Set shared library suffixes, prefixes and folders for windows

CMakeLists.txt

@@ -102,7 +102,9 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND NOT CMAKE_SYSTEM_NAME MATCHES "Window
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
-    # MinGW, change to .lib such that mex recognizes it
+    # MinGW: remove prefix and change suffix to match MSVC
+    # (such that Matlab mex recognizes the libraries)
+    set(CMAKE_SHARED_LIBRARY_PREFIX "")
     set(CMAKE_STATIC_LIBRARY_SUFFIX ".lib")
     set(CMAKE_STATIC_LIBRARY_PREFIX "")
     if(BUILD_SHARED_LIBS MATCHES ON)

interfaces/acados_template/acados_template/acados_ocp.py

@@ -32,7 +32,7 @@
 import numpy as np
 import os
 from .acados_model import AcadosModel
-from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext
+from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_shared_lib_ext
 
 class AcadosOcpDims:
     """
@@ -3183,7 +3183,7 @@ def __init__(self, acados_path=''):
         """Path to acados include directory (set automatically), type: `string`"""
         self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
         """Path to where acados library is located, type: `string`"""
-        self.shared_lib_ext = get_lib_ext()
+        self.shared_lib_ext = get_shared_lib_ext()
 
         # get cython paths
         from sysconfig import get_paths

interfaces/acados_template/acados_template/acados_ocp_solver.py

@@ -62,7 +62,8 @@
                                          generate_c_code_nls_cost)
 from .gnsf.detect_gnsf_structure import detect_gnsf_structure
 from .utils import (casadi_length, check_casadi_version, format_class_dict,
-                    get_lib_ext, get_ocp_nlp_layout, get_python_interface_path,
+                    get_shared_lib_ext, get_shared_lib_prefix, get_shared_lib_dir,
+                    get_ocp_nlp_layout, get_python_interface_path,
                     is_column, is_empty, make_model_consistent,
                     make_object_json_dumpable, render_template,
                     set_up_imported_gnsf_model, verbose_system_call)
@@ -969,18 +970,17 @@ def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simul
             self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose)
 
         # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
+        lib_ext = get_shared_lib_ext()
+        lib_prefix = get_shared_lib_prefix()
+        lib_dir = get_shared_lib_dir()
 
         # Load acados library to avoid unloading the library.
         # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
         # Unloading a library which uses OpenMP results in a segfault (on any platform?).
         # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
         # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
         libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_lib_path, libacados_name)
+        libacados_filepath = os.path.join(acados_lib_path, '..', lib_dir, libacados_name)
         self.__acados_lib = DllLoader(libacados_filepath, winmode=self.winmode)
 
         # find out if acados was compiled with OpenMP

interfaces/acados_template/acados_template/acados_sim.py

@@ -32,7 +32,7 @@
 import numpy as np
 import os
 from .acados_model import AcadosModel
-from .utils import get_acados_path, get_lib_ext
+from .utils import get_acados_path, get_shared_lib_ext
 
 class AcadosSimDims:
     """
@@ -332,7 +332,7 @@ def __init__(self, acados_path=''):
 
         self.code_export_directory = 'c_generated_code'
         """Path to where code will be exported. Default: `c_generated_code`."""
-        self.shared_lib_ext = get_lib_ext()
+        self.shared_lib_ext = get_shared_lib_ext()
 
         # get cython paths
         from sysconfig import get_paths

interfaces/acados_template/acados_template/acados_sim_solver.py

@@ -52,7 +52,8 @@
                                          generate_c_code_implicit_ode)
 from .gnsf.detect_gnsf_structure import detect_gnsf_structure
 from .utils import (casadi_length, check_casadi_version, format_class_dict,
-                    get_lib_ext, get_python_interface_path, is_column,
+                    get_shared_lib_ext, get_shared_lib_prefix, get_shared_lib_dir,
+                    get_python_interface_path, is_column,
                     is_empty, make_model_consistent, make_object_json_dumpable,
                     render_template, set_up_imported_gnsf_model,
                     verbose_system_call)
@@ -297,18 +298,17 @@ def __init__(self, acados_sim: AcadosSim, json_file='acados_sim.json', generate=
             self.build(code_export_dir, cmake_builder=cmake_builder, verbose=verbose)
 
         # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
+        lib_ext = get_shared_lib_ext()
+        lib_prefix = get_shared_lib_prefix()
+        lib_dir = get_shared_lib_dir()
 
         # Load acados library to avoid unloading the library.
         # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
         # Unloading a library which uses OpenMP results in a segfault (on any platform?).
         # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
         # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
         libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
+        libacados_filepath = os.path.join(acados_sim.acados_lib_path, '..', lib_dir, libacados_name)
         self.__acados_lib = DllLoader(libacados_filepath, winmode=self.winmode)
 
         # find out if acados was compiled with OpenMP

interfaces/acados_template/acados_template/c_templates_tera/CMakeLists.in.txt

@@ -142,9 +142,11 @@ option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_
 
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
-    # MinGW, change to .lib such that mex recognizes it
-    set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib")
+    # MinGW: remove prefix and change suffix to match MSVC
+    # (such that Matlab mex recognizes the libraries)
     set(CMAKE_SHARED_LIBRARY_PREFIX "")
+    set(CMAKE_STATIC_LIBRARY_SUFFIX ".lib")
+    set(CMAKE_STATIC_LIBRARY_PREFIX "")
 endif()
 
 

interfaces/acados_template/acados_template/utils.py

@@ -165,14 +165,25 @@ def make_model_consistent(model):
 
     return model
 
-def get_lib_ext():
-    lib_ext = '.so'
+def get_shared_lib_ext():
     if sys.platform == 'darwin':
-        lib_ext = '.dylib'
+        return '.dylib'
     elif os.name == 'nt':
-        lib_ext = ''
+        return '.dll'
+    else:
+        return '.so'
+
+def get_shared_lib_dir():
+    if os.name == 'nt':
+        return 'bin'
+    else:
+        return 'lib'
 
-    return lib_ext
+def get_shared_lib_prefix():
+    if os.name == 'nt':
+        return ''
+    else:
+        return 'lib'
 
 def get_tera():
     tera_path = get_tera_exec_path()