Support osqp 1.0.0

.github/workflows/matlab.yml

@@ -22,23 +22,15 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-22.04, windows-2019, macos-latest]
-        matlab_version: [R2020a, R2020b, R2021a, latest]
-        exclude:
-          # R2020* is not supported on Windows on GitHub Actions
-          - os: windows-2019
-            matlab_version: R2020a
-            build_type: Release
-          - os: windows-2019
-            matlab_version: R2020b
-            build_type: Release
+        os: [ubuntu-24.04, windows-latest]
+        matlab_version: [R2023b, R2024a, latest]
 
     steps:
     - uses: actions/checkout@v2
 
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
       with:
-        miniforge-variant: Mambaforge
+        miniforge-variant: Miniforge3
         miniforge-version: latest
         channels: conda-forge,robotology
 
@@ -47,35 +39,21 @@ jobs:
       with:
         release: ${{ matrix.matlab_version }}
 
-    # workaround for https://github.com/robotology/robotology-superbuild/issues/64
-    - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries
-      if: contains(matrix.os, 'ubuntu')
-      run:
-          echo 'LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6' >> $GITHUB_ENV
-
     - name: Dependencies
       run: |
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Compilation related dependencies 
-        mamba install cmake compilers make ninja pkg-config
+        conda install cmake cxx-compiler make ninja pkg-config
         # Actual dependencies
-        mamba install osqp
+        conda install libosqp
         # Just a trick to make sure that the relevant installation path are on MATLABPATH
-        mamba install -c conda-forge -c robotology idyntree-matlab-bindings
-
-    # Additional dependencies useful only on Windows
-    - name: Dependencies [Conda/Windows]
-      if: contains(matrix.os, 'windows') 
-      run: |
-        # Additional dependencies only useful on Windows
-        # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install vs2019_win-64
+        conda install -c conda-forge -c robotology idyntree-matlab-bindings
 
     - name: Print used environment [Conda]
       shell: bash -l {0}
       run: |
-        mamba list
+        conda list
         env
 
     - name: Configure [Conda - Linux or  macOS]
@@ -87,12 +65,21 @@ jobs:
 
     - name: Configure [Conda - Windows]
       if: contains(matrix.os, 'windows')
+      shell: cmd /C CALL {0}
       run: |
         mkdir build
         cd build
-        cmake  -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
+        cmake  -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
+
+    - name: Build [Conda - Linux or  macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
 
-    - name: Build
+    - name: Build [Conda - Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C CALL {0}
       run: |
         cd build
         cmake --build . --config ${{ matrix.build_type }}
@@ -102,6 +89,12 @@ jobs:
         cd build
         cmake --install . --config ${{ matrix.build_type }}
 
+    # workaround for https://github.com/robotology/robotology-superbuild/issues/64
+    - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries
+      if: contains(matrix.os, 'ubuntu')
+      run:
+          echo 'LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6' >> $GITHUB_ENV
+
     - name: Test
       run: |
         cd build

CMakeLists.txt

@@ -3,8 +3,9 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-set(OSQP_MATLAB_UPSTREAM_VERSION 0.6.2)
-set(OSQP_MATLAB_CMAKE_REVISION 4)
+# osqp-matlab 0.9.0 does not exists, but we use it as osqp-matlab 1.0.0 was never released 
+set(OSQP_MATLAB_UPSTREAM_VERSION 0.9.0)
+set(OSQP_MATLAB_CMAKE_REVISION 0)
 set(OSQP_MATLAB_CMAKE_VERSION "${OSQP_MATLAB_UPSTREAM_VERSION}.${OSQP_MATLAB_CMAKE_REVISION}")
 project(osqp-matlab-cmake-buildsystem
   LANGUAGES C CXX
@@ -60,12 +61,15 @@ find_package(osqp REQUIRED)
 ## To use with some the osqp-matlab source coming from some other source, comment out
 # the FetchContent* commands and set manually osqp-matlab_SOURCE_DIR
 include(FetchContent)
-# Temporary pointing to a fork, see https://github.com/oxfordcontrol/osqp-matlab/pull/34
+# Temporary pointing to a commit as osqp-matlab v1.0.0 was never released
+# furthermore we need also the fixes:
+#  * https://github.com/osqp/osqp-matlab/pull/61, to avoid that a buffer allocate by the system allocator (inside osqp) is delete by the matlab allocator (inside osqp-matlab)
+#  * https://github.com/osqp/osqp-matlab/pull/62
 FetchContent_Declare(
   osqp-matlab
   GIT_REPOSITORY https://github.com/traversaro/osqp-matlab
 # GIT_TAG        v${OSQP_MATLAB_UPSTREAM_VERSION}
-  GIT_TAG        09faf01f42f7a73fac0b03332e6b0f6976a943c8
+  GIT_TAG        f41846a2a461839bd4e76c3ed93bfcf0459b0d69
   )
 
 FetchContent_MakeAvailable(osqp-matlab)
@@ -74,8 +78,17 @@ FetchContent_MakeAvailable(osqp-matlab)
 file(DOWNLOAD "https://raw.githubusercontent.com/oxfordcontrol/osqp/v${OSQP_MATLAB_UPSTREAM_VERSION}/lin_sys/direct/qdldl/qdldl_interface.h" ${CMAKE_CURRENT_BINARY_DIR}/workaround_include/qdldl_interface.h)
 
 # Common source files
-set(M_FILES ${osqp-matlab_SOURCE_DIR}/osqp.m)
-set(MEX_FILES ${osqp-matlab_SOURCE_DIR}/osqp_mex.hpp ${osqp-matlab_SOURCE_DIR}/osqp_mex.cpp)
+file(GLOB MEX_FILES
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.h"
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.c"
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.hpp"
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.cpp"
+)
+
+# The interrupt_matlab.c is used to customize the osqp library to support
+# being interrupted from matlab, that we can't do here as we do not recompile osqp
+list(REMOVE_ITEM MEX_FILES
+     "${osqp-matlab_SOURCE_DIR}/c_sources/interrupt_matlab.c")
 
 if(OSQP_MATLAB_USES_MATLAB)
   find_package(Matlab REQUIRED)
@@ -100,7 +113,7 @@ if(OSQP_MATLAB_USES_MATLAB)
     EXPORT ${PROJECT_NAME}
     DESTINATION ${OSQP_MATLAB_INSTALL_MATLAB_LIBDIR})
   install(
-    FILES ${M_FILES}
+    DIRECTORY ${osqp-matlab_SOURCE_DIR}/@osqp
     DESTINATION ${OSQP_MATLAB_INSTALL_MATLAB_MFILESDIR})
 
     # Enable tests
@@ -136,7 +149,7 @@ if(OSQP_MATLAB_USES_OCTAVE)
     EXPORT ${PROJECT_NAME}
     DESTINATION ${OSQP_MATLAB_INSTALL_OCTAVE_LIBDIR})
   install(
-    FILES ${M_FILES}
+    DIRECTORY ${osqp-matlab_SOURCE_DIR}/@osqp
     DESTINATION ${OSQP_MATLAB_INSTALL_OCTAVE_MFILESDIR})
 endif()
 

README.md

@@ -50,4 +50,5 @@ Materials in this repository are distributed under the following license:
 
 The version of this `CMake` project is chosen in accordance of the original project, plus a fourth version that describes if several CMake buildsystem
 versions were released, for example the version `x.y.z.t` is the one corresponding to the `x.y.z` version of osqp-matlab, while `t` is the number that can be
-increased if changes are done to the CMake buildsystem.
+increased if changes are done to the CMake buildsystem. An exeception was done for `osqp` 1.0.0, that was initially released without a corresponding `osqp-matlab` version,
+so a `osqp` 1.0.0-compatible version was released under the `0.9.*` version number.