Merge pull request #2 from robotology/master

Merge from main repo

Author: ThomasDuvinage

.clang-format

@@ -0,0 +1,105 @@
+---
+Language:        Cpp
+# BasedOnStyle:  WebKit
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: false
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterClass:      true
+  AfterControlStatement: true
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  true
+  AfterObjCDeclaration: false
+  AfterStruct:     true
+  AfterUnion:      true
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: All
+BreakBeforeBraces: Custom
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: true
+BreakConstructorInitializers: BeforeComma
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:   100
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+  - Regex:           '.*'
+    Priority:        1
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: false
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 4
+ObjCSpaceAfterProperty: true
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 10
+PenaltyBreakBeforeFirstCallParameter: 1000
+PenaltyBreakComment: 10
+PenaltyBreakString: 10
+PenaltyExcessCharacter: 100
+PenaltyReturnTypeOnItsOwnLine: 5
+PointerAlignment: Left
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        4
+UseTab:          Never

.github/workflows/ci.yml

@@ -9,9 +9,9 @@ on:
   - cron:  '0 2 * * *'
 
 env:
-  osqp_TAG: v0.6.2
+  osqp_TAG: v0.6.3
   vcpkg_robotology_TAG: v0.0.3
-  Catch2_TAG: v2.12.1
+  Catch2_TAG: v3.8.0
   # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg  
   VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
 
@@ -23,7 +23,7 @@ jobs:
     strategy:
       matrix:
         build_type: [Debug, Release]
-        os: [ubuntu-latest, macOS-latest, windows-latest]
+        os: [ubuntu-latest, windows-latest]
         float: [ON, OFF]
       fail-fast: false
 
@@ -64,11 +64,6 @@ jobs:
         cd C:/robotology/vcpkg
         ./vcpkg.exe install --triplet x64-windows catch2
 
-    - name: Dependencies [macOS]
-      if: matrix.os == 'macOS-latest'
-      run: |
-        brew install eigen
-
     - name: Dependencies [Ubuntu]
       if: matrix.os == 'ubuntu-latest'
       run: |
@@ -77,7 +72,7 @@ jobs:
 
     - name: Cache Source-based Dependencies
       id: cache-source-deps
-      uses: actions/cache@v1
+      uses: actions/cache@v4
       with:
         path: ${{ github.workspace }}/install/deps
         key: source-deps-${{ runner.os }}-${{ matrix.build_type }}-use-float-${{ matrix.float }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-osqp-${{ env.osqp_TAG }}-catch2-${{ env.Catch2_TAG }}
@@ -98,8 +93,8 @@ jobs:
 
         cmake --build . --config ${{ matrix.build_type }} --target INSTALL
 
-    - name: Source-based Dependencies [Ubuntu/macOS]
-      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
+    - name: Source-based Dependencies [Ubuntu]
+      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest')
       shell: bash
       run: |
         # osqp

.github/workflows/gh-pages.yml

@@ -38,7 +38,7 @@ jobs:
           python3 ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py conf.py
 
       - name: Archive artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: site
           path: docs/site
@@ -48,7 +48,7 @@ jobs:
     needs: [build]
     steps:
       - name: Download artifacts
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v4.1.7
         with:
           name: site
           path: site

.github/workflows/test-pixi.yaml

@@ -0,0 +1,54 @@
+name: Run tests with pixi
+
+on:
+  # on demand
+  workflow_dispatch:
+    inputs:
+      delete_pixi_lock:
+        description: 'If true, delete pixi.lock, to test against the latest version of dependencies.'
+        required: true
+        default: 'false'
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build twice a week 2 AM UTC
+  - cron:  '0 2 * * 2,5'
+
+jobs:
+  pixi-test:
+    name: '[pixi:${{ matrix.os }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [
+          ubuntu-24.04,
+          macos-latest,
+          windows-2019
+        ]
+    steps:
+    - uses: actions/checkout@v4
+
+    # On periodic jobs and when delete_pixi_lock option is true, delete the pixi.lock to check that the project compiles with latest version of dependencies
+    - name: Delete pixi.lock on scheduled jobs or if delete_pixi_lock is true
+      if: github.event_name == 'schedule' || (github.event_name == 'workflow_dispatch' && github.event.inputs.delete_pixi_lock == 'true')
+      shell: bash
+      run: |
+        rm pixi.lock
+
+
+    # To use valgrind even with conda/pixi we still need to install libc6-dbg via apt on Debian-based distros
+    # See https://github.com/robotology/osqp-eigen/pull/171#issuecomment-2458149581
+    - name: Install libc6-dbg
+      if: contains(matrix.os, 'ubuntu')
+      run: |
+        sudo apt-get install libc6-dbg
+
+    - name: Set up pixi
+      uses: prefix-dev/[email protected]
+
+    - name: Print pixi info
+      run: pixi info
+
+    - name: Build and test the project
+      run: pixi run test

.github/workflows/update-pixi-lockfile.yaml

@@ -0,0 +1,42 @@
+name: Update lockfiles
+
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 5 1 * *
+
+jobs:
+  pixi-update:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up pixi
+        uses: prefix-dev/[email protected]
+        with:
+          run-install: false
+
+      - name: Install pixi-diff-to-markdown
+        run: pixi global install pixi-diff-to-markdown
+
+      - name: Update lockfiles
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v6
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: Update pixi lockfile
+          title: Update pixi lockfile
+          body-path: diff.md
+          branch: update-pixi
+          base: main
+          labels: pixi
+          delete-branch: true
+          add-paths: pixi.lock

.gitignore

@@ -11,3 +11,5 @@ tramp
 #build
 /build/
 *.user
+.build
+.pixi

CMakeLists.txt

@@ -17,7 +17,7 @@ set(OsqpEigen_VERSION "${OsqpEigen_MAJOR_VERSION}.${OsqpEigen_MINOR_VERSION}.${O
 # Set project version
 project(OsqpEigen VERSION ${OsqpEigen_VERSION})
 
-# ouptut paths
+# output paths
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
@@ -78,7 +78,7 @@ include(OsqpEigenDependencies)
 if(NOT CMAKE_CONFIGURATION_TYPES)
     if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Release" CACHE STRING
-        "Choose the type of build, recommanded options are: Debug or Release" FORCE)
+        "Choose the type of build, recommended options are: Debug or Release" FORCE)
     endif()
     set(OSQPEIGEN_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${OSQPEIGEN_BUILD_TYPES})
@@ -103,13 +103,19 @@ set(${LIBRARY_TARGET_NAME}_HDR
   include/OsqpEigen/Settings.hpp
   include/OsqpEigen/Solver.hpp
   include/OsqpEigen/Solver.tpp
+  include/OsqpEigen/Compat.hpp
   include/OsqpEigen/Debug.hpp)
 
 add_library(${LIBRARY_TARGET_NAME} ${${LIBRARY_TARGET_NAME}_SRC} ${${LIBRARY_TARGET_NAME}_HDR})
 target_include_directories(${LIBRARY_TARGET_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
+ADD_WARNINGS_CONFIGURATION_TO_TARGETS(PRIVATE TARGETS ${LIBRARY_TARGET_NAME})
+
 target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC osqp::osqp Eigen3::Eigen)
+if(OSQP_IS_V1)
+  target_compile_definitions(${LIBRARY_TARGET_NAME} PUBLIC OSQP_EIGEN_OSQP_IS_V1)
+endif()
 
 add_library(OsqpEigen::OsqpEigen ALIAS OsqpEigen)
 

cmake/AddOsqpEigenUnitTest.cmake

@@ -27,13 +27,6 @@ if (OSQPEIGEN_RUN_Valgrind_tests)
     separate_arguments(MEMCHECK_COMMAND_COMPLETE)
 endif()
 
-if (OSQPEIGEN_COMPILE_tests)
-    configure_file(cmake/Catch2Main.cpp.in ${CMAKE_BINARY_DIR}/Testing/Catch2Main.cpp)
-    add_library(CatchTestMain ${CMAKE_BINARY_DIR}/Testing/Catch2Main.cpp)
-    target_link_libraries(CatchTestMain PUBLIC Catch2::Catch2)
-endif()
-
-
 function(add_osqpeigen_test)
 
     if(OSQPEIGEN_COMPILE_tests)
@@ -57,7 +50,7 @@ function(add_osqpeigen_test)
       add_executable(${targetname}
           "${unit_test_files}")
 
-      target_link_libraries(${targetname} PRIVATE CatchTestMain ${${prefix}_LINKS})
+      target_link_libraries(${targetname} PRIVATE Catch2::Catch2WithMain ${${prefix}_LINKS})
       target_compile_definitions(${targetname} PRIVATE CATCH_CONFIG_FAST_COMPILE CATCH_CONFIG_DISABLE_MATCHERS)
       target_compile_features(${targetname} PUBLIC cxx_std_14)
 

cmake/Catch2Main.cpp.in

@@ -44,7 +44,7 @@ function generates 3 files:
 If neither ``UPPERCASE_FILENAMES`` nor ``LOWERCASE_FILENAMES`` is
 set, a file ``<Name>Config.cmake.in`` or
 ``<name>-config.cmake.in`` is searched, and the convention
-is chosed according to the file found. If no file was found, the
+is chosen according to the file found. If no file was found, the
 uppercase convention is used.
 
 The ``DEPENDENCIES`` argument can be used to set a list of dependencies
@@ -585,7 +585,7 @@ ${_compatibility_vars}
   endforeach()
 
 
-  # <Name>ConfigVersion.cmake file (same for build tree and intall)
+  # <Name>ConfigVersion.cmake file (same for build tree and install)
   write_basic_package_version_file("${_IBPF_EXPORT_DESTINATION}/${_version_filename}"
                                    VERSION ${_IBPF_VERSION}
                                    COMPATIBILITY ${_IBPF_COMPATIBILITY}

cmake/InstallBasicPackageFiles.cmake

@@ -11,10 +11,13 @@ include(OsqpEigenFindOptionalDependencies)
 ## Required Dependencies
 find_package(Eigen3 3.2.92 REQUIRED)
 find_package(osqp REQUIRED)
+if(NOT DEFINED OSQP_IS_V1)
+  try_compile(OSQP_IS_V1 ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_LIST_DIR}/try-osqp.cpp LINK_LIBRARIES osqp::osqp)
+endif()
 
 #---------------------------------------------
 ## Optional Dependencies
-find_package(Catch2 QUIET)
+find_package(Catch2 3.0.1 QUIET)
 checkandset_optional_dependency(Catch2)
 
 find_package(VALGRIND QUIET)

cmake/OsqpEigenDependencies.cmake

@@ -0,0 +1,7 @@
+// This file is only available on OSQP >= 1.0.0
+#include <osqp_api_functions.h>
+
+int main()
+{
+  return 0;
+}