Merge pull request #363 from alphaville/fix/362-multiple-solvers

Issue with multiple solvers

open-codegen/CHANGELOG.md

@@ -8,6 +8,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 
 
+## [0.9.2] - 2024-11-05
+
+### Fixed 
+
+- In CasADi-generated C files some functions are made static to avoid clashes when creating multiple solvers
 
 
 ## [0.9.1] - 2024-10-14
@@ -214,6 +219,7 @@ Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 * Fixed `lbfgs` typo
 
 
+[0.9.2]: https://github.com/alphaville/optimization-engine/compare/opengen-0.9.1...opengen-0.9.2
 [0.9.1]: https://github.com/alphaville/optimization-engine/compare/opengen-0.9.0...opengen-0.9.1
 [0.9.0]: https://github.com/alphaville/optimization-engine/compare/opengen-0.8.1...opengen-0.9.0
 [0.8.1]: https://github.com/alphaville/optimization-engine/compare/v0.9.0...opengen-0.8.1

open-codegen/VERSION

@@ -1 +1 @@
-0.9.1
+0.9.2

open-codegen/opengen/builder/optimizer_builder.py

@@ -1,8 +1,6 @@
 import subprocess
 import shutil
-import datetime
 import yaml
-import warnings
 
 import opengen.config as og_cfg
 import opengen.definitions as og_dfn
@@ -809,6 +807,38 @@ def __info(self):
         }
         return info
 
+    def __casadi_make_static(self):
+        """Makes some casadi functions static to avoid clashes (see #362)
+        """
+        self.__logger.info("Making CasADi functions static")
+
+        def replace_in_casadi_file(casadi_source_fname, function_names):
+            # Read casadi_source_fname, line by line, replace, write to destination
+            # Open the source file in read mode
+            # Replace and write to a different file (with extension .tmp)
+            with open(casadi_source_fname, 'r') as fin, open(f"{casadi_source_fname}.tmp", 'w') as fout:
+                for line_in in fin:
+                    for fnc in function_names:
+                        line_in = line_in.replace(
+                            f"casadi_real {fnc}", f"static casadi_real {fnc}")
+                    fout.write(line_in)
+            # Move the .tmp file to replace the original one
+            shutil.move(f"{casadi_source_fname}.tmp", f"{casadi_source_fname}")
+
+        # Folder with external CasADi files (auto-generated C code)
+        icasadi_extern_dir = os.path.join(
+            self.__icasadi_target_dir(), "extern")  # casadi extern folder
+        # Function to make static
+        fncs_list = ["casadi_sq", "casadi_fmax",
+                     "casadi_fmin", "casadi_hypot", "casadi_sign",
+                     "casadi_log1p", "casadi_expm1"]
+        # make static
+        for casadi_fname in [_AUTOGEN_COST_FNAME, _AUTOGEN_ALM_MAPPING_F1_FNAME,
+                             _AUTOGEN_GRAD_FNAME, _AUTOGEN_PNLT_CONSTRAINTS_FNAME,
+                             _AUTOGEN_PRECONDITIONING_FNAME]:
+            replace_in_casadi_file(os.path.join(
+                icasadi_extern_dir, casadi_fname), fncs_list)
+
     def build(self):
         """Generate code and build project
 
@@ -837,6 +867,7 @@ def build(self):
         self.__generate_main_project_code()
         self.__generate_build_rs()               # generate build.rs file
         self.__generate_yaml_data_file()         # create YAML file with metadata
+        self.__casadi_make_static()              # make casadi functions static
 
         if not self.__generate_not_build:
             self.__logger.info("Building optimizer")