zhengdi1992
commented
5 years ago 
the only things in qpOASES-macos-x86_64.jar was that..without any jni dylib
Closed zhengdi1992 closed 5 years ago
zhengdi1992
commented
5 years ago
the only things in qpOASES-macos-x86_64.jar was that..without any jni dylib
saudet
commented
5 years ago It looks like you forgot to specify some class or package for the execution of javacpp-compiler.
The default is defined here but that doesn't match your class names, so you'll need to override that:
https://github.com/bytedeco/javacpp-presets/blob/master/pom.xml#L297
zhengdi1992
commented
5 years ago thank you for your advice..
cool, it's right..
i have change the mapper class
from
target = "qpOASES",
target = "org.bytedeco.qpOASES.presets.qpOASES",
and now it was match the default path..
[INFO] clang++ -I~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/include/ -I/Library/Java/JavaVirtualMachines/jdk1.8.0_151.jdk/Contents/Home/include -I/Library/Java/JavaVirtualMachines/jdk1.8.0_151.jdk/Contents/Home/include/darwin ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jniqpOASES.cpp ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jnijavacpp.cpp -march=x86-64 -m64 -O3 -Wl,-rpath,@loader_path/. -Wall -fPIC -dynamiclib -undefined dynamic_lookup -o libjniqpOASES.dylib -L~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/lib/ -Wl,-rpath,~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/lib/ -framework JavaVM and some compile type error ..
just like
unknown type name 'QProblem'; did you mean 'qpOASES::QProblem'?
i think it should modify the mapper class, first . i will figure it out : )
zhengdi1992
commented
5 years ago i have build it successfully...
[INFO] --- javacpp:1.5.1-SNAPSHOT:build (javacpp-compiler) @ qpOASES ---
[INFO] Detected platform "macosx-x86_64"
[INFO] Building for platform "macosx-x86_64"
[INFO] Generating ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jnijavacpp.cpp
[INFO] Generating ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jniqpOASES.cpp
[INFO] Compiling ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/libjniqpOASES.dylib
[INFO] clang++ -I~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/include/ -I/Library/Java/JavaVirtualMachines/jdk1.8.0_151.jdk/Contents/Home/include -I/Library/Java/JavaVirtualMachines/jdk1.8.0_151.jdk/Contents/Home/include/darwin ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jniqpOASES.cpp ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jnijavacpp.cpp -march=x86-64 -m64 -O3 -Wl,-rpath,@loader_path/. -Wall -fPIC -dynamiclib -undefined dynamic_lookup -o libjniqpOASES.dylib -L~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/lib/ -Wl,-rpath,~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/lib/ -framework JavaVM
[INFO] Deleting ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jniqpOASES.cpp
[INFO] Deleting ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/jnijavacpp.cpp
[INFO] but in runtime i simple call a native method qpOASES.QProblem_cleanup();
occur a link error
dyld: lazy symbol binding failed: Symbol not found: __Z16QProblem_cleanupv
Referenced from: ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/libjniqpOASES.dylib
Expected in: flat namespace
dyld: Symbol not found: __Z16QProblem_cleanupv
Referenced from: ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/libjniqpOASES.dylib
Expected in: flat namespacei has check the libjniqpOASES.dylib by otool -L libjniqpOASES.dylib
show like this
otool -L libjniqpOASES.dylib
libjniqpOASES.dylib:
libjniqpOASES.dylib (compatibility version 0.0.0, current version 0.0.0)
/System/Library/Frameworks/JavaVM.framework/Versions/A/JavaVM (compatibility version 1.0.0, current version 1.0.0)
/usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 400.9.4)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.200.5)
otool -L libqpOASES.dylib
libqpOASES.dylib:
libqpOASES.3.2.dylib (compatibility version 3.2.0, current version 0.0.0)
/usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 400.9.4)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.200.5)the generate jnilib has no link the dylib which installed by cppbuild.sh ? and other advice for this error?
saudet
commented
5 years ago Use @Platform(link = "qpOASES", ...) to link with it.
saudet
commented
5 years ago Please let me know if you encounter any more errors! Thanks
zhengdi1992
commented
5 years ago all build was successful, and jnilib also link to the qpOASES.dylib, the only problem was that, when i call simple native method occur
dyld: lazy symbol binding failed: Symbol not found: __Z16QProblem_cleanupv
Referenced from: ~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64/libjniqpOASES.dylib
Expected in: flat namespacei' m not sure it was the problem by cpp or not.
mapper class was that
@Properties(
target = "org.bytedeco.qpOASES.presets.qpOASES",
value = {
@Platform(
link = "qpOASES",
includepath = "~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/include/",
linkpath = "~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/lib/",
include = {
"qpOASES_wrapper.h"
}
)
}
)
public class qpOASESConfig implements InfoMapper {
@Override
public void map(InfoMap infoMap) {
infoMap
.put(new Info(
"QProblemBClass","OptionsClass","returnValue","QProblem","QProblemB","SQProblem","Options").skip());
}
}and i can also get the QProblem_cleanup method from the qpOASES_wrapper.h file
/*
* This file is part of qpOASES.
*
* qpOASES -- An Implementation of the Online Active Set Strategy.
* Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
* Christian Kirches et al. All rights reserved.
*
* qpOASES is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* qpOASES is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with qpOASES; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
/**
* \file interfaces/c/qpOASES_wrapper.h
* \author Hans Joachim Ferreau
* \version 3.2
* \date 2014-2017
*
* Interface that enables to call qpOASES from plain C.
*
*/
#ifndef QPOASES_WRAPPER_H
#define QPOASES_WRAPPER_H
#ifndef QPOASES_TYPES_HPP
/**
* Defined integer type for calling BLAS/LAPACK. Should usually be
* "(unsigned) int", currently set to "(unsigned) long" for backwards
* compatibility. This will change in a future release.
*/
typedef long la_int_t;
typedef unsigned long la_uint_t;
/** Defines real_t for facilitating switching between double and float. */
#ifdef __USE_SINGLE_PRECISION__
typedef float real_t;
#else
typedef double real_t;
#endif /* __USE_SINGLE_PRECISION__ */
/** Defines int_t for facilitating switching between int and long int. */
#ifdef __USE_LONG_INTEGERS__
typedef long int_t;
typedef unsigned long uint_t;
#else
typedef int int_t;
typedef unsigned int uint_t;
#endif /* __USE_LONG_INTEGERS__ */
/** Defines FORTRAN integer type. Might be platform dependent! */
#ifdef __USE_LONG_FINTS__
typedef long fint_t;
#else
typedef int fint_t;
#endif /* __USE_LONG_FINTS__ */
/**
* Integer type for sparse matrix row/column entries. Make this "int"
* for 32 bit entries, and "long" for 64-bit entries on x86_64 platform.
*
* Most sparse codes still assume 32-bit entries here (HSL, BQPD, ...)
*/
typedef int_t sparse_int_t;
/* dummy definitions, not used when calling from C */
#define QProblemBClass int_t
#define OptionsClass int_t
#define returnValue int_t
/* HessianType */
#define HST_ZERO 0
#define HST_IDENTITY 1
#define HST_POSDEF 2
#define HST_POSDEF_NULLSPACE 3
#define HST_SEMIDEF 4
#define HST_INDEF 5
#define HST_UNKNOWN 6
/* SubjectToStatus */
#define ST_LOWER -1
#define ST_INACTIVE 0
#define ST_UPPER 1
#define ST_INFEASIBLE_LOWER 2
#define ST_INFEASIBLE_UPPER 3
#define ST_UNDEFINED 4
/* PrintLevel */
#define PL_DEBUG_ITER -2
#define PL_TABULAR -1
#define PL_NONE 0
#define PL_LOW 1
#define PL_MEDIUM 2
#define PL_HIGH 3
#else
#define QProblemBClass QProblemB
#define OptionsClass REFER_NAMESPACE_QPOASES Options
/* only declare when compiling C++ library */
static QProblem* globalQProblemObject = 0;
static QProblemB* globalQProblemBObject = 0;
static SQProblem* globalSQProblemObject = 0;
static Options globalOptionsObject;
#endif /* QPOASES_TYPES_HPP */
/**
* \brief Manages all user-specified options for solving QPs.
*
* This struct manages all user-specified options used for solving
* quadratic programs.
*
* \author Hans Joachim Ferreau
* \version 3.2
* \date 2014-2017
*/
typedef struct
{
int_t printLevel; /**< Print level. */
int_t enableRamping; /**< Specifies whether ramping shall be enabled or not. */
int_t enableFarBounds; /**< Specifies whether far bounds shall be used or not. */
int_t enableFlippingBounds; /**< Specifies whether flipping bounds shall be used or not. */
int_t enableRegularisation; /**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
int_t enableFullLITests; /**< Specifies whether condition-hardened LI test shall be used or not. */
int_t enableNZCTests; /**< Specifies whether nonzero curvature tests shall be used. */
int_t enableDriftCorrection; /**< Specifies the frequency of drift corrections (0 = off). */
int_t enableCholeskyRefactorisation; /**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
int_t enableEqualities; /**< Specifies whether equalities shall be always treated as active constraints. */
real_t terminationTolerance; /**< Termination tolerance. */
real_t boundTolerance; /**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and
upper bounds differ by less is regarded to be an equality constraint). */
real_t boundRelaxation; /**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
real_t epsNum; /**< Numerator tolerance for ratio tests. */
real_t epsDen; /**< Denominator tolerance for ratio tests. */
real_t maxPrimalJump; /**< Maximum allowed jump in primal variables in nonzero curvature tests. */
real_t maxDualJump; /**< Maximum allowed jump in dual variables in linear independence tests. */
real_t initialRamping; /**< Start value for Ramping Strategy. */
real_t finalRamping; /**< Final value for Ramping Strategy. */
real_t initialFarBounds; /**< Initial size of Far Bounds. */
real_t growFarBounds; /**< Factor to grow Far Bounds. */
int_t initialStatusBounds; /**< Initial status of bounds at first iteration. */
real_t epsFlipping; /**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
int_t numRegularisationSteps; /**< Maximum number of successive regularisation steps. */
real_t epsRegularisation; /**< Scaling factor of identity matrix used for Hessian regularisation. */
int_t numRefinementSteps; /**< Maximum number of iterative refinement steps. */
real_t epsIterRef; /**< Early termination tolerance for iterative refinement. */
real_t epsLITests; /**< Tolerance for linear independence tests. */
real_t epsNZCTests; /**< Tolerance for nonzero curvature tests. */
real_t rcondSMin; /**< Minimum reciprocal condition number of S before refactorization is triggered */
int_t enableInertiaCorrection; /**< Specifies whether the working set should be repaired when negative curvature is discovered during hotstart. */
int_t enableDropInfeasibles; /**< ... */
int_t dropBoundPriority; /**< ... */
int_t dropEqConPriority; /**< ... */
int_t dropIneqConPriority; /**< ... */
int_t printResiduals; /**< If true, it will print the internal qpOASES residuals and other information per iteration */
} qpOASES_Options;
int_t qpOASES_Options_init( qpOASES_Options* const options,
int_t mode
);
int_t qpOASES_Options_copy( const qpOASES_Options* const from,
OptionsClass* const to
);
int_t qpOASES_obtainOutputs( const QProblemBClass* const globalQpObject,
returnValue returnvalue,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t QProblem_setup( int_t nV,
int_t nC,
int_t hessianType
);
int_t QProblem_init( const real_t* const H,
const real_t* const g,
const real_t* const A,
const real_t* const lb,
const real_t* const ub,
const real_t* const lbA,
const real_t* const ubA,
int_t* const nWSR,
real_t* const cputime,
const qpOASES_Options* const options,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t QProblem_hotstart( const real_t* const g,
const real_t* const lb,
const real_t* const ub,
const real_t* const lbA,
const real_t* const ubA,
int_t* const nWSR,
real_t* const cputime,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t QProblem_cleanup( );
int_t QProblemB_setup( int_t nV,
int_t hessianType
);
int_t QProblemB_init( const real_t* const H,
const real_t* const g,
const real_t* const lb,
const real_t* const ub,
int_t* const nWSR,
real_t* const cputime,
const qpOASES_Options* const options,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t QProblemB_hotstart( const real_t* const g,
const real_t* const lb,
const real_t* const ub,
int_t* const nWSR,
real_t* const cputime,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t QProblemB_cleanup( );
int_t SQProblem_setup( int_t nV,
int_t nC,
int_t hessianType
);
int_t SQProblem_init( const real_t* const H,
const real_t* const g,
const real_t* const A,
const real_t* const lb,
const real_t* const ub,
const real_t* const lbA,
const real_t* const ubA,
int_t* const nWSR,
real_t* const cputime,
const qpOASES_Options* const options,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t SQProblem_hotstart( const real_t* const H,
const real_t* const g,
const real_t* const A,
const real_t* const lb,
const real_t* const ub,
const real_t* const lbA,
const real_t* const ubA,
int_t* const nWSR,
real_t* const cputime,
real_t* const x,
real_t* const y,
real_t* const obj,
int_t* const status
);
int_t SQProblem_cleanup( );
#endif /* QPOASES_WRAPPER_H */
/*
* end of file
*/
It's possible that libqpOASES.dylib wasn't
built properly to work with rpath. What does otool -L say?
zhengdi1992
commented
5 years ago $ otool -L libqpOASES.dylib
libqpOASES.dylib:
libqpOASES.3.2.dylib (compatibility version 3.2.0, current version 0.0.0)
/usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 400.9.4)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.200.5)rename for libqpOASES.3.2.dylib and still the same problem
cppbuild.sh
cp ~/or/qpOASES2/build/libs/libqpOASES.3.2.dylib ~/cpptest/javacpp-presets/qpOASES/cppbuild/macosx-x86_64/lib/libqpOASES.3.2.dylib
mapper.java
@Platform(
link = "qpOASES.3.2",
....
)now otool -L
otool -L libqpOASES.3.2.dylib
libqpOASES.3.2.dylib:
libqpOASES.3.2.dylib (compatibility version 3.2.0, current version 0.0.0)
/usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 400.9.4)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.200.5)
Yeah, that's not going to work. To get this working, we can run the following before the building the presets:
install_name_tool -add_rpath @loader_path/. -id @rpath/libqpOASES.3.2.dylib libqpOASES.3.2.dylibi'v add the rpath.. and maven rebuild it
now otools says that in the dir auto generated
~/cpptest/javacpp-presets/qpOASES/target/native/org/bytedeco/qpOASES/macosx-x86_64
$ otool -L libjniqpOASES.dylib
libjniqpOASES.dylib:
libjniqpOASES.dylib (compatibility version 0.0.0, current version 0.0.0)
@rpath/libqpOASES.3.2.dylib (compatibility version 3.2.0, current version 0.0.0)
/System/Library/Frameworks/JavaVM.framework/Versions/A/JavaVM (compatibility version 1.0.0, current version 1.0.0)
/usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 400.9.4)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.200.5)
$ otool -L libqpOASES.3.2.dylib
libqpOASES.3.2.dylib:
@rpath/libqpOASES.3.2.dylib (compatibility version 3.2.0, current version 0.0.0)
/usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 400.9.4)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.200.5)but the same error still exist :(
saudet
commented
5 years ago So it looks like the library provides no definition for the QProblem_cleanup() function.
You'll need to skip any missing symbols like that:
infoMap.put(new Info("QProblem_cleanup", ...).skip())you got it .. the warpper .h file was extra create for define some important method for use qpOASES methods... but never compile and install to a dylib.. (i misunderstand that cpp will did this things..)
so i should do it first install a dylib which between the jni dylib and the qpOASES.dylib...
or
i also could user the generated java interface qpOASES.java to wrapper the same things?
zhengdi1992
commented
5 years ago java swig can use a extra wrapper .cpp/.cxx file to generate the jni lib, but cpp Actually not?
saudet
commented
5 years ago JavaCPP can do the same, yes.
zhengdi1992
commented
5 years ago one more question.. sometimes we only want to use part of the c++ functions dylib, so we will make a warpper file.. if i use javacpp to generate jni interface... for the configeMapper.java should i only include the only warpper file ? or recursion include all dependency file which define the struct whose userd in the warpper file ? Any good idea if possiable can use the configeMapper.java with infoMap? recursion include maybe a very huge job ...
saudet
commented
5 years ago We only need to include what's useful for the wrapper.
saudet
commented
5 years ago It's also possible to include only portions of files: https://github.com/bytedeco/javacpp/wiki/Mapping-Recipes#skipping-lines-from-header-files
i'm try to create new preset for qpOASES..all it works, and build successful but the jnixxx.dylib has not created.. refer to this https://github.com/bytedeco/javacpp/wiki/Basic-Architecture
1.Runs optional external build scripts, such as cppbuild.sh from the JavaCPP Presets (successfully, for easy, I build qpOASES locally first and only cp command in the cppbuild.sh file.) 2.Runs the Parser on the given InfoMap and the header files listed in the @Platform annotation (successfully, i got the file generated qpOASES.java) 3.Runs the Generator on the Java interfaces(maybe failed or omit by some reason?) 4.Runs the native C++ compiler (GCC, Clang, MSVC, NVCC, etc) on the JNI code(maybe failed or omit by some reason?)
where should i check ,and good ideas? thanks a lot.. this is the console by
maven install --projects .,qpOASES