[Acados v0.5.5][1/5] Upgrade compatibility baseline

bioptim/interfaces/acados_interface.py

@@ -1,5 +1,6 @@
 from time import perf_counter
 from datetime import datetime
+from pathlib import Path
 
 import numpy as np
 from scipy import linalg
@@ -21,6 +22,25 @@
 )
 
 
+def _configure_acados_codegen(acados_ocp: AcadosOcp, solver_options: Solver.ACADOS) -> None:
+    """Configure code generation with the Acados v0.5.5 API."""
+
+    if not hasattr(acados_ocp, "code_gen_options"):
+        raise RuntimeError(
+            "This version of bioptim requires Acados v0.5.5 or newer. "
+            "Please reinstall Acados using the scripts from bioptim/external."
+        )
+
+    code_gen_options = acados_ocp.code_gen_options
+    if solver_options.acados_dir:
+        acados_dir = Path(solver_options.acados_dir).expanduser().resolve()
+        code_gen_options.acados_include_path = str(acados_dir / "include")
+        code_gen_options.acados_lib_path = str(acados_dir / "lib")
+
+    code_gen_options.code_export_directory = solver_options.c_generated_code_path
+    code_gen_options.json_file = "acados_ocp.json"
+
+
 class AcadosInterface(SolverInterface):
     """
     The ACADOS solver interface
@@ -115,8 +135,8 @@ def __init__(self, ocp, solver_options: Solver.ACADOS = None):
             solver_options = Solver.ACADOS()
         self.opts = solver_options
 
-        self.acados_ocp = AcadosOcp(acados_path=solver_options.acados_dir)
-        self.acados_ocp.code_export_directory = solver_options.c_generated_code_path
+        self.acados_ocp = AcadosOcp()
+        _configure_acados_codegen(self.acados_ocp, solver_options)
         self.acados_model = AcadosModel()
 
         self.__set_cost_type(solver_options.cost_type)
@@ -916,7 +936,12 @@ def solve(self, expand_during_shake_tree: Bool = False) -> AnyListorDict:
         if self.ocp_solver is None:
             for key in options:
                 setattr(self.acados_ocp.solver_options, key, options[key])
-            self.ocp_solver = AcadosOcpSolver(self.acados_ocp, json_file="acados_ocp.json", build=self.opts.c_compile)
+            self.ocp_solver = AcadosOcpSolver(
+                self.acados_ocp,
+                json_file=self.acados_ocp.code_gen_options.json_file,
+                build=self.opts.c_compile,
+                check_reuse_possible=False,
+            )
             self.opts.set_only_first_options_has_changed(False)
             self.opts.set_has_tolerance_changed(False)
 

external/acados_install_linux.sh

@@ -19,7 +19,7 @@ ARG1=${1:-$NB_CPU_MAX}
 if [ -z "$1" ]; then
   echo "  Argument 1 (NB_CPU) not provided, falling back on maximum number of CPUs ($NB_CPU_MAX)."
 fi
-echo "  Number of threads for acados with openMP: NB_CPU=$ARG1"
+echo "  Number of build threads: NB_CPU=$ARG1"
 echo ""
 
 ARG2=${2:-$CONDA_PREFIX}
@@ -34,9 +34,18 @@ fi
 echo "  set CMAKE_INSTALL_PREFIX=$ARG2"
 echo ""
 
-ARG3=${3:-X64_AUTOMATIC}
+case "$(uname -m)" in
+  aarch64|arm64)
+    DEFAULT_BLASFEO_TARGET=ARMV8A_ARM_CORTEX_A57
+    ;;
+  *)
+    DEFAULT_BLASFEO_TARGET=X64_AUTOMATIC
+    ;;
+esac
+
+ARG3=${3:-$DEFAULT_BLASFEO_TARGET}
 if [ -z "$3" ]; then
-  echo "  Argument 3 (BLASFEO_TARGET) not provided, falling back on X64_AUTOMATIC"
+  echo "  Argument 3 (BLASFEO_TARGET) not provided, falling back on $DEFAULT_BLASFEO_TARGET"
 fi
 echo "  set BLASFEO_TARGET=$ARG3"
 echo ""
@@ -54,8 +63,7 @@ mkdir acados/build
 cd acados/build
 
 # We must manually change the minimum required cmake version in some of acados' dependencies
-sed -i "s/cmake_minimum_required(VERSION 3.5)/cmake_minimum_required(VERSION 3.14)/" ../external/blasfeo/CMakeLists.txt
-sed -i "s/cmake_minimum_required(VERSION 2.6)/cmake_minimum_required(VERSION 3.14)/" ../external/qpoases/CMakeLists.txt
+sed -i "s/cmake_minimum_required(VERSION 3.5)/cmake_minimum_required(VERSION 3.14)/" ../external/qpoases/CMakeLists.txt
 sed -i "s/CMAKE_MINIMUM_REQUIRED( VERSION 2.8 )/cmake_minimum_required(VERSION 3.14)/" ../external/qpdunes/CMakeLists.txt
 sed -i "s/cmake_minimum_required (VERSION 3.2)/cmake_minimum_required (VERSION 3.14)/" ../external/osqp/CMakeLists.txt
 sed -i "s/cmake_minimum_required (VERSION 3.2)/cmake_minimum_required (VERSION 3.14)/" ../external/osqp/lin_sys/direct/qdldl/qdldl_sources/CMakeLists.txt
@@ -64,14 +72,16 @@ sed -i "s/cmake_minimum_required (VERSION 3.2)/cmake_minimum_required (VERSION 3
 cmake .. \
   -DCMAKE_INSTALL_PREFIX="$ARG2" \
   -DACADOS_INSTALL_DIR="$ARG2" \
-  -DACADOS_PYTHON=ON \
   -DACADOS_WITH_QPOASES=ON \
   -DACADOS_WITH_OSQP=ON \
   -DACADOS_WITH_QPDUNES=ON \
   -DBLASFEO_TARGET="$ARG3" \
-  -DACADOS_WITH_OPENMP=ON \
-  -DACADOS_NUM_THREADS=$ARG1
-make install -j$NB_CPU_MAX
+  -DACADOS_WITH_OPENMP=ON
+make install -j$ARG1
+
+# Acados v0.5.5 requires this generated metadata at code-generation time,
+# but its CMake install target does not copy it to the installation prefix.
+install -m 644 ../lib/link_libs.json ../lib/git_commit_hash "$ARG2/lib/"
 
 # Prepare the Python interface
 cd ../interfaces/acados_template

external/acados_install_mac.sh

@@ -19,7 +19,7 @@ ARG1=${1:-$NB_CPU_MAX}
 if [ -z "$1" ]; then
   echo "  Argument 1 (NB_CPU) not provided, falling back on maximum number of CPUs ($NB_CPU_MAX)."
 fi
-echo "  Number of threads for acados with openMP: NB_CPU=$ARG1"
+echo "  Number of build threads: NB_CPU=$ARG1"
 echo ""
 
 ARG2=${2:-$CONDA_PREFIX}
@@ -34,9 +34,18 @@ fi
 echo "  set CMAKE_INSTALL_PREFIX=$ARG2"
 echo ""
 
-ARG3=${3:-X64_AUTOMATIC}
+case "$(uname -m)" in
+  arm64)
+    DEFAULT_BLASFEO_TARGET=ARMV8A_APPLE_M1
+    ;;
+  *)
+    DEFAULT_BLASFEO_TARGET=X64_AUTOMATIC
+    ;;
+esac
+
+ARG3=${3:-$DEFAULT_BLASFEO_TARGET}
 if [ -z "$3" ]; then
-  echo "  Argument 3 (BLASFEO_TARGET) not provided, falling back on X64_AUTOMATIC"
+  echo "  Argument 3 (BLASFEO_TARGET) not provided, falling back on $DEFAULT_BLASFEO_TARGET"
 fi
 echo "  set BLASFEO_TARGET=$ARG3"
 echo ""
@@ -54,8 +63,7 @@ mkdir acados/build
 cd acados/build
 
 # We must manually change the minimum required cmake version in some of acados' dependencies
-sed -i "" "s/cmake_minimum_required(VERSION 3.5)/cmake_minimum_required(VERSION 3.14)/" ../external/blasfeo/CMakeLists.txt
-sed -i "" "s/cmake_minimum_required(VERSION 2.6)/cmake_minimum_required(VERSION 3.14)/" ../external/qpoases/CMakeLists.txt
+sed -i "" "s/cmake_minimum_required(VERSION 3.5)/cmake_minimum_required(VERSION 3.14)/" ../external/qpoases/CMakeLists.txt
 sed -i "" "s/CMAKE_MINIMUM_REQUIRED( VERSION 2.8 )/cmake_minimum_required(VERSION 3.14)/" ../external/qpdunes/CMakeLists.txt
 sed -i "" "s/cmake_minimum_required (VERSION 3.2)/cmake_minimum_required (VERSION 3.14)/" ../external/osqp/CMakeLists.txt
 sed -i "" "s/cmake_minimum_required (VERSION 3.2)/cmake_minimum_required (VERSION 3.14)/" ../external/osqp/lin_sys/direct/qdldl/qdldl_sources/CMakeLists.txt
@@ -64,15 +72,17 @@ sed -i "" "s/cmake_minimum_required (VERSION 3.2)/cmake_minimum_required (VERSIO
 cmake .. \
   -DCMAKE_INSTALL_PREFIX="$ARG2" \
   -DACADOS_INSTALL_DIR="$ARG2" \
-  -DACADOS_PYTHON=ON \
   -DACADOS_WITH_OSQP=ON \
   -DBLASFEO_TARGET="$ARG3" \
-  -DACADOS_WITH_OPENMP=ON \
-  -DACADOS_NUM_THREADS=$ARG1
+  -DACADOS_WITH_OPENMP=ON
   # The following two won't compile on Mac
   # -DACADOS_WITH_QPOASES=ON \
   # -DACADOS_WITH_QPDUNES=ON \
-make install -j$NB_CPU_MAX
+make install -j$ARG1
+
+# Acados v0.5.5 requires this generated metadata at code-generation time,
+# but its CMake install target does not copy it to the installation prefix.
+install -m 644 ../lib/link_libs.json ../lib/git_commit_hash "$ARG2/lib/"
 
 # Prepare the Python interface
 cd ../interfaces/acados_template
@@ -92,22 +102,15 @@ REPLACE_ACADOS_PYTHON_BY="import site\n    acados_path = site.getsitepackages()\
 TO_REPLACE_T_RENDERER="if input(msg) != 'y':"
 REPLACE_T_RENDERER_BY="if False:"
 
-# Change acados external library linking at run time
-TO_REPLACE_LIB_PATH="libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'"
-REPLACE_LIB_PATH_BY="libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'\n        self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name)\n        import site\n        acados_path = site.getsitepackages()\n        libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'\n        # Relink macos lib\n        acados_ext_lib_path = os.path.abspath(acados_path[0]+'\/..\/..')\n        os.system(\n            f'install_name_tool -change libhpipm.dylib {acados_ext_lib_path}\/libhpipm.dylib {self.shared_lib_name}')\n        os.system(\n            f'install_name_tool -change libblasfeo.dylib {acados_ext_lib_path}\/libblasfeo.dylib {self.shared_lib_name}')"
-
 # Perform the modifications
 sed -i "" "s/$TO_REPLACE_CASADI_DEP/$REPLACE_CASADI_DEP_BY/" setup.py
 sed -i "" "s/$TO_REPLACE_ACADOS_PYTHON/$REPLACE_ACADOS_PYTHON_BY/" acados_template/utils.py
 sed -i "" "s/$TO_REPLACE_ACADOS_SOURCE/$REPLACE_ACADOS_SOURCE_BY/" acados_template/utils.py
 sed -i "" "s/$TO_REPLACE_T_RENDERER/$REPLACE_T_RENDERER_BY/" acados_template/utils.py
-sed -i "" "s/$TO_REPLACE_LIB_PATH/$REPLACE_LIB_PATH_BY/" acados_template/acados_ocp_solver.py
 
-# Change acados external lib linking permanently
-install_name_tool -change libqpOASES_e.3.1.dylib $CONDA_PREFIX/lib/libqpOASES_e.3.1.dylib $CONDA_PREFIX/lib/libacados.dylib
-install_name_tool -change libhpipm.dylib $CONDA_PREFIX/lib/libhpipm.dylib $CONDA_PREFIX/lib/libacados.dylib
-install_name_tool -change libblasfeo.dylib $CONDA_PREFIX/lib/libblasfeo.dylib $CONDA_PREFIX/lib/libacados.dylib
-install_name_tool -change libblasfeo.dylib $CONDA_PREFIX/lib/libblasfeo.dylib $CONDA_PREFIX/lib/libhpipm.dylib
+# Resolve the @rpath dependencies of the installed Acados libraries.
+install_name_tool -add_rpath "$ARG2/lib" "$ARG2/lib/libacados.dylib"
+install_name_tool -add_rpath "$ARG2/lib" "$ARG2/lib/libhpipm.dylib"
 
 # Install the Python interface
 pip install .

tests/shard1/test_acados_interface.py

@@ -32,6 +32,29 @@
 from tests.utils import TestUtils
 
 
+def test_acados_v055_codegen_configuration(tmp_path, monkeypatch):
+    pytest.importorskip("acados_template")
+    from acados_template import AcadosOcp
+
+    from bioptim.interfaces.acados_interface import _configure_acados_codegen
+
+    monkeypatch.setenv("ACADOS_SOURCE_DIR", str(tmp_path / "source"))
+    acados_root = tmp_path / "installed_acados"
+    generated_code = tmp_path / "generated_code"
+
+    solver = Solver.ACADOS()
+    solver.set_acados_dir(str(acados_root))
+    solver.set_c_generated_code_path(str(generated_code))
+
+    acados_ocp = AcadosOcp()
+    _configure_acados_codegen(acados_ocp, solver)
+
+    assert acados_ocp.code_gen_options.acados_include_path == str(acados_root / "include")
+    assert acados_ocp.code_gen_options.acados_lib_path == str(acados_root / "lib")
+    assert acados_ocp.code_gen_options.code_export_directory == str(generated_code)
+    assert acados_ocp.code_gen_options.json_file == "acados_ocp.json"
+
+
 @pytest.mark.parametrize("cost_type", ["LINEAR_LS", "NONLINEAR_LS"])
 def test_acados_no_obj(cost_type):
     if platform == "win32":