Merge branch 'release-3.6.0'

.github/workflows/compilers.yml

@@ -0,0 +1,95 @@
+name: compilers
+
+on: push
+
+env:
+  cache-suffix: v11
+  build_flags: "-DWITH_COMMON=OFF -DWITH_THREAD=ON -DWITH_WERROR=ON -DWITH_EXTRA_WARNINGS=ON"
+
+
+jobs:
+  linux-22_04:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        compiler: ['9','10','11','12']
+    steps:
+      - uses: actions/[email protected]
+      - name: Build
+        run: |
+          CC=gcc-${{ matrix.compiler }} FC=gfortran-${{ matrix.compiler }} CXX=g++-${{ matrix.compiler }} cmake -Bbuild -DWITH_SELFCONTAINED=ON ${{env.build_flags}} -H.
+          cmake --build build -v
+
+  linux-latest:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/[email protected]
+      - name: Build
+        run: |
+          cmake -Bbuild -DWITH_SELFCONTAINED=ON ${{env.build_flags}} -H.
+          cmake --build build -v
+
+  macos-latest:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/[email protected]
+      - name: Build
+        run: |
+          cmake -Bbuild -DWITH_SELFCONTAINED=ON ${{env.build_flags}} -H.
+          cmake --build build -v
+
+  macos-12:
+    runs-on: macos-12
+    steps:
+      - uses: actions/[email protected]
+      - name: Build
+        run: |
+          cmake -Bbuild -DWITH_SELFCONTAINED=ON ${{env.build_flags}} -H.
+          cmake --build build -v
+
+  macos-12-clang15:
+    runs-on: macos-12
+    steps:
+      - uses: actions/[email protected]
+      - name: Build
+        run: |
+          CC=$(brew --prefix llvm@15)/bin/clang FC=gfortran-11 CXX=$(brew --prefix llvm@15)/bin/clang++ cmake -Bbuild -DWITH_SELFCONTAINED=ON ${{env.build_flags}} -H.
+          cmake --build build -v
+
+  windows-2019:
+    runs-on: windows-2019
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: [x64,Win32]
+    steps:
+      - uses: actions/[email protected]
+      - name : Build
+        run: |
+            cmake -Bbuild -G "Visual Studio 16 2019" -A ${{ matrix.arch }} -DWITH_SELFCONTAINED=ON -DCMAKE_INSTALL_PREFIX=install
+            cmake --build build --target install --config Release -v
+
+  windows-2022:
+    runs-on: windows-2022
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: [x64,Win32]
+    steps:
+      - uses: actions/[email protected]
+      - name : Build
+        run: |
+            cmake -Bbuild -G "Visual Studio 17 2022" -A ${{ matrix.arch }} -DWITH_SELFCONTAINED=ON -DCMAKE_INSTALL_PREFIX=install
+            cmake --build build --target install --config Release -v
+            
+  windows-latest-mingw:
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/[email protected]
+      - name : Build
+        run: |
+            cmake -Bbuild -G "MinGW Makefiles" -DWITH_SELFCONTAINED=ON -DCMAKE_INSTALL_PREFIX=install ${{env.build_flags}}
+            cmake --build build --target install --config Release -v

.github/workflows/compilers.yml-old

@@ -0,0 +1,158 @@
+name: compilers (experimental)
+
+on: push
+
+env:
+  cache-suffix: v11
+  build_flags: "-DWITH_COMMON=OFF -DWITH_BUILD_REQUIRED=ON -DWITH_BUILD_BONMIN=ON -DWITH_BONMIN=ON -DWITH_IPOPT=ON -DWITH_BUILD_LAPACK=ON -DWITH_LAPACK=ON -DWITH_MUMPS=ON -DWITH_CLP=ON -DWITH_CBC=ON -DWITH_THREAD=ON"
+
+
+jobs:
+  core-osx_amd:
+    if: false
+    runs-on: macos-11
+    env:
+      FC: gfortran-11
+    steps:
+      - uses: actions/[email protected]
+      - name: Cache build dir
+        uses: actions/cache@v2
+        with:
+          key: core-build-osx_amd-${{env.cache-suffix}}
+          path: build
+      - name: Build
+        run: |
+          cmake -Bbuild -DWITH_SELFCONTAINED=ON ${{env.build_flags}} -H.
+          cmake --build build -v
+      - run: zip -rq ${{github.job}}-${{matrix.image}}.zip build
+      - uses: actions/[email protected]
+        with:
+          name: ${{ github.job }}-${{matrix.image}}
+          path: ${{ github.job }}-${{matrix.image}}.zip
+          retention-days: 5
+
+  frontend_matlab-manylinux1_x86_64:
+    needs: [core-dockcross,swig]
+    runs-on: ubuntu-20.04
+    steps:
+      - run: echo "hello"
+
+  linux-python:
+    needs: [interfaces-manylinux1_x86_64,python-dockcross]
+    runs-on: ubuntu-20.04
+    steps:
+    - run: echo "hello"
+
+
+
+  core-windows:
+    runs-on: windows-latest
+    if: false
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: [x64,Win32]
+    steps:
+      - uses: actions/[email protected]
+      - name : Build
+        run: |
+            cmake -Bbuild -G "Visual Studio 16 2019" -A ${{ matrix.arch }} -DWITH_SELFCONTAINED=ON -DCMAKE_INSTALL_PREFIX=install
+            cmake --build build --target install --config Release -v
+
+      - uses: actions/[email protected]
+        with:
+          name: ${{ github.job }}-${{ matrix.arch }}
+          path: build
+          retention-days: 5
+
+      - name: Build
+        run: |
+          cmake -Bbuild -G "Visual Studio 16 2019" -A ${{ matrix.arch }} -DWITH_SELFCONTAINED=ON -USWIG_IMPORT
+          cmake --build build --config Release -v
+      - run: echo "hello"
+
+  frontend_python-windows:
+    runs-on: windows-latest
+    if: false
+    needs: [swig,core-windows]
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: [x64,Win32]
+        py2: ["27","35","36","37","38","39","310"]
+    steps:
+      - id: get-id
+        uses: actions/[email protected]
+        env:
+          py2: "${{ matrix.py2 }}"
+        with:
+          result-encoding: string
+          script: |
+            const { py2 } = process.env;
+            const major = py2.substr(0,1);
+            const minor = py2.substr(1);
+            core.setOutput('pydot2', major+"."+minor)
+      - run: echo "${{steps.get-id.outputs.pydot2}}"
+      - uses: actions/download-artifact@v2
+        with:
+          name: casadi_source_wrapper
+      - name: Unpack source
+        run: unzip casadi_source.zip
+      - uses: actions/download-artifact@v2
+        with:
+          name: core-windows-${{ matrix.arch }}
+          path: build
+      - name: Setup Python
+        uses: actions/[email protected]
+        with:
+          python-version: ${{steps.get-id.outputs.pydot2}}
+      - name: Build
+        run: |
+          cmake -Bbuild -G "Visual Studio 16 2019" -A ${{ matrix.arch }} -DWITH_PYTHON=ON -USWIG_IMPORT -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
+          cmake --build build --target install --config Release -v
+      - name: (windows only) copy dlls
+        run: ./dockcross bash -c "cp /usr/src/mxe/usr/\$CROSS_TRIPLE/bin/*.dll install/casadi"
+      - uses: actions/[email protected]
+        with:
+          name: ${{ github.job }}-${{ matrix.arch}}-py${{ matrix.py2}}
+          path: install
+          retention-days: 5
+
+  windows_matlab:
+    runs-on: windows-2016
+    needs: swig
+    if: false
+    env:
+      bitness: 64
+      compiler: vs2017
+
+
+    steps:
+    - uses: actions/download-artifact@v2
+      with:
+        name: casadi_source_wrapper
+
+    - uses: meco-group/mockups@master
+      with:
+        tag: win${{ENV.bitness}}_${{ENV.compiler}}
+
+    - name: Unpack source
+      run: unzip casadi_source.zip
+
+    - name: Dir source
+      run: echo ${{ENV.MATLAB_ROOT}}
+
+    - name : cmake
+      run: |
+          cmake -B ${{github.workspace}}/build -G "Visual Studio 15 2017" -A x64 -DWITH_SELFCONTAINED=ON -DWITH_MATLAB=ON -DMATLAB_ROOT=${{ENV.MATLAB_ROOT}} -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
+          cmake --build ${{github.workspace}}/build --target install --config Release
+
+    - name: build archives
+      run: |
+        7z a ${{github.workspace}}/casadi_windows_matlab.zip ${{github.workspace}}/install/*
+
+    - uses: actions/[email protected]
+      with:
+        name: casadi_windows_matlab
+        path: ${{github.workspace}}/casadi_windows_matlab.zip
+

.github/workflows/dev-release.yml

@@ -11,4 +11,9 @@ jobs:
   dev-release:
     runs-on: ubuntu-latest
     steps:
-      - run: echo "foo"
+      - uses: robinraju/[email protected]
+        with: 
+          repository: "casadi/casadi"
+          tag: "nightly-${{ github.event.inputs.branch }}"
+          fileName: "*.whl"
+      - run: ls

.github/workflows/patch_toolchain

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+TOOLCHAIN=/usr/src/mxe/usr/x86_64-w64-mingw32.shared.posix/share/cmake/mxe-conf.cmake
+
+if test -f "$TOOLCHAIN"; then
+    echo "set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH)" | sudo tee -a $TOOLCHAIN
+fi
+
+"$@"

.github/workflows/style.yml

@@ -0,0 +1,28 @@
+name: style
+
+on: push
+
+jobs:
+  main:
+    runs-on: ubuntu-22.04
+
+    steps:
+
+    - uses: actions/[email protected]
+      with:
+        fetch-depth: 0 # for git-restore-mtime
+
+    - name: prepare
+      run: |
+        mkdir build
+        cd build
+        cmake -DWITH_LINT=ON -DWITH_CLANG_TIDY=ON ..
+    - name: lint
+      run: |
+        cd build
+        make lint
+    - name: clang-tidy
+      run: |
+        #cd build
+        #clang-tidy --version
+        #make clang-tidy

.gitignore

@@ -13,20 +13,74 @@ test/python/*.c
 
 # documentation
 docs/api/html
+docs/api/export
 docs/api/internal
 docs/api/XML
 docs/api/XML_internal
+docs/api/XML_cluttered
 docs/api/latex
+docs/example_pack
+docs/examples/python/*_fmu_unzipped
+docs/examples/python/modelica/*.xml
 docs/tutorials/cpp/casadi-doc
 docs/tutorials/cpp/casadi-doc.pdf
 docs/users_guide/casadi-users_guide
 docs/users_guide/temp
+docs/users_guide/snippets
 docs/examples/_temp*
 documentation/examples/ctemplate/compiler.sh
 documentation/examples/ctemplate/linker.sh
 
+test/htmlcov
+test/matlab/*.c
+test/matlab/ON
+test/matlab/OFF
 # joel
 experimental/joel/cuter/cuter_source
 experimental/joel/cuter/orfe.princeton.edu
 experimental/joel/cuter/cuter_selected
 external_packages/ColPack
+
+swig/*/target*
+
+*tmp*
+*temp*
+*.casadi
+*.mtx
+callgrind.out.*
+cachegrind.out.*
+codegen_*
+
+*BACKUP*
+*BASE*
+*LOCAL*
+*REMOTE*
+*.bak
+*.sancov
+*.prof
+*.pdf
+*.log
+*.run
+*.dot
+*.o
+*.cxx
+*.mat
+CMakeFiles
+*.mex*
+log*.txt
+*.in.txt
+*.out.txt
+*_in.txt
+*_out.txt
+*.mod
+mockups*
+*build*
+*coinhsl*
+*.whl
+*.zip
+dockcross*
+*debug*
+*_export.h
+*.deb
+*.tar.gz
+web

.gitmodules

@@ -1,15 +0,0 @@
-[submodule "external_packages/hpmpc/src"]
-	path = external_packages/hpmpc/src
-	url = https://github.com/jgillis/hpmpc.git
-[submodule "external_packages/blasfeo/src"]
-	path = external_packages/blasfeo/src
-	url = https://github.com/jgillis/blasfeo.git
-[submodule "external_packages/snopt-interface/snopt-interface"]
-	path = external_packages/snopt-interface/snopt-interface
-	url = https://github.com/snopt/snopt-interface.git
-[submodule "external_packages/osqp/osqp"]
-	path = external_packages/osqp/osqp
-	url = https://github.com/jgillis/osqp.git
-[submodule "external_packages/superscs"]
-	path = external_packages/superscs
-	url = https://github.com/jgillis/scs.git