Error when installing with DAQP (MATLAB, Windows)

Possible Bug Report
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1

Hi :wave:

I am using acados in MATLAB R2021b on Windows 10. If I compile with DAQP, i.e., run acados_install_windows('-DBUILD_SHARED_LIBS=OFF -DACADOS_WITH_DAQP=ON'), running any example results in the following error:

Error using acados_template_mex.compile_ocp_shared_lib (line 70)
Building templated code as shared library failed.
Got status 2, result: Consolidate compiler generated dependencies of target model_quad_mpc
[  7%] Building C object CMakeFiles/model_quad_mpc.dir/quad_mpc_model/quad_mpc_dyn_disc_phi_fun.c.obj
[ 15%] Building C object CMakeFiles/model_quad_mpc.dir/quad_mpc_model/quad_mpc_dyn_disc_phi_fun_jac.c.obj
[ 15%] Built target model_quad_mpc
Consolidate compiler generated dependencies of target ocp_quad_mpc
[ 23%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_0_fun.c.obj
[ 30%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_0_fun_jac.c.obj
[ 38%] Building C object
CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_0_fun_jac_hess.c.obj
[ 46%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_fun.c.obj
[ 53%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_fun_jac.c.obj
[ 61%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_fun_jac_hess.c.obj
[ 69%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_e_fun.c.obj
[ 76%] Building C object CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_e_fun_jac.c.obj
[ 84%] Building C object
CMakeFiles/ocp_quad_mpc.dir/quad_mpc_cost/quad_mpc_cost_ext_cost_e_fun_jac_hess.c.obj
[ 92%] Building C object CMakeFiles/ocp_quad_mpc.dir/acados_solver_quad_mpc.c.obj
[ 92%] Built target ocp_quad_mpc
[100%] Linking C shared library acados_ocp_solver_quad_mpc.dll
C:/Users/PBM/Desktop/Posao/Razno/acados/examples/acados_matlab_octave/../../lib/acados.lib(dense_qp_daqp.c.obj):dense_qp_daqp.c:(.text+0x6c):
undefined reference to `daqp_default_settings'
C:/Users/PBM/Desktop/Posao/Razno/acados/examples/acados_matlab_octave/../../lib/acados.lib(dense_qp_daqp.c.obj):dense_qp_daqp.c:(.text+0x1173):
undefined reference to `update_ldp'
C:/Users/PBM/Desktop/Posao/Razno/acados/examples/acados_matlab_octave/../../lib/acados.lib(dense_qp_daqp.c.obj):dense_qp_daqp.c:(.text+0x119d):
undefined reference to `daqp_ldp'
C:/Users/PBM/Desktop/Posao/Razno/acados/examples/acados_matlab_octave/../../lib/acados.lib(dense_qp_daqp.c.obj):dense_qp_daqp.c:(.text+0x11ac):
undefined reference to `ldp2qp_solution'
C:/Users/PBM/Desktop/Posao/Razno/acados/examples/acados_matlab_octave/../../lib/acados.lib(dense_qp_daqp.c.obj):dense_qp_daqp.c:(.text+0x1864):
undefined reference to `deactivate_constraints'
C:/Users/PBM/Desktop/Posao/Razno/acados/examples/acados_matlab_octave/../../lib/acados.lib(dense_qp_daqp.c.obj):dense_qp_daqp.c:(.text+0x18cd):
undefined reference to `activate_constraints'
collect2.exe: error: ld returned 1 exit status
CMakeFiles\acados_ocp_solver_quad_mpc.dir\build.make:105: recipe for target 'acados_ocp_solver_quad_mpc.dll'
failed
mingw32-make.exe[2]: *** [acados_ocp_solver_quad_mpc.dll] Error 1
CMakeFiles\Makefile2:138: recipe for target 'CMakeFiles/acados_ocp_solver_quad_mpc.dir/all' failed
mingw32-make.exe[1]: *** [CMakeFiles/acados_ocp_solver_quad_mpc.dir/all] Error 2
Makefile:134: recipe for target 'all' failed
mingw32-make.exe: *** [all] Error 2


Error in ocp_generate_c_code (line 279)
    acados_template_mex.compile_ocp_shared_lib(obj.acados_ocp_nlp_json.code_export_directory)

Error in acados_ocp (line 203)
            ocp_generate_c_code(obj);

Error in example_closed_loop (line 92)
ocp = acados_ocp(ocp_model, ocp_opts);

even though the solver is set to partial_condensing_hpipm.
Compiling with another solver, e.g., OSQP instead of DAQP, works fine.

The output of running mex.getCompilerConfigurations('C', 'Selected') is:

             Name: 'MinGW64 Compiler (C)'
     Manufacturer: 'GNU'
         Language: 'C'
          Version: '6.3.0'
         Location: 'C:\ProgramData\MATLAB\SupportPackages\R2021b\3P.instrset\mingw_w64.instrset'
        ShortName: 'mingw64'
         Priority: 'E'
          Details: [1×1 mex.CompilerConfigurationDetails]
       LinkerName: 'C:\ProgramData\MATLAB\SupportPackages\R2021b\3P.instrset\mingw_w64.instrset\bin\gcc'
    LinkerVersion: ''
           MexOpt: 'C:\Users\PBM\AppData\Roaming\MathWorks\MATLAB\R2021b\mex_C_win64.xml'

Does anyone have an idea about fixing this?

Thanks in advance!

Josip

2

Hi Josip,

I had a look and think that this PR should fix your issue.

Can you confirm this?

Best,
Jonathan

3

Hi Jonathan,

thank you for the quick reply and update.
It’s not complaining about DAQP anymore, but now I get the following error when running the getting_started/minimal_example_closed_loop file:

Constraint detection for path constraints.
constraint 1 is reformulated as bound on u.
F
 
compiling C:\Users\PBM\Desktop\Posao\Razno\acados\examples\acados_matlab_octave\..\..\interfaces\acados_matlab_octave\ocp_get_cost.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
compiling C:\Users\PBM\Desktop\Posao\Razno\acados\examples\acados_matlab_octave\..\..\interfaces\acados_matlab_octave\ocp_get.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
compiling C:\Users\PBM\Desktop\Posao\Razno\acados\examples\acados_matlab_octave\..\..\interfaces\acados_matlab_octave\ocp_eval_param_sens.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
acados MEX interface compiled successfully
Warning: cost_y_ref not defined for ocp json.
Using zeros(ny,1) by default. 
> In set_up_acados_ocp_nlp_json (line 437)
In acados_ocp (line 202)
In minimal_example_closed_loop (line 125) 
Warning: cost_y_ref_0 not defined for ocp json.
Using zeros(ny_0,1) by default. 
> In set_up_acados_ocp_nlp_json (line 454)
In acados_ocp (line 202)
In minimal_example_closed_loop (line 125) 
Warning: cost_y_ref_e not defined for ocp json.
Using zeros(ny_e,1) by default. 
> In set_up_acados_ocp_nlp_json (line 470)
In acados_ocp (line 202)
In minimal_example_closed_loop (line 125) 

dy_dz = 

[]

u = 

[]
Successfully rendered acados templates!
compiling acados_mex_create_pendulum.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
compiling acados_mex_free_pendulum.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
compiling acados_mex_solve_pendulum.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
compiling acados_mex_set_pendulum.c
Building with 'MinGW64 Compiler (C)'.
MEX completed successfully.
delete template...
Warning: The following error was caught while executing 'pendulum_mex_solver' class destructor:
Error using cd
Path must be a text scalar.

Error in pendulum_mex_solver/delete (line 64)
            cd(obj.code_gen_dir);

Error in pendulum_mex_solver (line 49)
            make_mex_pendulum();

Error in acados_ocp (line 212)
            obj.t_ocp = mex_solver();

Error in minimal_example_closed_loop (line 125)
ocp = acados_ocp(ocp_model, ocp_opts); 
> In pendulum_mex_solver (line 49)
In acados_ocp (line 212)
In minimal_example_closed_loop (line 125) 
Invalid MEX-file
'C:\Users\PBM\Desktop\Posao\Razno\acados\examples\acados_matlab_octave\getting_started\c_generated_code\acados_mex_create_pendulum.mexw64':
The specified module could not be found.

Error in pendulum_mex_solver (line 50)
            obj.C_ocp = acados_mex_create_pendulum();

Error in acados_ocp (line 212)
            obj.t_ocp = mex_solver();

Error in minimal_example_closed_loop (line 125)
ocp = acados_ocp(ocp_model, ocp_opts);

This error seems familiar from other topics on the forum so I will take a look into it. The mentioned .mexw64 file is in the right place.

Making the same changes here and here didn’t help. When the solver is set to full_condensing_daqp, MATLAB crashes.

Best regards,
Josip

4

Sorry, I unfortunately don’t know what is the issue for the error:

The specified module could not be found.

Not even which module…

I added the flag in the other places you mentioned in the PR I made before.

If anyone knows more about this error or has a fix, it would be very welcome!