generateCPP

Generate CPP file

  Licence:
    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)

    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.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

    Author: David Ariens
    Date: 2010

0001 function generateCPP(obj)
0002 %Generate CPP file
0003 %
0004 %  Licence:
0005 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0006 %
0007 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0008 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0009 %    Developed within the Optimization in Engineering Center (OPTEC) under
0010 %    supervision of Moritz Diehl. All rights reserved.
0011 %
0012 %    ACADO Toolkit is free software; you can redistribute it and/or
0013 %    modify it under the terms of the GNU Lesser General Public
0014 %    License as published by the Free Software Foundation; either
0015 %    version 3 of the License, or (at your option) any later version.
0016 %
0017 %    ACADO Toolkit is distributed in the hope that it will be useful,
0018 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0019 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0020 %    Lesser General Public License for more details.
0021 %
0022 %    You should have received a copy of the GNU Lesser General Public
0023 %    License along with ACADO Toolkit; if not, write to the Free Software
0024 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0025 %
0026 %    Author: David Ariens
0027 %    Date: 2010
0028 %
0029     
0030     %% Basic settings
0031     % Get global
0032     global ACADO_;
0033     if ~exist(ACADO_.pwd)
0034          error( 'ERROR: Run make script first. Go to <ACADOtoolkit-inst-dir>/interfaces/matlab/ and run <a href="matlab: help make">help make</a>' );
0035     end
0036     
0037     if (isempty(ACADO_.problemname))
0038        error('ERROR in solve. Problemname is empty. See <a href="matlab: help acadoSet">help acadoSet</a>'); 
0039     end
0040     
0041     obj.problemname = ACADO_.problemname;
0042     
0043     fprintf('Writing c++ files... \n');
0044     
0045     if (~isempty(obj.instructionList))
0046         % File names
0047         fileIN   = sprintf('%s.cpp', obj.problemname);                     % MEX cpp file name
0048         fileOUT  = sprintf('%s_RUN', obj.problemname);                     % MEX compiles file name
0049 
0050 
0051         % Write empty .m file. This file is needed to run the MEX file
0052         fileM    = fopen(sprintf('%s_RUN.m', obj.problemname),'w');        % Open MEX .m file
0053         fclose(fileM);                                                     % Close
0054 
0055 
0056         %% Load instructions
0057         addtimemanual = false;
0058         if (isempty(obj.t))
0059             addtimemanual = true;
0060             acado.TIME('autotime', 1);
0061         end
0062         
0063         obj.fileMEX  = fopen(fileIN, 'w');          % Open MEX cpp file
0064 
0065         obj.getCPPheader();                         % Get default CPP file header
0066         for i=1:length(obj.instructionList)
0067            obj.instructionList{i}.getInstructions(obj, 'H'); 
0068         end
0069 
0070         obj.getCPPbody();                           % Get default CPP file body
0071 
0072         if (addtimemanual)
0073             fprintf(obj.fileMEX,sprintf('    TIME autotime;\n'));
0074         end
0075     
0076         for i=1:length(obj.instructionList)
0077            obj.instructionList{i}.getInstructions(obj, 'FB'); % first body elements
0078         end
0079         
0080         for i=1:length(obj.instructionList)
0081            obj.instructionList{i}.getInstructions(obj, 'B'); 
0082         end
0083 
0084         for i=1:length(obj.instructionList)
0085            obj.instructionList{i}.getInstructions(obj, 'F'); 
0086         end
0087         obj.getCPPfooter();                         % Get default CPP file footer (call after all the rest !)
0088 
0089 
0090         fclose(obj.fileMEX);                        % Close MEX FILE
0091 
0092 
0093         fprintf('Compiling c++ files... \n');
0094 
0095         %% MEX EVAL
0096         eval(sprintf(regexprep(ACADO_.mexcall, '\\', '\\\\'), fileIN, fileOUT));
0097 
0098     else
0099        
0100         disp('Nothing to compile.');
0101         
0102     end
0103     
0104 end