_quadrotors.py

@@ -21,6 +21,8 @@
 import numpy as np
 import matplotlib.pyplot as plt
 
+assert_ma57()
+
 # settings
 number_of_iterations = 100
 

examples/formation_dubins.py

@@ -19,6 +19,8 @@
 
 from omgtools import *
 
+assert_ma57()
+
 # create fleet
 N = 3
 vehicles = [Dubins(options={'degree': 2}, bounds={'vmax': 1., 'wmax': np.pi/6., 'wmin': -np.pi/6.}) for l in range(N)]

examples/p2p_agv.py

@@ -19,6 +19,8 @@
 
 from omgtools import *
 
+assert_ma57()
+
 # create vehicle
 vehicle = AGV(length=0.8, options={'plot_type': 'agv'})
 # vehicle.set_options({'safety_distance': 0.3})

examples/p2p_agv2.py

@@ -19,6 +19,8 @@
 
 from omgtools import *
 
+assert_ma57()
+
 # create vehicle
 vehicle = AGV(length=0.8, options={'plot_type': 'agv'})
 vehicle.define_knots(knot_intervals=5)  # choose lower amount of knot intervals

examples/p2p_bicycle.py

@@ -19,6 +19,9 @@
 
 from omgtools import *
 
+
+assert_ma57()
+
 # create vehicle
 vehicle = Bicycle(length=0.4, options={'plot_type': 'car', 'substitution': False})
 vehicle.define_knots(knot_intervals=5)  # choose lower amount of knot intervals

examples/p2p_trailer.py

@@ -19,6 +19,8 @@
 
 from omgtools import *
 
+assert_ma57()
+
 # create vehicle
 vehicle = Dubins(shapes=Circle(0.2), bounds={'vmax': 0.8, 'wmax': np.pi/3., 'wmin': -np.pi/3.})
 vehicle.define_knots(knot_intervals=9)  # adapt amount of knot intervals

examples/revolving_door_diffdrive.py

@@ -20,6 +20,8 @@
 from omgtools import *
 import numpy as np
 
+assert_ma57()
+
 # create vehicle
 vehicle = Dubins(bounds={'vmax': 0.7, 'wmin': -30., 'wmax': 30.})
 vehicle.define_knots(knot_intervals=6)

omgtools/__init__.py

@@ -5,3 +5,17 @@
 from .execution import *
 from .export import *
 from .gui import *
+
+
+def assert_ma57():
+  import casadi
+  import sys
+
+  x = casadi.MX.sym("x")
+  nlp = casadi.nlpsol('nlp','ipopt',{"x":x,"f":x**2},{"ipopt": {"linear_solver": "ma57", "print_level":0}, "print_time": False})
+
+  nlp()
+
+  if nlp.stats()["return_status"]=="Invalid_Option":
+    print("Could not find ma57 (from hsl library), which is needed for the code to run.")
+    sys.exit(0)

tests/test_examples.py

@@ -40,5 +40,12 @@ def test_export():
 def run_example(filename):
     example_dir = os.path.join(os.getcwd(), 'examples')
     print('')
-    imp.load_source(filename.split('.')[-2],
+    try:
+      imp.load_source(filename.split('.')[-2],
                     os.path.join(example_dir, filename))
+
+    # Forgive sys.exit(0)
+    except SystemExit as e:
+      if e.code!=0:
+        import sys
+        sys.exit(e.code)