Compilation error Mex Interface MacOS

Possible Bug Report Fixed
,
1

Hi :wave:

When I try to run the ‘minimal_example_ocp.m’ using the Matlab interface I get the following error:

compiling /Users/acados/examples/acados_matlab_octave/getting_started/../../../interfaces/acados_matlab_octave/ocp_get.c
Building with 'Xcode with Clang'.
Error using mex
/Users/acados/examples/acados_matlab_octave/getting_started/../../../interfaces/acados_matlab_octave/ocp_get.c:405:5: error: implicit declaration of function 'blasfeo_unpack_dmat' is
invalid in C99 [-Werror,-Wimplicit-function-declaration]
                                blasfeo_unpack_dmat(nu[ii]+nx[ii], nu[ii]+nx[ii], qp_in->RSQrq+ii, 0, 0, mat_ptr, nu[ii]+nx[ii]);
                                ^
/Users/acados/examples/acados_matlab_octave/getting_started/../../../interfaces/acados_matlab_octave/ocp_get.c:417:4: error: implicit declaration of function 'blasfeo_unpack_dmat' is
invalid in C99 [-Werror,-Wimplicit-function-declaration]
                        blasfeo_unpack_dmat(nv, nv, qp_in->Hv, 0, 0, mat_ptr, nv);
                        ^
/Users/acados/examples/acados_matlab_octave/getting_started/../../../interfaces/acados_matlab_octave/ocp_get.c:443:4: error: implicit declaration of function 'blasfeo_unpack_tran_dmat' is
invalid in C99 [-Werror,-Wimplicit-function-declaration]
                        blasfeo_unpack_tran_dmat(nx[ii], nx[ii+1], qp_in->BAbt+ii, nu[ii], 0, mat_ptr, nx[ii+1]);
                        ^
3 errors generated.


Error in ocp_compile_interface (line 175)
        mex(mex_flags, FLAGS, LDFLAGS, COMPDEFINES, COMPFLAGS, acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include,...

Error in acados_ocp (line 181)
                ocp_compile_interface(obj.opts_struct);

Error in minimal_example_ocp (line 109)
ocp = acados_ocp(ocp_model, ocp_opts);

I am using macOS 12.5.1 with Matlab r2021b.
Any suggestion?

Thanks.

2

Hi,

maybe something is wrong with the include paths.
I suggest going into debug mode and checking all the inputs of the mex command.

Cheers!

3

Thanks for your support. The include paths for the mex command seem ok. I find out that the issue has been introduced with commit “Mex interface improvements (#848)” , I guess due to the removal of some include reputed unnecessary.

Note that with gcc on Ubuntu I get just a warning, not an error.
Hope this helps to find and fix the issue.

Thanks.

4

Hi Francesco,

@FreyJo and I should have fix the issue. You can try out this PR 851.

Let us know it is working also for you.
I am using macOS 12.3.1 with Matlab r2021b.

Cheers!

5

Thank you Andrea! The PR 851 fixed the issue but still some include is missing. You can check it out by generating the templated C code (last line in minimal_example_ocp.m). I get this error:

main_pendulum.c:168:5: error: implicit declaration of function 'd_print_exp_tran_mat' is invalid in C99 [-Werror,-Wimplicit-function-declaration]
    d_print_exp_tran_mat( NX, N+1, xtraj, NX);
    ^

Thanks.

6

Thanks for reporting!
I added one more commit on the PR to address this last issue.
Let us know if everything works now :slight_smile:

7

Yes, everything is working now! Thanks again :slightly_smiling_face:

8

Hello everyone.

I have a similar issue when I am trying to run any example from the getting_started folder in acados. Below is the error I’m facing for one such example. I have tried installing the acados couple of times according to the installation guide to see if I have missed anything. Also, I have gone through all the files for Mex interface improvements and Fix Matlab interface mac #851 but everything seems ok. I even tried with CMake -DACADOS_INSTALL_DIR=$HOME while installing. But nothing has helped me to solve this issue. Let me know if you have any idea about how to fix this error.

>> extensive_example_ocp
Warning: Name is nonexistent or not a directory: /Users/raghuboppana/../pendulum_on_cart_model 
> In path (line 109)
In addpath (line 86)
In extensive_example_ocp (line 37) 
compiling /Users/raghuboppana/acados/examples/acados_matlab_octave/getting_started/../../../interfaces/acados_matlab_octave/ocp_create.c
2022-09-15 18:44:38.109 xcodebuild[1560:40729] Requested but did not find extension point with identifier Xcode.IDEKit.ExtensionSentinelHostApplications for extension Xcode.DebuggerFoundation.AppExtensionHosts.watchOS of plug-in com.apple.dt.IDEWatchSupportCore
2022-09-15 18:44:38.109 xcodebuild[1560:40729] Requested but did not find extension point with identifier Xcode.IDEKit.ExtensionPointIdentifierToBundleIdentifier for extension Xcode.DebuggerFoundation.AppExtensionToBundleIdentifierMap.watchOS of plug-in com.apple.dt.IDEWatchSupportCore
2022-09-15 18:44:38.618 xcodebuild[1565:40769] Requested but did not find extension point with identifier Xcode.IDEKit.ExtensionSentinelHostApplications for extension Xcode.DebuggerFoundation.AppExtensionHosts.watchOS of plug-in com.apple.dt.IDEWatchSupportCore
2022-09-15 18:44:38.618 xcodebuild[1565:40769] Requested but did not find extension point with identifier Xcode.IDEKit.ExtensionPointIdentifierToBundleIdentifier for extension Xcode.DebuggerFoundation.AppExtensionToBundleIdentifierMap.watchOS of plug-in com.apple.dt.IDEWatchSupportCore
Building with 'Xcode with Clang'.
2022-09-15 18:44:41.279 xcodebuild[1570:40821] Requested but did not find extension point with identifier Xcode.IDEKit.ExtensionSentinelHostApplications for extension Xcode.DebuggerFoundation.AppExtensionHosts.watchOS of plug-in com.apple.dt.IDEWatchSupportCore
2022-09-15 18:44:41.279 xcodebuild[1570:40821] Requested but did not find extension point with identifier Xcode.IDEKit.ExtensionPointIdentifierToBundleIdentifier for extension Xcode.DebuggerFoundation.AppExtensionToBundleIdentifierMap.watchOS of plug-in com.apple.dt.IDEWatchSupportCore

Error using mex
ld: library not found for -lacados
clang: error: linker command failed with exit code 1 (use -v to see invocation)


Error in ocp_compile_interface (line 175)
        mex(mex_flags, FLAGS, LDFLAGS, COMPDEFINES, COMPFLAGS, acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include,...

Error in acados_ocp (line 181)
                ocp_compile_interface(obj.opts_struct);

Error in extensive_example_ocp (line 240)
ocp = acados_ocp(ocp_model, ocp_opts);

I am using macOS 12.6 with MATLABR2022a and Xcode 14.

Thanks

9

Hi @raghuboppana

this issue is not the same, so IMO would be better to make a separate post.
It seems that the acados library is not found.
Did you compile them successfully?
Are the libs in <acados_root_folder>/lib?

Cheers!