1 implement c code generation and usage in java similar to python

JCasADi/pom.xml

@@ -129,7 +129,7 @@
                             <scripts>
                                 <script>
 									<![CDATA[
-project.properties.setProperty('native_script', project.properties.getProperty('always_recreate_wrapper') == 'true' ? '"${basedir}"/_regenerate-natives_dependency-recursive_Multiarch.sh' : '"${basedir}"/_ensure-natives_dependency-recursive_Multiarch.sh');
+project.properties.setProperty('native_script', project.properties.getProperty('always_recreate_wrapper') == 'true' ? '${basedir}/_regenerate-natives_dependency-recursive_Multiarch.sh' : '${basedir}/_ensure-natives_dependency-recursive_Multiarch.sh');
 println "native_script: " + project.properties.getProperty('native_script');
 ]]>
                                 </script>

JCasADi/src/main/java/de/dhbw/rahmlab/casadi/Demo8CodeGenerationSolution.java

@@ -1,91 +1,154 @@
 package de.dhbw.rahmlab.casadi;
 
+import de.dhbw.rahmlab.casadi.api.core.wrapper.CoreWrapper;
+import de.dhbw.rahmlab.casadi.impl.casadi.CodeGenerator;
+import de.dhbw.rahmlab.casadi.impl.casadi.DM;
 import de.dhbw.rahmlab.casadi.impl.casadi.Function;
 import de.dhbw.rahmlab.casadi.impl.casadi.GenericType;
+import de.dhbw.rahmlab.casadi.impl.casadi.Importer;
 import de.dhbw.rahmlab.casadi.impl.casadi.MX;
 import de.dhbw.rahmlab.casadi.impl.casadi.SX;
 import de.dhbw.rahmlab.casadi.impl.std.Dict;
+import de.dhbw.rahmlab.casadi.impl.std.StdVectorDM;
 import de.dhbw.rahmlab.casadi.impl.std.StdVectorMX;
 import de.dhbw.rahmlab.casadi.impl.std.StdVectorSX;
 
 /**
  * @author Oliver Rettig (Oliver.Rettig@orat.de)
  */
 public class Demo8CodeGenerationSolution {
-    
+
     public static void main(String[] args) {
-
-
+
         // Ex 1.1
 
         SX x = SxStatic.sym("x", 2);
         SX y = SxStatic.sym("y");
 
-        Function f = new Function("f", new StdVectorSX(new SX[]{x,y}), 
-                                           new StdVectorSX(new SX[]{SxStatic.minus(SxStatic.sqrt(x),y)}));
+        Function f = new Function("f", new StdVectorSX(new SX[] { x, y }),
+                new StdVectorSX(new SX[] { SxStatic.minus(SxStatic.sqrt(x), y) }));
         f.generate("fun");
 
-
         // Ex 1.2
 
         Dict options = new Dict();
         options.put("with_header", new GenericType(true));
 
-        f.generate("fun2",options);
-
-
+        f.generate("fun2", options);
+
         // %% Ex 1.3
-        
+
         MX xx = MxStatic.sym("x", 2);
         MX yy = MxStatic.sym("y");
 
-        f = new Function("f", new StdVectorMX(new MX[]{xx, yy}),
-                              new StdVectorMX(new MX[]{MxStatic.minus(MxStatic.sqrt(xx),yy)}));
+        f = new Function("f", new StdVectorMX(new MX[] { xx, yy }),
+                new StdVectorMX(new MX[] { MxStatic.minus(MxStatic.sqrt(xx), yy) }));
 
-        f.generate("fun3",options);
+        f.generate("fun3", options);
 
         // % The function body (casadi_f0) changed a lot
         // % f_work changed
-
-
+
         // %% Ex 2.1
 
-        //TODO
-        /*qp = struct;
-        qp.h = Sparsity.dense(2, 2);
-        qp.a = Sparsity.dense(1,2);
-
-        f = conic("f","qrqp",qp);*/
+        // TODO
+        /*
+         * qp = struct;
+         * qp.h = Sparsity.dense(2, 2);
+         * qp.a = Sparsity.dense(1,2);
+         * 
+         * f = conic("f","qrqp",qp);
+         */
         f.generate("fun21", options);
 
-        //TODO
-        //StdVectorDM args_1 = new StdVectorDM(new DM[]{new DM(posi_val), new DM(posi_des_val)});
+        // TODO
+        // StdVectorDM args_1 = new StdVectorDM(new DM[]{new DM(posi_val), new
+        // DM(posi_des_val)});
 
         StdVectorMX result = new StdVectorMX();
         // Funktionaufruf mit symbolischem Argument
-        //TODO
-	//f.call(args1, result);
-        
-        //f("h",[1,0.3;0.3,7],"g",[2;3],"a",[1;2],"lba",-1,"uba",1)
+        // TODO
+        // f.call(args1, result);
+
+        // f("h",[1,0.3;0.3,7],"g",[2;3],"a",[1;2],"lba",-1,"uba",1)
 
-
         // %% Ex 2.2
-
-        //TODO
-        //f = conic("f","osqp",qp);
-        f.generate("fun22",options);
 
-        //TODO
+        // TODO
+        // f = conic("f","osqp",qp);
+        f.generate("fun22", options);
+
+        // TODO
         // das sollte sich mit java-board-Mitteln implementieren lassen
-
-        /*fileID = fopen("common.sh","w");
-        fprintf(fileID,"LIBDIR=''%s''\n",GlobalOptions.getCasadiPath());
-        fprintf(fileID,"INCDIR=''%s''\n",GlobalOptions.getCasadiIncludePath());
-        fclose(fileID);
-
-        fileID = fopen("common.bat","w");
-        fprintf(fileID,"set LIBDIR=%s\n",GlobalOptions.getCasadiPath());
-        fprintf(fileID,"set INCDIR=%s\n",GlobalOptions.getCasadiIncludePath());
-        fclose(fileID);*/
+
+        /*
+         * fileID = fopen("common.sh","w");
+         * fprintf(fileID,"LIBDIR=''%s''\n",GlobalOptions.getCasadiPath());
+         * fprintf(fileID,"INCDIR=''%s''\n",GlobalOptions.getCasadiIncludePath());
+         * fclose(fileID);
+         * 
+         * fileID = fopen("common.bat","w");
+         * fprintf(fileID,"set LIBDIR=%s\n",GlobalOptions.getCasadiPath());
+         * fprintf(fileID,"set INCDIR=%s\n",GlobalOptions.getCasadiIncludePath());
+         * fclose(fileID);
+         */
+
+        // Examples from https://web.casadi.org/docs/#generating-c-code
+        // 5.1 Syntax for generating code
+        SX x1 = SxStatic.sym("x");
+        SX y1 = SxStatic.sym("y");
+
+        Function f1 = new Function("f", new StdVectorSX(new SX[] { x1 }),
+                new StdVectorSX(new SX[] { SxStatic.sin(x1) }));
+        Function g1 = new Function("g", new StdVectorSX(new SX[] { y1 }),
+                new StdVectorSX(new SX[] { SxStatic.cos(y1) }));
+        Dict options1 = new Dict();
+        options1.put("with_header", new GenericType(true));
+        CodeGenerator C = new CodeGenerator("gen.c", options1);
+        C.add(f1);
+        C.add(g1);
+        C.generate();
+
+        // Compile c code to shared library (gen.so) using gcc
+        try {
+            ProcessBuilder pb = new ProcessBuilder("gcc", "-shared", "-fPIC", "-o", "gen.so", "gen.c");
+            Process process = pb.start();
+            process.waitFor();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        // 5.2 Using the generated code (external function and JIT compilation)
+        long startTime = System.nanoTime();
+        Function fLoaded = CoreWrapper.external("f", "./gen.so").getCasADiObject();
+        StdVectorDM arg = new StdVectorDM(new DM[]{new DM(3.14)});
+        StdVectorDM res = new StdVectorDM();
+	    fLoaded.call(arg, res);
+        long endTime = System.nanoTime();
+        System.out.println("Time taken to load and call f: " + (endTime - startTime) + " nanoseconds");
+        System.out.println("fLoaded(3.14)="+res.toString()); // f(3.14)=[0.00159265]
+
+        Function gLoaded = CoreWrapper.external("g", "./gen.so").getCasADiObject();
+        gLoaded.call(arg, res);
+        System.out.println("gLoaded(3.14)="+res.toString()); // g(3.14)=[-0.999999]
+
+        startTime = System.nanoTime();
+        Importer cImporter = new Importer("gen.c", "shell"); // compiler can be "shell" or "clang" (CasADi distributed, but not working for JCasADi yet (2026-05-13))
+        Function fJIT = CoreWrapper.external("f", cImporter).getCasADiObject();
+        fJIT.call(arg, res);
+        endTime = System.nanoTime();
+        System.out.println("Time taken to JIT compile and call f: " + (endTime - startTime) + " nanoseconds");
+        System.out.println("fJIT(3.14)="+res.toString()); // f(3.14)=[0.00159265]
+
+        // Use another optimization for JIT compilation from (https://github.com/casadi/casadi/issues/1941#issuecomment-274793064)
+        Dict jitOptions = new Dict();
+        jitOptions.put("flags", new GenericType("-O3"));
+        startTime = System.nanoTime();
+        Importer cImporter2 = new Importer("gen.c", "shell", jitOptions);
+        Function fJIT2 = CoreWrapper.external("f", cImporter2).getCasADiObject();
+        fJIT2.call(arg, res);
+        endTime = System.nanoTime();
+        System.out.println("Time taken to JIT compile with -O3 and call f: " + (endTime - startTime) + " nanoseconds");
+        System.out.println("fJIT2(3.14)="+res.toString()); // f(3.14)=[0.00159265]
     }
 }

JCasADi_Maxima/src/main/java/de/dhbw/rahmlab/casadimaxima/api/DemoCodeGeneration.java

@@ -0,0 +1,101 @@
+package de.dhbw.rahmlab.casadimaxima.api;
+
+import de.dhbw.rahmlab.casadi.SxStatic;
+import de.dhbw.rahmlab.casadi.api.core.wrapper.CoreWrapper;
+import de.dhbw.rahmlab.casadi.impl.casadi.CodeGenerator;
+import de.dhbw.rahmlab.casadi.impl.casadi.DM;
+import de.dhbw.rahmlab.casadi.impl.casadi.Function;
+import de.dhbw.rahmlab.casadi.impl.casadi.GenericType;
+import de.dhbw.rahmlab.casadi.impl.casadi.Importer;
+import de.dhbw.rahmlab.casadi.impl.casadi.SX;
+import de.dhbw.rahmlab.casadi.impl.std.Dict;
+import de.dhbw.rahmlab.casadi.impl.std.StdVectorDM;
+import de.dhbw.rahmlab.casadi.impl.std.StdVectorSX;
+
+public class DemoCodeGeneration {
+
+    public static void main(String[] args) {
+
+        // 5.1 Syntax for generating code
+        SX x1 = SxStatic.sym("x");
+        SX y1 = SxStatic.sym("y");
+
+        Function f1 = new Function("f", new StdVectorSX(new SX[] { x1 }),
+                new StdVectorSX(new SX[] { SxStatic.sin(x1) }));
+        Function g1 = new Function("g", new StdVectorSX(new SX[] { y1 }),
+                new StdVectorSX(new SX[] { SxStatic.cos(y1) }));
+        Dict options1 = new Dict();
+        options1.put("with_header", new GenericType(true));
+        CodeGenerator C = new CodeGenerator("gen.c", options1);
+        C.add(f1);
+        C.add(g1);
+        C.generate();
+
+        // Compile c code to shared library (gen.so) using gcc
+        try {
+            ProcessBuilder pb = new ProcessBuilder("gcc", "-shared", "-fPIC", "-o", "gen.so", "gen.c");
+            Process process = pb.start();
+            process.waitFor();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        // 5.2 Using the generated code (external function and JIT compilation)
+        long startTime = System.nanoTime();
+        Function fLoaded = CoreWrapper.external("f", "./gen.so").getCasADiObject();
+        StdVectorDM arg = new StdVectorDM(new DM[] { new DM(3.14) });
+        StdVectorDM res = new StdVectorDM();
+        fLoaded.call(arg, res);
+        long endTime = System.nanoTime();
+        System.out.println("Time taken to load and call f: " + (endTime - startTime) + " nanoseconds");
+        System.out.println("fLoaded(3.14)=" + res.toString()); // f(3.14)=[0.00159265]
+
+        Function gLoaded = CoreWrapper.external("g", "./gen.so").getCasADiObject();
+        gLoaded.call(arg, res);
+        System.out.println("gLoaded(3.14)=" + res.toString()); // g(3.14)=[-0.999999]
+
+        startTime = System.nanoTime();
+        Importer cImporter = new Importer("gen.c", "shell");
+        Function fJIT = CoreWrapper.external("f", cImporter).getCasADiObject();
+        fJIT.call(arg, res);
+        endTime = System.nanoTime();
+        System.out.println("Time taken to JIT compile and call f: " + (endTime - startTime) + " nanoseconds");
+        System.out.println("fJIT(3.14)=" + res.toString()); // f(3.14)=[0.00159265]
+
+        Dict jitOptions = new Dict();
+        jitOptions.put("flags", new GenericType("-O3"));
+        startTime = System.nanoTime();
+        Importer cImporter2 = new Importer("gen.c", "shell", jitOptions);
+        Function fJIT2 = CoreWrapper.external("f", cImporter2).getCasADiObject();
+        fJIT2.call(arg, res);
+        endTime = System.nanoTime();
+        System.out.println("Time taken to JIT compile with -O3 and call f: " + (endTime - startTime) + " nanoseconds");
+        System.out.println("fJIT2(3.14)=" + res.toString()); // f(3.14)=[0.00159265]
+
+        // LaTeXify the symbolic expressions
+        long numberOfInputs = f1.n_in();
+        long numberOfOutputs = f1.n_out();
+        System.out.println("Function f has " + numberOfInputs + " input(s) and " + numberOfOutputs + " output(s).");
+        StdVectorSX fInSyms = f1.sx_in();
+        StdVectorSX fOutSyms = f1.sx_out();
+        SX[] fIns = new SX[10];
+        SX[] fOuts = new SX[10];
+        for (int i=0; i<f1.n_in() && i<10; i++) {
+            fIns[i] = fInSyms.get(0);
+            fOuts[i] = fOutSyms.get(0);
+        }
+
+        SX x = fIns[0];
+        SX sin = fOuts[0];
+
+        // TODO: Fix, because sin is only filled with placeholder by CasADi
+        // Function t = new Function("t", new StdVectorSX(new SX[]{x}), new StdVectorSX(new SX[]{sin}));
+        // t.call(arg, res);
+        // System.out.println(res.toString());
+
+        SX b1 = new SX(5,1);
+
+        System.out.println("LaTeX sin(x): " + MaximaLaTeXifier.LaTeXify(b1));
+
+    }
+}

README.md

@@ -30,6 +30,9 @@ Clone and build the Netbeans Maven project [JNativeLibLoader](https://github.com
 
 ## How to build
 Open and build the Netbeans Maven project `./JCasADi`.
+```bash
+mvn clean package
+```
 
 The deployable jar should now be in the following path: `./JCasADi/target/JCasADi-1.0-SNAPSHOT-jar-with-dependencies.jar`.