treeQP/Makefile.rule at master · dkouzoup/treeQP · GitHub

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# Detect operating system
OS = WINDOWS
UNAME_S = $(shell uname -s)
ifeq ($(UNAME_S),Linux)
    OS = LINUX
endif
ifeq ($(UNAME_S),Darwin)
    OS = MAC
endif

# Set default compiler
ifeq ($(OS), MAC)
CC="/usr/local/bin/gcc-8"
CXX="/usr/local/bin/g++-8"
#CC=clang
#CXX=clang++
else
CC=gcc
CXX=g++
endif

# Installation directory
TOP = $(shell pwd)

# BLASFEO path
BLASFEO_PATH = $(TOP)/external/blasfeo
#BLASFEO_PATH = $(TOP)/../blasfeo
#BLASFEO_PATH = /opt/blasfeo

# flag to directly use BLASFEO install dir instead of compiling it within treeQP
# !!! USE WITH CAUTION !!!
# BLASFEO_VERSION & BLASFEO_TARGET options below are not used if flag is enabled
# treeQP should be deep_cleaned and recompiled if installed BLASFEO changes
SKIP_BLASFEO_COMPILATION = OFF

# BLASFEO version
BLASFEO_VERSION = HIGH_PERFORMANCE
#BLASFEO_VERSION = REFERENCE

# BLASFEO target
BLASFEO_TARGET = X64_INTEL_HASWELL
#BLASFEO_TARGET = X64_INTEL_SANDY_BRIDGE
#BLASFEO_TARGET = X64_INTEL_CORE
#BLASFEO_TARGET = GENERIC
#BLASFEO_TARGET = X64_AMD_BULLDOZER

# HPMPC target
HPMPC_TARGET = X64_AVX

# HPIPM target
HPIPM_TARGET = AVX

# HPIPM path
HPIPM_PATH = $(TOP)/external/hpipm

################################ OPTIONS #######################################

# Parallelize computations with openmp (ON/OFF)
# NOTE: slow on mac
# NOTE: to define maximum number of threads type e.g. "export OMP_NUM_THREADS=4" in terminal
OPENMP = OFF

# Enable to save intermediate iterations results to txt for debugging (ON/OFF)
# TODO: revive or remove completely
SAVE_DETAILED_RESULTS = OFF

# Add debugging symbols (ON/OFF)
DEBUG = OFF

# Choose profiling level (0-3)
# 0: no profiling
# 1: save only (min) total time
# 2: save also (min) time per iteration (and LS iterations)
# 3: save also (min) time per operation per iteration
PROFILING_LEVEL = 0

# Define number of runs in examples (to take min. execution time)
NREP = 20

# Define print level (0-3)
# 0: supress all printing
# 1: print profiling information at the end
# 2: print also some iteration stats
# 3: print also debugging info (nothing for scenarios atm)
# TODO: check that all levels work and see which ones are necessary, use more consistently in examples
PRINT_LEVEL = 1

################################################################################

# Set compiler flags
CFLAGS=
CFLAGS+= -fPIC

ifeq ($(OPENMP), ON)
CFLAGS+=-DPARALLEL
CFLAGS+=-fopenmp
endif

ifeq ($(SAVE_DETAILED_RESULTS), ON)
CFLAGS+=-DSAVE_DATA
endif

ifeq ($(DEBUG), ON)
CFLAGS += -g -O0
# TODO: disable timings if debugging is enabled
CFLAGS +=-DDEBUGGING_ENABLED
else
CFLAGS += -O2
endif

ifeq ($(PROFILING_LEVEL), 3)
CFLAGS+=-DPROFILE=3
else ifeq ($(PROFILING_LEVEL), 2)
CFLAGS+=-DPROFILE=2
else ifeq ($(PROFILING_LEVEL), 1)
CFLAGS+=-DPROFILE=1
else
CFLAGS+=-DPROFILE=0
endif

CFLAGS+=-DNREP=$(NREP)
CFLAGS+=-DPRINT_LEVEL=$(PRINT_LEVEL)

# Include dirs
CFLAGS += -I$(TOP)
CFLAGS += -I$(TOP)/external
CFLAGS += -I$(TOP)/external/qpoases/include
CFLAGS += -I$(BLASFEO_PATH)/include
CFLAGS += -I$(HPIPM_PATH)/include

# Distinguish between CXX and purely C flags
CXXFLAGS:=$(CFLAGS) -std=c++11
CFLAGS+= -std=c99

# Lib dirs
LDFLAGS =
LDFLAGS += -L$(BLASFEO_PATH)/lib
LDFLAGS += -L$(TOP)/lib