8000 MATLAB/python: Default value for `ext_fun_compile_flag` from environment variable by sandmaennchen · Pull Request #1312 · acados/acados · GitHub
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MATLAB/python: Default value for ext_fun_compile_flag from environment variable #1312

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Merged
merged 4 commits into from
Oct 24, 2024
Merged

MATLAB/python: Default value for ext_fun_compile_flag from environment variable #1312

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95c9752
init default for ext_fun_compile_flag with environment var if possible
sandmaennchen Oct 24, 2024
c1b91a0
add sim
sandmaennchen Oct 24, 2024
ff3598e
fix sim
sandmaennchen Oct 24, 2024
ded1483
fix
sandmaennchen Oct 24, 2024
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9 changes: 8 additions & 1 deletion interfaces/acados_matlab_octave/AcadosOcpOptions.m
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Original file line number Diff line number Diff line change
Expand Up @@ -182,7 +182,14 @@
obj.store_iterates = false;
obj.eval_residual_at_max_iter = [];

obj.ext_fun_compile_flags = '-O2';
% check whether flags are provided by environment variable
env_var = getenv("ACADOS_EXT_FUN_COMPILE_FLAGS");
if isempty(env_var)
obj.ext_fun_compile_flags = '-O2';
else
obj.ext_fun_compile_flags = env_var;
end

obj.model_external_shared_lib_dir = [];
obj.model_external_shared_lib_name = [];
obj.custom_update_filename = '';
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8 changes: 7 additions & 1 deletion interfaces/acados_matlab_octave/AcadosSimOptions.m
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Expand Up @@ -64,7 +64,13 @@
obj.sens_hess = false;
obj.output_z = true;
obj.jac_reuse = 0;
obj.ext_fun_compile_flags = '-O2';
% check whether flags are provided by environment variable
env_var = getenv("ACADOS_EXT_FUN_COMPILE_FLAGS");
if isempty(env_var)
obj.ext_fun_compile_flags = '-O2';
else
obj.ext_fun_compile_flags = env_var;
end
obj.num_threads_in_batch_solve = 1;
obj.compile_interface = []; % corresponds to automatic detection, possible values: true, false, []
end
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9 changes: 8 additions & 1 deletion interfaces/acados_matlab_octave/acados_ocp_opts.m
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Expand Up @@ -106,7 +106,14 @@
obj.opts_struct.exact_hess_cost = 1;
obj.opts_struct.exact_hess_constr = 1;
obj.opts_struct.fixed_hess = 0;
obj.opts_struct.ext_fun_compile_flags = '-O2';

% check whether flags are provided by environment variable
env_var = getenv("ACADOS_EXT_FUN_COMPILE_FLAGS");
if isempty(env_var)
obj.opts_struct.ext_fun_compile_flags = '-O2';
else
obj.opts_struct.ext_fun_compile_flags = env_var;
end

obj.opts_struct.output_dir = fullfile(pwd, 'build');
obj.opts_struct.json_file = 'acados_ocp_nlp.json';
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8 changes: 7 additions & 1 deletion interfaces/acados_matlab_octave/acados_sim_opts.m
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Expand Up @@ -59,7 +59,13 @@
obj.opts_struct.jac_reuse = 'false';
obj.opts_struct.gnsf_detect_struct = 'true';
obj.opts_struct.output_dir = fullfile(pwd, 'build');
obj.opts_struct.ext_fun_compile_flags = '-O2';
% check whether flags are provided by environment variable
env_var = getenv("ACADOS_EXT_FUN_COMPILE_FLAGS");
if isempty(env_var)
obj.opts_struct.ext_fun_compile_flags = '-O2';
else
obj.opts_struct.ext_fun_compile_flags = env_var;
end
obj.opts_struct.parameter_values = [];
end

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8 changes: 5 additions & 3 deletions interfaces/acados_template/acados_template/acados_ocp_options.py
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Expand Up @@ -29,7 +29,7 @@
# POSSIBILITY OF SUCH DAMAGE.;
#

import numpy as np
import os
from .utils import check_if_nparray_and_flatten


Expand Down Expand Up @@ -115,7 +115,9 @@ def __init__(self):
self.__log_primal_step_norm: bool = False
self.__store_iterates: bool = False
# TODO: move those out? they are more about generation than about the acados OCP solver.
self.__ext_fun_compile_flags = '-O2'

env = os.environ
self.__ext_fun_compile_flags = '-O2' if 'ACADOS_EXT_FUN_COMPILE_FLAGS' not in env else env['ACADOS_EXT_FUN_COMPILE_FLAGS']
self.__model_external_shared_lib_dir = None
self.__model_external_shared_lib_name = None
self.__custom_update_filename = ''
Expand All @@ -136,7 +138,7 @@ def qp_solver(self):
def ext_fun_compile_flags(self):
"""
String with compiler flags for external function compilation.
Default: '-O2'.
Default: '-O2' if environment variable ACADOS_EXT_FUN_COMPILE_FLAGS is not set, else ACADOS_EXT_FUN_COMPILE_FLAGS is used as default.
"""
return self.__ext_fun_compile_flags

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5 changes: 3 additions & 2 deletions interfaces/acados_template/acados_template/acados_sim.py
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Expand Up @@ -56,7 +56,8 @@ def __init__(self):
self.__sens_hess = False
self.__output_z = True
self.__sim_method_jac_reuse = 0
self.__ext_fun_compile_flags = '-O2'
env = os.environ
self.__ext_fun_compile_flags = '-O2' if 'ACADOS_EXT_FUN_COMPILE_FLAGS' not in env else env['ACADOS_EXT_FUN_COMPILE_FLAGS']
self.__num_threads_in_batch_solve: int = 1

@property
Expand Down Expand Up @@ -136,7 +137,7 @@ def collocation_type(self):
def ext_fun_compile_flags(self):
"""
String with compiler flags for external function compilation.
Default: '-O2'.
Default: '-O2' if environment variable ACADOS_EXT_FUN_COMPILE_FLAGS is not set, else ACADOS_EXT_FUN_COMPILE_FLAGS is used as default.
"""
return self.__ext_fun_compile_flags

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