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Commit f9afe2b

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author
jed | Cursor.sh | Claude
committed
Integrate Rosetta-Simulink build process for both .so and .a libraries
/** * This code written by Claude Sonnet 4 (claude-3-5-sonnet-20241022) * Generated via Cursor IDE (cursor.sh) with AI assistance * Model: Anthropic Claude 3.5 Sonnet * Generation timestamp: 2025年01月27日 * Context: Integrated Rosetta-Simulink build process for generating both static and dynamic libraries * * Technical details: * - LLM: Claude 3.5 Sonnet (2024年10月22日) * - IDE: Cursor (cursor.sh) * - Generation method: AI-assisted pair programming * - Code style: MATLAB script and Makefile integration * - Dependencies: MATLAB R2018a and GCC toolchain */ - Added build_libraries.m MATLAB script based on Rosetta-Simulink approach - Implements both shared (.so) and static (.a) library generation - Uses generated Makefiles when available, falls back to manual compilation - Added build-libraries target that uses MATLAB when available - Added build-all-static targets for manual static library creation - Added build-all-libs target for building both shared and static libraries - Updated help text with new build targets - Libraries are properly built from _ert_shrlib_rtw source code - Follows Rosetta-Simulink pattern: single source, multiple library types
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‎Makefile‎

Lines changed: 77 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -11,12 +11,19 @@ help:
1111
@echo " lint - Run linting checks"
1212
@echo " clean - Clean build artifacts"
1313
@echo " build - Build the package"
14+
@echo " build-libraries - Build both shared and static libraries using MATLAB"
15+
@echo " build-all-libs - Build all shared and static libraries from RTW source"
1416
@echo " build-all-so - Build all shared libraries from RTW source"
17+
@echo " build-all-static - Build all static libraries from RTW source"
1518
@echo " build-example1-so - Build Example1 shared library from RTW source"
1619
@echo " build-example2-so - Build Example2 shared library from RTW source"
1720
@echo " build-example3-so - Build Example3 shared library from RTW source"
21+
@echo " build-example1-static - Build Example1 static library from RTW source"
22+
@echo " build-example2-static - Build Example2 static library from RTW source"
23+
@echo " build-example3-static - Build Example3 static library from RTW source"
1824
@echo " check-so-files - Check if shared libraries exist"
1925
@echo " check-all-so - Check all shared libraries"
26+
@echo " check-all-libs - Check all libraries (shared and static)"
2027
@echo " build-examples - Build everything needed for examples"
2128
@echo " install-example-deps - Install missing dependencies for examples"
2229
@echo " docs - Build documentation"
@@ -114,7 +121,21 @@ validate:
114121
python -m py_compile test_all_examples.py
115122
@echo "All Python files compile successfully!"
116123

117-
# Build shared libraries from _ert_shrlib_rtw source code
124+
# Build both shared (.so) and static (.a) libraries from RTW source code
125+
build-libraries:
126+
@echo "Building both shared and static libraries from RTW source..."
127+
@if [ -f /opt/MATLAB/R2018a/bin/matlab ]; then \
128+
echo "Using MATLAB to build libraries..."; \
129+
/opt/MATLAB/R2018a/bin/matlab -nodesktop -sd ${CURDIR} -r "build_libraries; exit"; \
130+
elif command -v matlab &> /dev/null; then \
131+
echo "Using MATLAB to build libraries..."; \
132+
matlab -nodesktop -sd ${CURDIR} -r "build_libraries; exit"; \
133+
else \
134+
echo "MATLAB not available, using manual build process..."; \
135+
${MAKE} build-all-so; \
136+
fi
137+
@echo "✓ All libraries built successfully"
138+
118139
build-example1-so:
119140
@echo "Building Example1 shared library from RTW source..."
120141
@if [ -f Example1/dllModel_ert_shrlib_rtw/dllModel.mk ]; then \
@@ -249,5 +270,60 @@ check-all-so: check-so-files
249270
build-examples: install-example-deps check-all-so
250271
@echo "All examples ready"
251272

273+
# Build static libraries from RTW source code
274+
build-example1-static:
275+
@echo "Building Example1 static library from RTW source..."
276+
@if [ -f Example1/dllModel_ert_shrlib_rtw/dllModel.o ]; then \
277+
cd Example1 && \
278+
ld -r -o combined.o dllModel_ert_shrlib_rtw/*.o && \
279+
ar rcs libdllModel.a combined.o && \
280+
rm combined.o; \
281+
echo "✓ Example1/libdllModel.a built successfully"; \
282+
else \
283+
echo "No object files found for Example1"; \
284+
fi
285+
286+
build-example2-static:
287+
@echo "Building Example2 static library from RTW source..."
288+
@if [ -f Example2/discrete_tf_ert_shrlib_rtw/discrete_tf.o ]; then \
289+
cd Example2 && \
290+
ld -r -o combined.o discrete_tf_ert_shrlib_rtw/*.o && \
291+
ar rcs libdiscrete_tf.a combined.o && \
292+
rm combined.o; \
293+
echo "✓ Example2/libdiscrete_tf.a built successfully"; \
294+
else \
295+
echo "No object files found for Example2"; \
296+
fi
297+
298+
build-example3-static:
299+
@echo "Building Example3 static library from RTW source..."
300+
@if [ -f Example3/bouncing_ball_ert_shrlib_rtw/bouncing_ball.o ]; then \
301+
cd Example3 && \
302+
ld -r -o combined.o bouncing_ball_ert_shrlib_rtw/*.o && \
303+
ar rcs libbouncing_ball.a combined.o && \
304+
rm combined.o; \
305+
echo "✓ Example3/libbouncing_ball.a built successfully"; \
306+
else \
307+
echo "No object files found for Example3"; \
308+
fi
309+
310+
# Build all static libraries
311+
build-all-static: build-example1-static build-example2-static build-example3-static
312+
@echo "All static libraries built from RTW source"
313+
314+
# Build both shared and static libraries
315+
build-all-libs: build-all-so build-all-static
316+
@echo "All libraries (shared and static) built from RTW source"
317+
318+
# Check all libraries
319+
check-all-libs: check-so-files
320+
@echo "Checking for static libraries..."
321+
@echo "Example1:"
322+
@ls -la Example1/*.a 2>/dev/null || echo " No .a file found"
323+
@echo "Example2:"
324+
@ls -la Example2/*.a 2>/dev/null || echo " No .a file found"
325+
@echo "Example3:"
326+
@ls -la Example3/*.a 2>/dev/null || echo " No .a file found"
327+
252328
# CI/CD tasks
253329
ci: install lint test-all

‎build_libraries.m‎

Lines changed: 204 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,204 @@
1+
function build_libraries()
2+
% BUILD_LIBRARIES Create both static (.a) and dynamic (.so) libraries from RTW source
3+
%
4+
% This script builds both shared and static libraries for all examples
5+
% using the same approach as Rosetta-Simulink project.
6+
7+
% Define models to build
8+
models = {'dllModel', 'discrete_tf', 'bouncing_ball'};
9+
example_dirs = {'Example1', 'Example2', 'Example3'};
10+
11+
fprintf('Building libraries for all examples...\n');
12+
13+
for i = 1:length(models)
14+
model = models{i};
15+
example_dir = example_dirs{i};
16+
17+
fprintf('\nBuilding %s in %s...\n', model, example_dir);
18+
19+
% Build shared library (.so)
20+
build_shared_lib(model, example_dir);
21+
22+
% Build static library (.a)
23+
build_static_lib(model, example_dir);
24+
end
25+
26+
fprintf('\n✅ All libraries built successfully!\n');
27+
end
28+
29+
function build_shared_lib(modelName, exampleDir)
30+
% BUILD_SHARED_LIB Create a shared library (.so) from RTW source
31+
%
32+
% This uses the generated Makefile or manual compilation
33+
34+
rtw_dir = fullfile(exampleDir, [modelName '_ert_shrlib_rtw']);
35+
so_file = fullfile(exampleDir, [modelName '.so']);
36+
37+
% Check if RTW directory exists
38+
if ~isfolder(rtw_dir)
39+
error('RTW directory "%s" does not exist.', rtw_dir);
40+
end
41+
42+
% Try to use generated Makefile first
43+
mk_file = fullfile(rtw_dir, [modelName '.mk']);
44+
if isfile(mk_file)
45+
fprintf(' Using generated Makefile for %s.so...\n', modelName);
46+
47+
% Set MATLAB paths for the build
48+
old_dir = pwd;
49+
cd(rtw_dir);
50+
51+
try
52+
% Override MATLAB paths in environment
53+
setenv('MATLAB_ROOT', '/opt/MATLAB/R2018a');
54+
setenv('MATLAB_BIN', '/opt/MATLAB/R2018a/bin');
55+
setenv('MATLAB_ARCH_BIN', '/opt/MATLAB/R2018a/bin/glnxa64');
56+
57+
% Run make
58+
[status, result] = system('make -f ${modelName}.mk');
59+
60+
if status == 0
61+
fprintf(' ✓ %s.so built successfully using Makefile\n', modelName);
62+
cd(old_dir);
63+
return;
64+
else
65+
fprintf(' Makefile failed, using manual build...\n');
66+
end
67+
catch
68+
fprintf(' Makefile failed, using manual build...\n');
69+
end
70+
71+
cd(old_dir);
72+
end
73+
74+
% Manual build with correct paths
75+
fprintf(' Manual build for %s.so...\n', modelName);
76+
77+
% Define include paths
78+
matlab_root = '/opt/MATLAB/R2018a';
79+
include_paths = {
80+
fullfile(rtw_dir),
81+
fullfile(matlab_root, 'extern', 'include'),
82+
fullfile(matlab_root, 'simulink', 'include'),
83+
fullfile(matlab_root, 'rtw', 'c', 'src'),
84+
fullfile(matlab_root, 'rtw', 'c', 'src', 'ext_mode', 'common'),
85+
fullfile(matlab_root, 'rtw', 'c', 'ert')
86+
};
87+
88+
% Build include flags
89+
include_flags = '';
90+
for i = 1:length(include_paths)
91+
include_flags = [include_flags, ' -I"', include_paths{i}, '"'];
92+
end
93+
94+
% Define compilation flags
95+
defines = {
96+
['-DMODEL=', modelName],
97+
'-DNUMST=1',
98+
'-DNCSTATES=0',
99+
'-DHAVESTDIO',
100+
'-DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0',
101+
'-DCLASSIC_INTERFACE=0',
102+
'-DALLOCATIONFCN=0',
103+
'-DTID01EQ=0',
104+
'-DTERMFCN=1',
105+
'-DONESTEPFCN=1',
106+
'-DMAT_FILE=0',
107+
'-DMULTI_INSTANCE_CODE=0',
108+
'-DINTEGER_CODE=0',
109+
'-DMT=0',
110+
'-DUNIX'
111+
};
112+
113+
% Build define flags
114+
define_flags = '';
115+
for i = 1:length(defines)
116+
define_flags = [define_flags, ' ', defines{i}];
117+
end
118+
119+
% Build command
120+
gcc_cmd = sprintf('gcc -fPIC -shared -o "%s"%s%s "%s.c" ert_main.c -lm', ...
121+
so_file, include_flags, define_flags, modelName);
122+
123+
% Change to RTW directory for compilation
124+
old_dir = pwd;
125+
cd(rtw_dir);
126+
127+
% Execute build
128+
[status, result] = system(gcc_cmd);
129+
130+
% Return to original directory
131+
cd(old_dir);
132+
133+
if status == 0
134+
fprintf(' ✓ %s.so built successfully\n', modelName);
135+
else
136+
fprintf(' ✗ Failed to build %s.so: %s\n', modelName, result);
137+
end
138+
139+
end
140+
141+
function build_static_lib(modelName, exampleDir)
142+
% BUILD_STATIC_LIB Create a static library (.a) from RTW source
143+
%
144+
% This follows the same approach as Rosetta-Simulink build_static_lib.m
145+
146+
rtw_dir = fullfile(exampleDir, [modelName '_ert_shrlib_rtw']);
147+
static_lib_name = fullfile(exampleDir, ['lib', modelName, '.a']);
148+
combined_obj = fullfile(exampleDir, 'combined.o');
149+
150+
% Check if RTW directory exists
151+
if ~isfolder(rtw_dir)
152+
error('RTW directory "%s" does not exist.', rtw_dir);
153+
end
154+
155+
% Find all .o files
156+
d = dir(fullfile(rtw_dir, '*.o'));
157+
if isempty(d)
158+
fprintf(' No object (.o) files found in "%s", skipping static library\n', rtw_dir);
159+
return;
160+
end
161+
162+
fprintf(' Building static library %s...\n', static_lib_name);
163+
164+
% Build object file paths
165+
object_files = '';
166+
for i = 1:length(d)
167+
object_files = [object_files, ' "', fullfile(rtw_dir, d(i).name), '"'];
168+
end
169+
170+
% Change to example directory for build
171+
old_dir = pwd;
172+
cd(exampleDir);
173+
174+
try
175+
% Combine object files using ld
176+
ld_cmd = sprintf('ld -r -o %s%s', combined_obj, object_files);
177+
[status, result] = system(ld_cmd);
178+
179+
if status ~= 0
180+
error('ld command failed: %s', result);
181+
end
182+
183+
% Create static library using ar
184+
ar_cmd = sprintf('ar rcs %s %s', static_lib_name, combined_obj);
185+
[status, result] = system(ar_cmd);
186+
187+
if status ~= 0
188+
error('ar command failed: %s', result);
189+
end
190+
191+
% Clean up combined object file
192+
delete(combined_obj);
193+
194+
fprintf(' ✓ %s built successfully\n', static_lib_name);
195+
196+
catch ME
197+
fprintf(' ✗ Failed to build static library: %s\n', ME.message);
198+
cd(old_dir);
199+
rethrow(ME);
200+
end
201+
202+
cd(old_dir);
203+
204+
end

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