Makefile.rule

#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 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.;
#


CC = gcc
#CC = clang
#CC = x86_64-w64-mingw32-gcc

# Operating system
UNAME_S = $(shell uname -s)
ifeq ($(UNAME_S),Linux)
    OS = LINUX
endif
ifeq ($(UNAME_S),Darwin)
    OS = MAC
endif
#OS = LINUX
#OS = MAC
#OS = WINDOWS

# Installation directory
TOP = $(shell pwd)
#PREFIX = /opt

# External projects directory
EXT_PATH = $(TOP)/external

## BLASFEO path
BLASFEO_PATH = $(EXT_PATH)/blasfeo
#BLASFEO_PATH = /home/gianluca/blasfeo
## BLASFEO version
BLASFEO_VERSION = HIGH_PERFORMANCE
# BLASFEO_VERSION = REFERENCE
# BLASFEO_VERSION = BLAS_WRAPPER

## BLASFEO target
BLASFEO_TARGET = X64_INTEL_HASWELL
# BLASFEO_TARGET = X64_INTEL_SANDY_BRIDGE
# BLASFEO_TARGET = X64_INTEL_CORE
#
# BLASFEO_TARGET = X64_AMD_BULLDOZER
# BLASFEO_TARGET = X86_AMD_JAGUAR
# BLASFEO_TARGET = X86_AMD_BARCELONA
#
# BLASFEO_TARGET = ARMV8A_ARM_CORTEX_A57
# BLASFEO_TARGET = ARMV8A_ARM_CORTEX_A53
# BLASFEO_TARGET = ARMV7A_ARM_CORTEX_A15
# BLASFEO_TARGET = ARMV7A_ARM_CORTEX_A7
#
# BLASFEO_TARGET = GENERIC

## HPIPM path
HPIPM_PATH = $(EXT_PATH)/hpipm
#HPIPM_PATH = /home/gianluca/hpipm

## HPIPM target
HPIPM_TARGET = AVX
# HPIPM_TARGET = GENERIC

## HPMPC path
HPMPC_PATH = $(EXT_PATH)/hpmpc
## HPMPC target
HPMPC_TARGET = X64_AVX

## qpOASES path
QPOASES_PATH = $(EXT_PATH)/qpoases

# QORE path
QORE_PATH = $(EXT_PATH)/qore

# QPDUNES path
QPDUNES_PATH = $(EXT_PATH)/qpdunes

# OSQP path
OSQP_PATH = $(EXT_PATH)/osqp

# parallelize using openmp
ACADOS_WITH_OPENMP = 0
ACADOS_NUM_THREADS = 4

# include QPOASES
ACADOS_WITH_QPOASES = 0

# include HPMPC
ACADOS_WITH_HPMPC = 0

# include QPDUNES
ACADOS_WITH_QPDUNES = 0

# include QORE
ACADOS_WITH_QORE = 0

# include OSQP
ACADOS_WITH_OSQP = 0

# C interface
ACADOS_WITH_C_INTERFACE = 1

# measure timings
MEASURE_TIMINGS = 1

# compiler flags
CFLAGS =

# Possible overide with local options
mkfile_path := $(abspath $(lastword $(MAKEFILE_LIST)))
current_dir := $(patsubst %/,%,$(dir $(mkfile_path)))
# Do not complain if Makefile.local does not exisist
-include $(current_dir)/Makefile.local

# optimization flags
CFLAGS += -O2 -fPIC

# turn off assert
#CFLAGS += -DNDEBUG

# debugging flags
CFLAGS  += #-g -Wall -pedantic -Wfloat-equal #-pg

ifeq ($(ACADOS_WITH_OPENMP), 1)
CFLAGS += -DACADOS_WITH_OPENMP -DACADOS_NUM_THREADS=$(ACADOS_NUM_THREADS) -fopenmp
endif
ifeq ($(ACADOS_WITH_QPOASES), 1)
CFLAGS += -DACADOS_WITH_QPOASES
endif
ifeq ($(ACADOS_WITH_HPMPC), 1)
CFLAGS += -DACADOS_WITH_HPMPC
endif
ifeq ($(ACADOS_WITH_QPDUNES), 1)
CFLAGS += -DACADOS_WITH_QPDUNES
endif
ifeq ($(ACADOS_WITH_QORE), 1)
CFLAGS += -DACADOS_WITH_QORE
endif
ifeq ($(ACADOS_WITH_OSQP), 1)
CFLAGS += -DACADOS_WITH_OSQP
endif
ifeq ($(ACADOS_WITH_C_INTERFACE), 1)
CFLAGS += -DACADOS_WITH_C_INTERFACE
endif

# TEMP
#CFLAGS += -g -O0 -DRUNTIME_CHECKS -DEXT_DEPS -DALIGNMENT=64 -D__DEBUG__

# timing
ifeq ($(MEASURE_TIMINGS), 1)
CFLAGS += -DMEASURE_TIMINGS
endif

# search directories
CFLAGS += -I$(TOP) -I$(TOP)/interfaces -I$(TOP)/include -I$(BLASFEO_PATH)/include -I$(HPIPM_PATH)/include -I$(HPMPC_PATH)/include -I$(QPOASES_PATH)/include -I$(TOP)/include/qore/include -I$(QPDUNES_PATH)/include -I$(OSQP_PATH)/include
LDFLAGS += -L$(TOP)/lib

CXXFLAGS = $(CFLAGS) -std=c++11
CFLAGS += -std=c99