Build for DS1401 is failing

User Questions
1

Hi,

I am using Acados in Simulink and trying to build the code for DS140. I have successfully cross compiled Acados for DS1401. I use Matlab 2021b. I end up with the following warnings and errors:

COMPILING “AutoboxModel.c”
COMPILING “AutoboxModel_trc_ptr.c”
COMPILING “rtGetInf.c”
COMPILING “rtGetNaN.c”
COMPILING “rt_nonfinite.c”
COMPILING “C:\AcadosBuilds\c_generated_code\acados_mex_create_MPC_OCP.c”
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\hpipm/include/hpipm_common.h”, line 54 pos 8; trailing comma is nonstandard
ROBUST, // focus on robustness, relative IPM formulation
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\hpipm/include/hpipm_common.h”, line 63 pos 11; trailing comma is nonstandard
INCONS_EQ, // unconsistent equality constraints
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados/utils/types.h”, line 83 pos 23; trailing comma is nonstandard
ACADOS_TIMEOUT = 7,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados/utils/types.h”, line 94 pos 17; trailing comma is nonstandard
INVALID_COST,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados/utils/types.h”, line 105 pos 7; trailing comma is nonstandard
ZERO,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados/sim/sim_collocation_utils.h”, line 72 pos 25; trailing comma is nonstandard
EXPLICIT_RUNGE_KUTTA,
^
(E) C0070; “C:\Git\acados\buildDS1401\install\include\acados/utils/timing.h”, line 105 pos 21; incomplete type is not allowed
struct timespec tic;
^
(E) C0070; “C:\Git\acados\buildDS1401\install\include\acados/utils/timing.h”, line 106 pos 21; incomplete type is not allowed
struct timespec toc;
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados_c/ocp_qp_interface.h”, line 102 pos 22; trailing comma is nonstandard
INVALID_QP_SOLVER,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados_c/sim_interface.h”, line 49 pos 23; trailing comma is nonstandard
INVALID_SIM_SOLVER,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados_c/ocp_nlp_interface.h”, line 58 pos 23; trailing comma is nonstandard
INVALID_NLP_SOLVER,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados_c/ocp_nlp_interface.h”, line 67 pos 21; trailing comma is nonstandard
INVALID_DYNAMICS,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados_c/ocp_nlp_interface.h”, line 82 pos 23; trailing comma is nonstandard
INVALID_CONSTRAINT,
^
(I) C0228-D; “C:\Git\acados\buildDS1401\install\include\acados_c/ocp_nlp_interface.h”, line 94 pos 23; trailing comma is nonstandard
INVALID_REGULARIZE,
^
(E) C0020; “C:\Matlab\R2021b\extern\include\matrix.h”, line 227 pos 9; identifier “int64_T” is undefined
typedef int64_T mxInt64;
^
(E) C0020; “C:\Matlab\R2021b\extern\include\matrix.h”, line 228 pos 9; identifier “uint64_T” is undefined
typedef uint64_T mxUint64;
^
4 Errors 12 Informationals

COMPILING FAILED (1)

MAKE PROCESS ABORTED

So mainly I have 2 errors:

(E) C0020; “C:\Matlab\R2021b\extern\include\matrix.h”, line 227 pos 9; identifier “int64_T” is undefined
typedef int64_T mxInt64;
^

and

(E) C0070; “C:\Git\acados\buildDS1401\install\include\acados/utils/timing.h”, line 105 pos 21; incomplete type is not allowed
struct timespec tic;
^

And some warnings for commas.

How can I solve these 2 errors? I believe int64_T should already be defined in tmwtypes.h in C:\Matlab\R2021b\extern\include\tmwtypes.h and I included the header file and its folder in the Code Generation settings.

Thanks in advance!
Umur

2

Hi again,

I was able to fix these errors in the following ways:

For uint64_T and int64_T, I added the following lines into timing.h :

#ifndef int64_T
typedef long long int int64_T;
#endif

#ifndef uint64_T
typedef unsigned long long int uint64_T;
#endif

For timespec problem, I have commented out the following part that corresponds to else loop (ANSI C Mode) :

/** A structure for keeping internal timer data. */
/*typedef struct acados_timer_
{
    struct timespec tic;
    struct timespec toc;
} acados_timer;*/

And instead added the following code:

#include <C:\dSPACE_RCPHIL_2021-B\DS1401\RTLib\brtenv.h>

typedef struct acados_timer_
{
    double time;
} acados_timer;

Actually what I added corresponds to one of the elif loops ( defined(MABX2) ). I am using DS1401, hence MABX2, I am suprised for the fact that why is ( defined(MABX2) not TRUE…

Later on, I had another problem, regarding, mex_macros.h not being in the path… Then I copy pasted it under one of the include directories: C:\Git\acados\buildDS1401\install\include .

Then compilation was successfull but linking raised errors.

One problem I faced was fmin and isinf not being recognized… I am not quite sure for the reason, but apperently, somehow the compiler is using C89, not C99, so I added them in a custom_math.c and custom_math.h as:

custom_math.c

#include <float.h>

double fmin(double a, double b) {
    return (a < b) ? a : b;
}

int isinf(double x) {
    return (x == DBL_MAX || x == -DBL_MAX);
}

custom_math.h

#ifndef CUSTOM_MATH_H
#define CUSTOM_MATH_H

double fmin(double a, double b);
int isinf(double x);

#endif // CUSTOM_MATH_H

Put them under the same include directory that was already included in the include directories under Custom Code settings: C:\Git\acados\buildDS1401\install\include . And also added “C:\Git\acados\buildDS1401\install\include\custom_math.c” into source files list under custom code settings.

Second problem I faced was “#A0329-D Reserved memory overlapped from address 0x3000000 to 0x3000927”. This was due to my application size being too large. I had some constant blocks calling some big time series data from workspace (in total 20 mb of time series data). Then I removed them, and I fixed that problem.

Lastly, I had problems regarding which c files to include under source files. According to Step 3: Prepare and build Simulink model, I should include all c files under c_generated_code. However, I think that is not correct (?). Because it complaines a lot for some functions being already defined by previously called files (such as main, etc). This is error code (E) #A0307-D. I have included and excluded the c files as shown below:

NOT INCLUDED

C:\acadosbuilds2\c_generated_code\acados_mex_create_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_mex_free_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_mex_reset_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_mex_set_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_mex_solve_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_solver_sfunction_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_sim_solver_sfunction_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\CMakeFiles\3.31.0\CompilerIdC\CMakeCCompilerId.c
C:\acadosbuilds2\c_generated_code\main_sim_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\acados_sim_solver_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\main_MPC_OCP_multiAxleTrailer.c

INCLUDED

C:\acadosbuilds2\c_generated_code\acados_solver_MPC_OCP_multiAxleTrailer.c
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_constraints\MPC_OCP_multiAxleTrailer_constr_h_0_fun.c
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_constraints\MPC_OCP_multiAxleTrailer_constr_h_0_fun_jac_u…
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_constraints\MPC_OCP_multiAxleTrailer_constr_h_fun.c
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_constraints\MPC_OCP_multiAxleTrailer_constr_h_fun_jac_uxt…
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_model\MPC_OCP_multiAxleTrailer_expl_ode_fun.c
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_model\MPC_OCP_multiAxleTrailer_expl_vde_adj.c
C:\acadosbuilds2\c_generated_code\MPC_OCP_multiAxleTrailer_model\MPC_OCP_multiAxleTrailer_expl_vde_forw.c

It took quite some time to fix all the issues, but at the end I was successfully build my code. I will soon try it on Autobox. I hope these solutions help some others.

Cheers,
Umur

3

Hi Umur :wave:

great to hear that you managed to fix the issues! We will review your changes, maybe we can add some more hints to the docs page!

Best, Katrin

4

Hi,

Did you manage to get it to run on the MABX2?

I had the exact same issues, but having built the code I am unable to load it onto the DS1401. I made a post about this here.

Any info or insights would be much appreciated!

Thanks,

De