MSVC support (acados#108)

* Trying compiling with MSVC. Outstanding errors: variable-sized

* Can compiler qpoases_chen and nonlinear_chain examples with MSVC

* Correct some errors introduced by working towards msvc

* Get rid of timing dependencies

* MSVC still compiling examples

* Add Appveyor

* Try other branch

* run cmake

* submodules

* Add openblas, fortran

* small fix

* Fix build error

* try other openblas

* Small adaptations to dependencies in order to compile with msvc

* Always answer yes

* New version of dependencies

* Find conda libs

* Find shared library of gfortran

* change testing in Appveyor

* Fix lint errors

* Fix CMake error in qpDUNES

.appveyor.yml

@@ -0,0 +1,17 @@
+
+branches:
+  only:
+    - msvc
+
+install:
+  - call C:\Miniconda36-x64\Scripts\activate.bat
+  - conda install --yes -c msys2 m2w64-gcc-libgfortran m2w64-openblas
+
+build_script:
+  - git submodule update --init --recursive
+  - cmake -E make_directory build
+  - cmake -E chdir build cmake ..
+  - cmake --build build --config Debug
+  - cmake -E chdir build ctest --output-on-failure
+  - cmake --build build --config Release
+  - cmake -E chdir build ctest --output-on-failure

.gitignore

@@ -78,3 +78,4 @@ octave-workspace
 notes.txt
 *.dSYM/
 cmakelint
+.vs

CMakeLists.txt

@@ -24,6 +24,11 @@ set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
 set(CMAKE_VERBOSE_MAKEFILE ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
 
+if(CMAKE_SYSTEM MATCHES "Windows")
+	set(CMAKE_FIND_LIBRARY_PREFIXES "lib" CACHE INTERNAL "Library prefix")
+	set(CMAKE_FIND_LIBRARY_SUFFIXES ".dll" CACHE INTERNAL "Library suffix")
+endif()
+
 # Set up build type
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release
@@ -34,13 +39,9 @@ message(STATUS "Build type is ${CMAKE_BUILD_TYPE}")
 
 enable_testing(true)
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -Werror -fdiagnostics-show-option")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Werror -fdiagnostics-show-option")
-elseif(CMAKE_C_COMPILER_ID MATCHES "MSVC")
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -WX")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -Wall -Werror -fdiagnostics-show-option")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Werror -fdiagnostics-show-option")
 endif()
 
 # Set install directories
@@ -94,4 +95,6 @@ add_custom_target(uninstall
     "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")
 
 # Cpplint
-include(lint)
+if(NOT ${CMAKE_SYSTEM} MATCHES "Windows")
+	include(lint)
+endif()

acados/CMakeLists.txt

@@ -29,20 +29,28 @@ endif()
 file(GLOB_RECURSE ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/*.c")
 # Exclude helper files
 list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/condensing_helper_functions.c")
+# Exclude files not compatible with MSVC
+if(CMAKE_C_COMPILER_ID MATCHES "MSVC")
+    list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/ocp_qp_hpmpc.c")
+endif()
 
 if(NOT EXISTS ${PROJECT_SOURCE_DIR}/external/OOQP)
     list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/ocp_qp_ooqp.c")
 endif()
 
 # Define acados library
-add_library(acados STATIC ${ACADOS_SRC})
+add_library(acados ${ACADOS_SRC})
 target_include_directories(acados
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..> # for include "acados/..."
         $<BUILD_INTERFACE:${EXTERNAL_SRC_DIR}>
         $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(acados PUBLIC qpOASES_e hpmpc blasfeo qpdunes)
+# HPMPC must come before BLASFEO!
+if(NOT CMAKE_C_COMPILER_ID MATCHES "MSVC")
+    target_link_libraries(acados PUBLIC hpmpc)
+endif()
+target_link_libraries(acados PUBLIC qpOASES_e blasfeo qpdunes)
 
 # TODO: The following definition should go ASAP!
 target_compile_definitions(acados PRIVATE EXT_DEP)

acados/ocp_nlp/ocp_nlp_gn_sqp.c

@@ -134,7 +134,7 @@ int_t ocp_nlp_gn_sqp(const ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, void *nlp_a
         w[w_idx+j] = gn_sqp_mem->common->x[N][j];
     }
 
-    acado_timer timer;
+    acados_timer timer;
     real_t timings = 0;
     real_t timings_sim = 0;
     real_t timings_la = 0;
@@ -143,7 +143,7 @@ int_t ocp_nlp_gn_sqp(const ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, void *nlp_a
     real_t feas, stepX, stepU;
     int_t status;
 
-    acado_tic(&timer);
+    acados_tic(&timer);
 
     for (int_t sqp_iter = 0; sqp_iter < gn_sqp_args->common->maxIter; sqp_iter++) {
         feas = stepX = stepU = -1e10;
@@ -276,7 +276,7 @@ int_t ocp_nlp_gn_sqp(const ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, void *nlp_a
                         "step U: %+.3e \n", sqp_iter, feas, stepX, stepU);
     }
 
-    timings += acado_toc(&timer);
+    timings += acados_toc(&timer);
 #ifdef MEASURE_TIMINGS
     printf("\nAverage of %.3f ms in the integrator,\n",
             1e3*timings_sim/(gn_sqp_args->common->maxIter));

acados/ocp_qp/ocp_qp_condensing_qpoases.c

@@ -48,6 +48,9 @@
         #include "qpOASES_e/QProblemB.h"
         #include "qpOASES_e/QProblem.h"
     #endif
+#else
+    #include "qpOASES_e/QProblemB.h"
+    #include "qpOASES_e/QProblem.h"
 #endif
 
 #include "acados/ocp_qp/condensing.h"
@@ -312,7 +315,7 @@ int_t ocp_qp_condensing_qpoases(ocp_qp_in *qp_in, ocp_qp_out *qp_out,
     workspace++;
     workspace = 0;
     mem_ = 0;
-    mem_++;
+    (void) mem_;
 
     d_zeros(&A_row_major, work.nconstraints, work.nconvars);
     convert_to_row_major(out.A, A_row_major, work.nconstraints, work.nconvars);
@@ -393,12 +396,12 @@ void ocp_qp_condensing_qpoases_initialize(ocp_qp_in *qp_in, void *args_, void *m
     // TODO(dimitris): replace dummy commands once interface completed
     args->dummy = 42.0;
     if (qp_in->nx[0] > 0)
-        mem_++;
-    work++;
+        (void) mem_;
+    (void) work;
 }
 
 void ocp_qp_condensing_qpoases_destroy(void *mem_, void *work) {
     // TODO(dimitris): replace dummy commands once interface completed
-    mem_++;
-    work++;
+    (void) mem_;
+    (void) work;
 }

acados/ocp_qp/ocp_qp_hpmpc.c

@@ -60,7 +60,7 @@ void ocp_qp_hpmpc_initialize(ocp_qp_in *qp_in, void *args_, void *mem_, void **w
     // TODO(andrea): replace dummy commands once interface completed
     args->max_iter = args->max_iter;
     if (qp_in->nx[0] > 0)
-        mem_++;
+        (void) mem_;
     work++;
 }
 

acados/ocp_qp/ocp_qp_ooqp.c

@@ -653,32 +653,32 @@ int_t ocp_qp_ooqp(ocp_qp_in *in, ocp_qp_out *out, void *args_, void *memory_, vo
     // printf("$$ FIRST RUN FLAG %d\n", mem->firstRun);
 
 #ifdef MEASURE_TIMINGS
-    acado_timer timer;
+    acados_timer timer;
     real_t cputime;
-    acado_tic(&timer);
+    acados_tic(&timer);
 #endif
 
     // NOTE: has to be called after setting up the memory which contains the problem dimensions
     ocp_qp_ooqp_cast_workspace(work, mem);
 
 #ifdef MEASURE_TIMINGS
-    cputime = acado_toc(&timer);
+    cputime = acados_toc(&timer);
     printf(">>> OOQP workspace casted in %.3f ms.\n", 1e3*cputime);
 #endif
 
 #ifdef MEASURE_TIMINGS
-    acado_tic(&timer);
+    acados_tic(&timer);
 #endif
     ocp_qp_ooqp_update_memory(in, args, mem, work);
 #ifdef MEASURE_TIMINGS
-    cputime = acado_toc(&timer);
+    cputime = acados_toc(&timer);
     printf(">>> OOQP memory initialized in %.3f ms.\n", 1e3*cputime);
 #endif
 
     if (0) print_inputs(mem);
 
 #ifdef MEASURE_TIMINGS
-    acado_tic(&timer);
+    acados_tic(&timer);
 #endif
     // TODO(dimitris): implement dense OOQP
     // call sparse OOQP
@@ -692,7 +692,7 @@ int_t ocp_qp_ooqp(ocp_qp_in *in, ocp_qp_out *out, void *args_, void *memory_, vo
         work->x, work->gamma, work->phi, work->y, work->z, work->lambda, work->pi,
         &work->objectiveValue, args->printLevel, &return_value);
 #ifdef MEASURE_TIMINGS
-    cputime = acado_toc(&timer);
+    cputime = acados_toc(&timer);
     printf(">>> OOQP problem solved in %.3f ms.\n\n", 1e3*cputime);
 #endif
 

acados/sim/sim_collocation.c

@@ -110,8 +110,10 @@ void get_Gauss_nodes(const int_t num_stages, real_t *nodes) {
 }
 
 void read_Gauss_simplified(const int_t num_stages, Newton_scheme *scheme) {
-    real_t D[2*num_stages];
-    real_t T[num_stages*num_stages];
+    real_t *D;
+    D = (real_t *) calloc(2 * num_stages, sizeof(real_t));
+    real_t *T;
+    T = (real_t *) calloc(num_stages*num_stages, sizeof(real_t));
     char simplified[80];
     int_t *perm;
     real_t *T_inv;
@@ -258,7 +260,8 @@ real_t LU_system_solve(real_t* const A, real_t* const b, int* const perm,
     int intSwap;
     int DIM = dim;
     int DIM_RHS = dim2;
-    real_t bPerm[DIM*DIM_RHS];
+    real_t *bPerm;
+    bPerm = (real_t *) calloc(DIM*DIM_RHS, sizeof(real_t));
     real_t tmp_var;
 
     for (i = 0; i < DIM; ++i) {

acados/sim/sim_erk_integrator.c

@@ -38,7 +38,7 @@ static void sim_erk_cast_workspace(sim_erk_workspace *work,
      if (!in->sens_forw) {
          NF = 0;
      }
-     int_t nhess = (int_t)(NF+1)*(real_t)NF/2.0;
+     int_t nhess = (int_t) (NF+1)*(real_t)NF/2.0;
 
      char *ptr = (char *)work;
      ptr += sizeof(sim_erk_workspace);
@@ -90,7 +90,7 @@ int_t sim_erk(const sim_in *in, sim_out *out, void *args, void *mem, void *work_
     }
     int_t nhess = (int_t)(NF+1)*(real_t)NF/2.0;
 
-    mem = 0; mem += 0;
+    mem = 0; (void) mem;
 
     real_t *A_mat = opts->A_mat;
     real_t *b_vec = opts->b_vec;
@@ -107,9 +107,9 @@ int_t sim_erk(const sim_in *in, sim_out *out, void *args, void *mem, void *work_
     real_t *rhs_adj_in = work->rhs_adj_in;
 
 #ifdef MEASURE_TIMINGS
-    acado_timer timer, timer_ad;
+    acados_timer timer, timer_ad;
     real_t timing_ad = 0.0;
-    acado_tic(&timer);
+    acados_tic(&timer);
 #endif
     for (i = 0; i < nx; i++) forw_traj[i] = in->x[i];
     if (in->sens_forw) {
@@ -140,11 +140,11 @@ int_t sim_erk(const sim_in *in, sim_out *out, void *args, void *mem, void *work_
                 }
             }
 #ifdef MEASURE_TIMINGS
-            acado_tic(&timer_ad);
+            acados_tic(&timer_ad);
 #endif
             in->VDE_forw(rhs_forw_in, &(K_traj[s*nx*(1+NF)]), in->vde);  // k evaluation
 #ifdef MEASURE_TIMINGS
-            timing_ad += acado_toc(&timer_ad);
+            timing_ad += acados_toc(&timer_ad);
 #endif
         }
         for (s = 0; s < num_stages; s++) {
@@ -199,11 +199,11 @@ int_t sim_erk(const sim_in *in, sim_out *out, void *args, void *mem, void *work_
                     }
                 }
 #ifdef MEASURE_TIMINGS
-                acado_tic(&timer_ad);
+                acados_tic(&timer_ad);
 #endif
                 in->VDE_adj(rhs_adj_in, &(adj_traj[s*nAdj]));  // adjoint VDE evaluation
 #ifdef MEASURE_TIMINGS
-                timing_ad += acado_toc(&timer_ad);
+                timing_ad += acados_toc(&timer_ad);
 #endif
             }
             for (s = 0; s < num_stages; s++) {
@@ -218,7 +218,7 @@ int_t sim_erk(const sim_in *in, sim_out *out, void *args, void *mem, void *work_
         }
     }
 #ifdef MEASURE_TIMINGS
-    out->info->CPUtime = acado_toc(&timer);
+    out->info->CPUtime = acados_toc(&timer);
     out->info->LAtime = 0.0;
     out->info->ADtime = timing_ad;
 #endif

acados/sim/sim_erk_integrator.h

@@ -43,7 +43,7 @@ int_t sim_erk(const sim_in *in, sim_out *out, void *args, void *mem, void *work)
 
 int_t sim_erk_calculate_workspace_size(const sim_in *in, void *args);
 
-void sim_erk_create_arguments(void *args, int_t num_stages);
+void sim_erk_create_arguments(void *args, const int_t num_stages);
 
 void sim_erk_initialize(const sim_in *in, void *args_, void **work);
 void sim_erk_destroy(void *work);