Error using loadlibrary

[alphaville]

This is a follow-up on issue #1.

I run TwoCircTrailer (I run it from inside nmpc-codegen-matlab/demos) and I first get following log messages:

GENERATING output folders of controller:
GENERATING PANOC
GENERATING static globals
GENERATING python interface
GENERATING Build system
Generating globals file at: ../test_controller_builds/demo_controller_matlab/globals/globals_dyn.h
generating g-type function

ans = 

  Source_file_generator with properties:

         location: '../test_controller_builds/demo_controller_matlab/casadi/g.c'
    function_type: 'g'

generating proxg-type function

ans = 

  Source_file_generator with properties:

         location: '../test_controller_builds/demo_controller_matlab/casadi/proxg.c'
    function_type: 'proxg'

but then there seem to be some issues with compilation...

cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by cmake)
-- The C compiler identification is GNU 4.8.5
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detected the following casadi files: cost_function_derivative_combined.c;cost_function.c;integrator.c
-- No main.c detected in project root folder
-- Configuring done
-- Generating done
-- Build files have been written to: /home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/build
cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by cmake)
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
Scanning dependencies of target PANOC_lib
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
[  7%] /usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
Building C object PANOC/CMakeFiles/PANOC_lib.dir/proximal_gradient_descent.c.o
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
[ 15%] /usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
Building C object PANOC/CMakeFiles/PANOC_lib.dir/buffer.c.o
/usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
[ 23%] /usr/bin/cmake: /usr/local/MATLAB/R2017a/bin/glnxa64/libcurl.so.4: no version information available (required by /usr/bin/cmake)
Building C object PANOC/CMakeFiles/PANOC_lib.dir/casadi_interface.c.o
In file included from /home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/casadi_interface.c:3:0:
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:12:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘void’
 CASADI_SYMBOL_EXPORT void cost_function_derivative_combined_incref(void);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:13:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘void’
 CASADI_SYMBOL_EXPORT void cost_function_derivative_combined_decref(void);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:14:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘int’
 CASADI_SYMBOL_EXPORT int cost_function_derivative_combined_n_out(void);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:15:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘int’
 CASADI_SYMBOL_EXPORT int cost_function_derivative_combined_n_in(void);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:16:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘const’
 CASADI_SYMBOL_EXPORT const char* cost_function_derivative_combined_name_in(int i);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:17:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘const’
 CASADI_SYMBOL_EXPORT const char* cost_function_derivative_combined_name_out(int i);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:18:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘const’
 CASADI_SYMBOL_EXPORT const int* cost_function_derivative_combined_sparsity_in(int i);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:19:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘const’
 CASADI_SYMBOL_EXPORT const int* cost_function_derivative_combined_sparsity_out(int i);
                      ^
/home/chung/Documents/nmpc-codegen-matlab/test_controller_builds/demo_controller_matlab/PANOC/../casadi/cost_function_derivative_combined.h:20:22: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘int’
 CASADI_SYMBOL_EXPORT int cost_function_derivative_combined_work(int *sz_arg, int* sz_res, int *sz_iw, int *sz_w);
                      ^
make[3]: *** [PANOC/CMakeFiles/PANOC_lib.dir/casadi_interface.c.o] Error 1
make[2]: *** [PANOC/CMakeFiles/PANOC_lib.dir/all] Error 2
make[1]: *** [CMakeFiles/python_interface.dir/rule] Error 2
make: *** [python_interface] Error 2
Loading nmpc_panoc library \n
Error using loadlibrary
There was an error loading the library "../test_controller_builds/demo_controller_matlab/build/libpython_interface.so"
../test_controller_builds/demo_controller_matlab/build/libpython_interface.so: cannot open shared object file: No such file or directory

Error in nmpccodegen.tools.Simulator/load_library (line 77)
                [notfound,warnings] = loadlibrary(lib_file_name,lib_file_header_name,'alias','nmpc_panoc');

Error in nmpccodegen.tools.Simulator (line 104)
            obj.load_library();

Error in simulate_demo_trailer (line 9)
    sim = nmpccodegen.tools.Simulator(trailer_controller.location);

Error in TwoCircTrailer (line 47)
[ state_history,time_history,iteration_history,input_history,~ ] = simulate_demo_trailer(trailer_controller,initial_state,...

Caused by:
    Error using loaddefinedlibrary
    ../test_controller_builds/demo_controller_matlab/build/libpython_interface.so: cannot open shared object file: No such file or directory

I suspect this is because it doesn't find CASADI_SYMBOL_EXPORT.

[MelisWillem]

Ha Joris release a new Casadi, those guy's break the interface with minor releases. Might take till weekend that i fix this, can take a while.

[MelisWillem]

use the previous version 3.4 that one should be fine

[alphaville]

I tried again with casadi version 3.4.4, I deleted the folder test_controller_builds and got the following error...

>> TwoCircTrailer
GENERATING output folders of controller:
GENERATING PANOC
GENERATING static globals
GENERATING python interface
GENERATING Build system
Invalid MEX-file '/home/chung/Documents/MATLAB/casadi-linux-matlabR2014b-v3.4.4/casadiMEX.mexa64': /home/chung/Documents/MATLAB/casadi-linux-matlabR2014b-v3.4.4/casadiMEX.mexa64:
undefined symbol: _ZNK6casadi8Callback4evalEPPKdPPdPxS4_Pv.

Error in casadi.GenSX.sym (line 367)
     [varargout{1:nargout}] = casadiMEX(330, varargin{:});

Error in nmpccodegen.controller.Single_shot_definition/generate_cost_function (line 23)
            initial_state = casadi.SX.sym('initial_state', obj.controller.model.number_of_states, 1);

Error in nmpccodegen.controller.Nmpc_panoc/generate_cost_function_singleshot (line 130)
            [cost_function_, cost_function_derivative_combined_] = ssd.generate_cost_function();

Error in nmpccodegen.controller.Nmpc_panoc/generate_code (line 62)
                    obj = obj.generate_cost_function_singleshot();

Error in TwoCircTrailer (line 38)
trailer_controller.generate_code();

By the way, the script ran for about 2 minutes before it threw this error.

Should I try with some other version of casadi?

[MelisWillem]

So odd that it error's when generating code in the Casadi Mex file, this might be a casadi bug. Does demo1 till 4 work?

[alphaville]

I changed to casadi version 3.4.0. Which version do you use?

I don't see any files called demo1.m. Are you referring to the Python demos?

When running TwoCircTrailer I get the same error:

Invalid MEX-file '/home/chung/Documents/MATLAB/casadi-linux-matlabR2014b-v3.4.0/casadiMEX.mexa64': /home/chung/Documents/MATLAB/casadi-linux-matlabR2014b-v3.4.0/casadiMEX.mexa64:
undefined symbol: _ZNK6casadi8Callback4evalEPPKdPPdPxS4_Pv.

I tried to run nmpc-codegen-matlab/demos/demos.m and nmpc-codegen-matlab/demos/demo_lbfgs_speedup.m, but I keep getting the same error.

[alphaville]

Solved! I tried again with casadi v3.4.5 and it works. Although I had previously changed with version of casadi (and used clear all and clear classes), the issue was solved after I restarted MATLAB.

[MelisWillem]

Yea very dangerous that Casadi changes it's interface with minor updates.

[alphaville]

Maybe we should state in the documentation that nmpc-codegen has been tested with 3.4.5 and it works, so it's best if the users installed this exact version of casadi.

[MelisWillem]

@alphaville actually i ran it with 3.2/3.3/3.4 nmpc-codegen behaves differently depending upon your Casadi version.But yes everytime Casadi releases a new version, nmpc-codegen needs adjustments.