matlab_mex: fix forgotten line; cmake: polishing; appveyor: attempts …

…to switch to MINGW and compile c examples

.appveyor.yml

@@ -8,8 +8,12 @@ branches:
 
 build_script:
   - git submodule update --init --recursive
+  # Workaround for CMake not wanting sh.exe on PATH for MinGW
+  # - set PATH=%PATH:C:/Program_Files/Git/usr/bin/;=%
+  # - rm "C:/Program Files/Git/usr/bin/sh.exe"
   - cmake -E make_directory build
-  - cmake -E chdir build cmake -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D BUILD_SHARED_LIBS=OFF -D ACADOS_EXAMPLES=ON ..
+  # TODO: make this work
+  # - cmake -E chdir build cmake -D ACADOS_WITH_QPOASES=ON -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D BUILD_SHARED_LIBS=OFF -D ACADOS_EXAMPLES=ON -G "MinGW Makefiles" ..
+  - cmake -E chdir build cmake -D ACADOS_WITH_QPOASES=ON -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D BUILD_SHARED_LIBS=OFF ..
   - cmake --build build --config Release
   - cmake -E chdir build ctest -V
-

CMakeLists.txt

@@ -161,7 +161,7 @@ if(ACADOS_MATLAB OR ACADOS_OCTAVE) #TODO: OR ACADOS_PYTHON
 	add_subdirectory(${PROJECT_SOURCE_DIR}/interfaces)
 endif()
 
-### ) External lib checks
+## ) External lib checks
 
 # Configure acados
 add_subdirectory(acados)

examples/c/CMakeLists.txt

@@ -14,7 +14,7 @@
 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #
 
-if(NOT CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
+if(NOT CMAKE_CXX_COMPILER_ID MATCHES "MSVC") # TODO: make this work on windodws?!
 
 configure_file(chain_model/chain_model.h.in ${CMAKE_CURRENT_SOURCE_DIR}/chain_model/chain_model.h @ONLY)
 

interfaces/CMakeLists.txt

@@ -2,6 +2,10 @@
 # add_test(NAME matlab_test_sim_pendulum 
 #         COMMAND "${CMAKE_COMMAND}" -E chdir ${PROJECT_SOURCE_DIR}/examples/matlab_mex/pendulum_on_cart_model ${MATLAB_EXECUTABLE} -nodisplay -nodesktop -r  "run('./run_tests.m');")
 
-# add_test(NAME octave_test_sim_pendulum COMMAND "${CMAKE_COMMAND}" -E chdir ${PROJECT_SOURCE_DIR}/examples/matlab_mex/pendulum_on_cart_model octave-cli ./run_tests.m)
-add_test(NAME octave_test_sim COMMAND "${CMAKE_COMMAND}" -E chdir ${PROJECT_SOURCE_DIR}/examples/matlab_mex/test octave --no-gui --no-window-system ./run_tests_sim.m)
-add_test(NAME octave_test_ocp COMMAND "${CMAKE_COMMAND}" -E chdir ${PROJECT_SOURCE_DIR}/examples/matlab_mex/test octave --no-gui --no-window-system ./run_tests_ocp.m)
+add_test(NAME octave_test_sim 
+        COMMAND "${CMAKE_COMMAND}" -E chdir ${PROJECT_SOURCE_DIR}/examples/matlab_mex/test
+        octave --no-gui --no-window-system ./run_tests_sim.m)
+
+add_test(NAME octave_test_ocp
+         COMMAND "${CMAKE_COMMAND}" -E chdir ${PROJECT_SOURCE_DIR}/examples/matlab_mex/test
+         octave --no-gui --no-window-system ./run_tests_ocp.m)

interfaces/acados_matlab/ocp_set_ext_fun.m

@@ -389,7 +389,13 @@
 				hpipm_include, acados_lib_path, acados_matlab_lib_path, model_lib_path, '-lacados',...
 				 '-lhpipm', '-lblasfeo', ['-l', model_name], mex_files{1});
 		else
-			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp', ['-DSETTER=', setter{ii}], ['-DSET_FIELD=', set_fields{ii}], ['-DMEX_FIELD=', mex_fields{ii}], ['-DFUN_NAME=', fun_names{ii}], ['-DPHASE=', num2str(phase{ii})], ['-DN0=', num2str(phase_start{ii})], ['-DN1=', num2str(phase_end{ii})], acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, acados_matlab_lib_path, model_lib_path, '-lacados', '-lhpipm', '-lblasfeo', ['-l', model_name], mex_files{1}); % TODO
+			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp', ['-DSETTER=', setter{ii}],...
+				['-DSET_FIELD=', set_fields{ii}], ['-DMEX_FIELD=', mex_fields{ii}],...
+				['-DFUN_NAME=', fun_names{ii}], ['-DPHASE=', num2str(phase{ii})],...
+				['-DN0=', num2str(phase_start{ii})], ['-DN1=', num2str(phase_end{ii})],...
+				acados_include, acados_interfaces_include, external_include, blasfeo_include,...
+				hpipm_include, acados_lib_path, acados_matlab_lib_path, model_lib_path,...
+				'-lacados', '-lhpipm', '-lblasfeo', ['-l', model_name], mex_files{1});
 		end
 
 %		clear(mex_names{ii})