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Compiling Clarabel.cpp in larger CMake project #72

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df92c52
add include directories explicitly
FreyJo Mar 28, 2024
cee39e2
make building example optional
FreyJo Mar 28, 2024
511019d
allow setting CLARABEL_C_OUTPUT_DIR from outside
FreyJo Mar 28, 2024
385148f
use PROJECT_SOURCE_DIR instead of CMAKE_PROJECT_DIR
FreyJo Apr 2, 2024
49775dd
copy lib to CLARABEL_C_OUTPUT_DIR
FreyJo Apr 2, 2024
cf01ad1
this works with acados
FreyJo Jul 25, 2024
c73eb64
fix merge artifact
FreyJo Jul 4, 2025
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21 changes: 20 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,12 @@ set(CLARABEL_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
#----------------------------------------------
# Clarabel feature configuration
#----------------------------------------------

# Include directories
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/c)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

# SDP feature configuration
set(CLARABEL_FEATURE_SDP "none" CACHE STRING "Package for SDP to be selected")
set_property(CACHE CLARABEL_FEATURE_SDP PROPERTY STRINGS
none
Expand Down Expand Up @@ -56,11 +62,24 @@ endif()
add_subdirectory(rust_wrapper)

# Add other subdirectories
add_subdirectory(examples)
option(CLARABEL_BUILD_EXAMPLES "Build examples for Clarabel.cpp" true)
if(CLARABEL_BUILD_EXAMPLES)
add_subdirectory(examples)
endif()

# Add tests
option(CLARABEL_BUILD_TESTS "Build the unit tests for Clarabel.cpp" false)
if(CLARABEL_BUILD_TESTS)
enable_testing()
add_subdirectory(tests)
endif()


message(STATUS "Clarabel.cpp: CMAKE_INSTALL_LIBDIR = ${CMAKE_INSTALL_LIBDIR}")
message(STATUS "Clarabel.cpp: LIBRARY = ${LIBRARY}")
message(STATUS "Clarabel.cpp: PROJECT_NAME = ${PROJECT_NAME}")
install(TARGETS libclarabel_c_shared EXPORT ${PROJECT_NAME}
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
)

install(EXPORT ${PROJECT_NAME} DESTINATION cmake)
70 changes: 47 additions & 23 deletions rust_wrapper/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,20 @@ add_library(libclarabel_c_shared INTERFACE)
# Debug/Release flags
if(CMAKE_BUILD_TYPE MATCHES Release)
set(clarabel_c_build_flags "--release")
set(clarabel_c_output_directory "${CLARABEL_ROOT_DIR}/rust_wrapper/target/release")
set(clarabel_c_output_directory "${CMAKE_PROJECT_DIR}/rust_wrapper/target/release")
else()
set(clarabel_c_build_flags "")
set(clarabel_c_output_directory "${CLARABEL_ROOT_DIR}/rust_wrapper/target/debug")
set(clarabel_c_output_directory "${CMAKE_PROJECT_DIR}/rust_wrapper/target/debug")
endif()

if (CLARABEL_C_OUTPUT_DIR)
message(STATUS "using CLARABEL_C_OUTPUT_DIR ${CLARABEL_C_OUTPUT_DIR}")
else()
set(CLARABEL_C_OUTPUT_DIR ${clarabel_c_output_directory} PARENT_SCOPE)
set(CLARABEL_C_OUTPUT_DIR ${clarabel_c_output_directory})
message(STATUS "setting CLARABEL_C_OUTPUT_DIR to ${clarabel_c_output_directory}")
endif()

set(CLARABEL_C_OUTPUT_DIR ${clarabel_c_output_directory} PARENT_SCOPE)

if(NOT DEFINED CLARABEL_CARGO_FEATURES)
set(CLARABEL_CARGO_FEATURES "")
Expand Down Expand Up @@ -108,6 +115,8 @@ endif()

rust_features_has_sdp(CONFIG_SDP)
if(CONFIG_SDP)
# Set the Rust feature flag
set(clarabel_c_build_flags "${clarabel_c_build_flags};--features;${CLARABEL_FEATURE_SDP}")
# Define the FEATURE_SDP flag for all targets that link against clarabel_c
target_compile_definitions(libclarabel_c_static INTERFACE FEATURE_SDP)
target_compile_definitions(libclarabel_c_shared INTERFACE FEATURE_SDP)
Expand Down Expand Up @@ -165,35 +174,48 @@ message("-- Cargo options: " "${clarabel_c_build_flags}")
# -------------------------------------
# -------------------------------------

# Add the cargo project as a custom target
add_custom_target(
libclarabel_c
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
# Commands for building the Rust library
COMMAND cargo build ${clarabel_c_build_flags}
COMMAND cargo install cbindgen --version 0.24.5
# Generate the C header
COMMAND cbindgen --config cbindgen.toml --crate clarabel_c --output ./headers/clarabel.h --lang c
# Generate the C++ header
COMMAND cbindgen --config cbindgen.toml --crate clarabel_c --output ./headers/clarabel.hpp
COMMAND cp ${PROJECT_SOURCE_DIR}/target/release/lib* ${CLARABEL_C_OUTPUT_DIR}
)

# Get the path to the Rust library for linking
if(APPLE)
set(LIBCLARABEL_C_SHARED_PATH "${clarabel_c_output_directory}/libclarabel_c.dylib")
set(LIBCLARABEL_C_STATIC_PATH "${clarabel_c_output_directory}/libclarabel_c.a")
set(LIBCLARABEL_C_SHARED_PATH "${CLARABEL_C_OUTPUT_DIR}/libclarabel_c.dylib")
set(LIBCLARABEL_C_STATIC_PATH "${CLARABEL_C_OUTPUT_DIR}/libclarabel_c.a")
elseif(UNIX)
set(LIBCLARABEL_C_SHARED_PATH "${clarabel_c_output_directory}/libclarabel_c.so")
set(LIBCLARABEL_C_STATIC_PATH "${clarabel_c_output_directory}/libclarabel_c.a")
set(LIBCLARABEL_C_SHARED_PATH "${CLARABEL_C_OUTPUT_DIR}/libclarabel_c.so")
set(LIBCLARABEL_C_STATIC_PATH "${CLARABEL_C_OUTPUT_DIR}/libclarabel_c.a")
elseif(WIN32)
set(LIBCLARABEL_C_SHARED_PATH "${clarabel_c_output_directory}/clarabel_c.dll.lib")
set(LIBCLARABEL_C_STATIC_PATH "${clarabel_c_output_directory}/clarabel_c.lib")
set(LIBCLARABEL_C_SHARED_PATH "${CLARABEL_C_OUTPUT_DIR}/clarabel_c.dll.lib")
set(LIBCLARABEL_C_STATIC_PATH "${CLARABEL_C_OUTPUT_DIR}/clarabel_c.lib")
endif()


# Add the cargo project as a custom target
add_custom_target(
libclarabel_c
WORKING_DIRECTORY ${CLARABEL_ROOT_DIR}/rust_wrapper
# Commands for building the Rust library
COMMAND cargo build ${clarabel_c_build_flags}
COMMAND cargo install cbindgen
# Generate the C header
COMMAND cbindgen --config cbindgen.toml --quiet --crate clarabel_c --output ./headers/clarabel.h --lang c
# Generate the C++ header
COMMAND cbindgen --config cbindgen.toml --quiet --crate clarabel_c --output ./headers/clarabel.hpp
BYPRODUCTS
"${LIBCLARABEL_C_SHARED_PATH}"
"${LIBCLARABEL_C_STATIC_PATH}"
)
# add_custom_target(
# libclarabel_c
# WORKING_DIRECTORY ${CLARABEL_ROOT_DIR}/rust_wrapper
# # Commands for building the Rust library
# COMMAND cargo build ${clarabel_c_build_flags}
# COMMAND cargo install cbindgen
# # Generate the C header
# COMMAND cbindgen --config cbindgen.toml --quiet --crate clarabel_c --output ./headers/clarabel.h --lang c
# # Generate the C++ header
# COMMAND cbindgen --config cbindgen.toml --quiet --crate clarabel_c --output ./headers/clarabel.hpp
# BYPRODUCTS
# "${LIBCLARABEL_C_SHARED_PATH}"
# "${LIBCLARABEL_C_STATIC_PATH}"
# )


# Wrap the Rust library in a CMake library target
Expand All @@ -207,3 +229,5 @@ add_dependencies(libclarabel_c_static libclarabel_c)
target_link_libraries(libclarabel_c_shared INTERFACE ${LIBCLARABEL_C_SHARED_PATH})
target_include_directories(libclarabel_c_shared INTERFACE ${CLARABEL_ROOT_DIR}/include)
add_dependencies(libclarabel_c_shared libclarabel_c)

install(FILES "${CLARABEL_C_OUTPUT_DIR}/libclarabel_c.so" DESTINATION "lib")