Generated code in Raspberry Pi

oruen · March 4, 2023, 10:54am

Hi dear community,

thanks for acados! I have managed to generate c-code from a model.
Now I’m trying to use the generated c code on raspberry pi.

I first installed acados by following the instructions here: Installation — acados documentation
Then I copied the generated code to raspberry pi and then cmake with the directory:

cmake -DACADOS_WITH_QPOASES=ON -DACADOS_INSTALL_DIR=</home/pi/c_generated_code> ..

Then I try to build the main_pendulum.c file by using

gcc -o pendulum main_pendulum.c

But I get the following error:

I am not sure what caused this error, are there more installations needed besides acados? or is there a setting that I missed when using cmake? I also changed the BLASFEO_TARGET to ARMV7A_ARM_CORTEX_A15.
As far as I understand blasfeo and hpipm are built directly with the build of acados just like casadi?

Any help would be appreciated.

best,

Julio

FreyJo · March 6, 2023, 1:11pm

Hi,

I suggest to use the Makefile that is generated with the C code instead of calling gcc manually.

Or is there a reason to not use it?

oruen · March 6, 2023, 7:50pm

Hi Jonathan,

thank you for the reply. Yes, I tried to use the Makefile by doing

sudo make

in “c_generated_code”, but I get the error:

That’s why I tried something else. I tried other ARM - Blasfeotargets and cmake again, but still get this error. I found that the Raspberry Pi 4b has an ARM Cortex-A72 CPU which is not in the targets. Could this be a problem?

Best regards.

FreyJo · March 8, 2023, 7:11pm

Hi,

I see.
The issue is that the Makefile is generated from Windows and thus for windows.

github.com

acados/acados/blob/master/interfaces/acados_template/acados_template/c_templates_tera/Makefile.in#L425


      
          	acados_sim_solver_pyx.c \
          
          
sim_cython: sim_cython_o
          	$(CC) $(ACADOS_FLAGS) -shared \
          	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
          	-Wl,-rpath=$(LIB_PATH) \
          	acados_sim_solver_pyx.o \
          	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
          	$(LDFLAGS) $(LDLIBS)
          
          
{%- if os and os == "pc" %}
          
          
clean:
          	del \Q *.o 2>nul
          	del \Q *{{ shared_lib_ext }} 2>nul
          	del \Q main_{{ model.name }} 2>nul
          
          
clean_ocp_shared_lib:
          	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
          	del \Q acados_solver_{{ model.name }}.o 2>nul

It is detected here:

github.com

acados/acados/blob/master/interfaces/acados_matlab_octave/ocp_generate_c_code.m#L261-L267


      
          if ismac
              ocp_json_struct.os = 'mac';
          elseif isunix
              ocp_json_struct.os = 'unix';
          else
              ocp_json_struct.os = 'pc';
          end

Maybe you can add an option to not detect it and make a Pull request?

Cheers!