export_common_header.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#include <acado/code_generation/export_common_header.hpp>
#include <acado/code_generation/templates/templates.hpp>

#include <algorithm>

using namespace std;

BEGIN_NAMESPACE_ACADO

ExportCommonHeader::ExportCommonHeader( const std::string& _fileName,
                                                                                const std::string& _commonHeaderName,
                                                                                const std::string& _realString,
                                                                                const std::string& _intString,
                                                                                int _precision,
                                                                                const std::string& _commentString
                                                                                ) : ExportTemplatedFile(COMMON_HEADER_TEMPLATE, _fileName, _commonHeaderName, _realString, _intString, _precision, _commentString)
{}

returnValue ExportCommonHeader::configure(      const std::string& _moduleName,
                                            const std::string& _modulePrefix,
                                                                                        bool _useSinglePrecision,
                                                                                        bool _useComplexArithmetic,
                                                                                        QPSolverName _qpSolver,
                                                                                        const std::map<std::string, std::pair<std::string, std::string> >& _options,
                                                                                        const std::string& _variables,
                                                                                        const std::string& _workspace,
                                                                                        const std::string& _functions
                                                                                        )
{
        // Configure the template
        dictionary[ "@MODULE_NAME@" ] = _moduleName;
    dictionary[ "@MODULE_PREFIX@" ] = _modulePrefix;

        stringstream ss;
        if( _useComplexArithmetic ) ss << "\n#include <complex.h>\n" << endl;

        ss      << "/** qpOASES QP solver indicator. */" << endl
                << "#define " << _modulePrefix << "_QPOASES  0" << endl
        << "#define " << _modulePrefix << "_QPOASES3 1" << endl
                << "/** FORCES QP solver indicator.*/" << endl
                << "#define " << _modulePrefix << "_FORCES   2" << endl
                << "/** qpDUNES QP solver indicator.*/" << endl
                << "#define " << _modulePrefix << "_QPDUNES  3" << endl
                << "/** HPMPC QP solver indicator. */" << endl
                << "#define " << _modulePrefix << "_HPMPC    4" << endl
        << "#define " << _modulePrefix << "_GENERIC    5" << endl << endl
                << "/** Indicator for determining the QP solver used by the ACADO solver code. */" << endl;

        switch ( _qpSolver )
        {
        case QP_QPOASES:
                ss << "#define " << _modulePrefix << "_QP_SOLVER " << _modulePrefix << "_QPOASES\n" << endl;
                ss << "#include \"" << _moduleName << "_qpoases_interface.hpp\"\n";

                break;

        case QP_QPOASES3:
                ss << "#define " << _modulePrefix << "_QP_SOLVER " << _modulePrefix << "_QPOASES3\n" << endl;
                ss << "#include \"" << _moduleName << "_qpoases3_interface.h\"\n";

                break;

        case QP_FORCES:
        case QP_HPMPC:
        case QP_QPDUNES:
                if (_qpSolver == QP_FORCES)
                        ss << "#define " << _modulePrefix << "_QP_SOLVER " << _modulePrefix << "_FORCES\n" << endl;
                else if (_qpSolver == QP_HPMPC)
                        ss << "#define " << _modulePrefix << "_QP_SOLVER " << _modulePrefix << "_HPMPC\n" << endl;
                else
                        ss << "#define " << _modulePrefix << "_QP_SOLVER " << _modulePrefix << "_QPDUNES\n" << endl;

                ss << "\n#include <string.h>\n\n" << endl;

                ss << "/** Definition of the floating point data type. */\n";
                if (_useSinglePrecision == true)
                        ss << "typedef float real_t;\n";
                else
                        ss << "typedef double real_t;\n";

                break;

    case QP_GENERIC:
        ss << "#define " << _modulePrefix << "_QP_SOLVER " << _modulePrefix << "_GENERIC\n" << endl;
        case QP_NONE:
                ss << "/** Definition of the floating point data type. */\n";
                if (_useSinglePrecision == true)
                        ss << "typedef float real_t;\n";
                else
                        ss << "typedef double real_t;\n";

                break;

        default:
                return ACADOERROR( RET_INVALID_OPTION );

        }
        dictionary[ "@QP_SOLVER_INTERFACE@" ] = ss.str();

        ss.str( string() );
        // Key: define name
        // Value.first: value
        // Value.second: comment
        std::map<std::string, std::pair<std::string, std::string> >::const_iterator it;
        for (it = _options.begin(); it != _options.end(); ++it)
        {
                ss << "/** " << it->second.second << " */" << endl;
                ss << "#define " << it->first << " " << it->second.first << endl;
        }

        dictionary[ "@COMMON_DEFINITIONS@" ] = ss.str();

        dictionary[ "@VARIABLES_DECLARATION@" ] = _variables;

        dictionary[ "@WORKSPACE_DECLARATION@" ] = _workspace;

        dictionary[ "@FUNCTION_DECLARATIONS@" ] = _functions;

        // And then fill a template file
        fillTemplate();

        return SUCCESSFUL_RETURN;
}

CLOSE_NAMESPACE_ACADO