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Issues with building the casadi and BTK dependency
This issue have been edited since the first submission. After more testing and with the newer version, the following is now the issue:
This has been run on Arch Linux, kernel: 5.18.14-arch1-1 gcc: 12.1.0 Swig: 4.0.2
First off, when selecting everything at the first cmake-gui step (the dependencies step), it was not possible to build the BTK and casadi package. In the case of casadi, I assume it has something to do with ipopt not being compiled properly. This is the error:
In file included from /home/william/Software/opensim-core-source/dependencies/casadi/casadi/interfaces/ipopt/ipopt_interface.cpp:28: /home/william/Software/opensim-core-source/dependencies/casadi/casadi/interfaces/ipopt/ipopt_nlp.hpp:29:10: fatal error: IpTNLP.hpp: No such file or directory 29 | #include <IpTNLP.hpp> | ^~~~~~~~~~~~ compilation terminated. make[5]: *** [casadi/interfaces/ipopt/CMakeFiles/casadi_nlpsol_ipopt.dir/build.make:76: casadi/interfaces/ipopt/CMakeFiles/casadi_nlpsol_ipopt.dir/ipopt_interface.cpp.o] Error 1 make[4]: *** [CMakeFiles/Makefile2:650: casadi/interfaces/ipopt/CMakeFiles/casadi_nlpsol_ipopt.dir/all] Error 2 make[3]: *** [Makefile:156: all] Error 2 make[2]: *** [CMakeFiles/casadi.dir/build.make:86: casadi/stamp/casadi-build] Error 2 make[1]: *** [CMakeFiles/Makefile2:251: CMakeFiles/casadi.dir/all] Error 2 make: *** [Makefile:91: all] Error 2
Although it was possible to compile the casadi package manually running make casadi before the full make command. I wonder if could have something to do with different packages relying on ipopt? Perhaps they use different naming (ipopt/Ipopt/IPOPT). Running make BTK starts a compilation, but is not able to finish due to many errors:
from /home/william/Software/opensim-core-source/dependencies/BTK/Code/IO/btkMDFFileIO.cpp:37: /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinaryStructure.h:32:112: error: ISO C++17 does not allow dynamic exception specifications 32 | void GetFieldOffset(BinaryFieldSpec const*& spec, size_t& offset, const char* fieldname) const throw(NoSuchFieldException); | ^~~~~
In file included from /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/EventGroup.h:12, from /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/Trial.h:12: /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:34:148: error: ISO C++17 does not allow dynamic exception specifications 34 | tic const DataType* GetFieldPointer(const RichBinary& bin, const char* fieldname, size_t dimension) throw(NoSuchFieldException) | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:163:87: error: ISO C++17 does not allow dynamic exception specifications 163 | BinConstIter1(const RichBinary& bin, const char* fieldA, size_t dimA) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:194:77: error: ISO C++17 does not allow dynamic exception specifications 194 | BinIter1(RichBinary& bin, const char* fieldA, size_t dimA) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:208:120: error: ISO C++17 does not allow dynamic exception specifications 208 | ConstIter2(const RichBinary& bin, const char* fieldA, size_t dimA, const char* fieldB, size_t dimB) throw(NoSuchFieldException) : | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:241:115: error: ISO C++17 does not allow dynamic exception specifications 241 | BinIter2(const RichBinary& bin, const char* fieldA, size_t dimA, const char* fieldB, size_t dimB) throw(NoSuchFieldException) : | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:257:153: error: ISO C++17 does not allow dynamic exception specifications 257 | const char* fieldA, size_t dimA, const char* fieldB, size_t dimB, const char* fieldC, size_t dimC) throw(NoSuchFieldException) : | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/OpenORM/Mappings/RichBinary/BinIter.h:290:148: error: ISO C++17 does not allow dynamic exception specifications 290 | const char* fieldA, size_t dimA, const char* fieldB, size_t dimB, const char* fieldC, size_t dimC) throw(NoSuchFieldException) : | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileHandler.h:40:181: error: ISO C++17 does not allow dynamic exception specifications 40 | & formatlist = MotionFileFormatListAll(), const BinMemFactory& memfactory = BinMemFactoryDefault()) throw(MotionFileException); | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileHandler.h:43:177: error: ISO C++17 does not allow dynamic exception specifications 43 | & formatlist = MotionFileFormatListAll(), const BinMemFactory& memfactory = BinMemFactoryDefault()) throw(MotionFileException); | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileHandler.h:46:176: error: ISO C++17 does not allow dynamic exception specifications 46 | const TreeValue* writeoptions, const MotionFileFormatList& formatlist = MotionFileFormatListAll()) throw(MotionFileException); | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileHandler.h:49:194: error: ISO C++17 does not allow dynamic exception specifications 49 | const TreeValue* writeoptions, const MotionFileFormatList& formatlist = MotionFileFormatListAll()) throw(MotionFileException); | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileFormat.h:64:107: error: ISO C++17 does not allow dynamic exception specifications 64 | rtual bool Probe(const MotionFileHandler& context, TreeValue*& readoptions, std::istream& is) const throw(MotionFileException) = 0; | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileFormat.h:67:150: error: ISO C++17 does not allow dynamic exception specifications 67 | er& context, std::istream& is, const BinMemFactory& memfactory, const TreeValue* readoptions) const throw(MotionFileException) = 0; | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/MotionFileFormat.h:70:140: error: ISO C++17 does not allow dynamic exception specifications 70 | Handler& context, const TreeValue* contents, std::ostream& os, const TreeValue* writeoptions) const throw(MotionFileException) = 0; | ^~~~~
In file included from /home/william/Software/opensim-core-source/dependencies/BTK/Code/IO/btkCodamotionFileIOUtils_p.h:48: /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:54:59: error: ISO C++17 does not allow dynamic exception specifications 54 | TSScalarConstIter(const TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:67:48: error: ISO C++17 does not allow dynamic exception specifications 67 | TSScalarIter(TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:80:68: error: ISO C++17 does not allow dynamic exception specifications 80 | TSVector3ConstIter(const TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:93:49: error: ISO C++17 does not allow dynamic exception specifications 93 | TSVector3Iter(TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:106:71: error: ISO C++17 does not allow dynamic exception specifications 106 | TSOccVector3ConstIter(const TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:122:52: error: ISO C++17 does not allow dynamic exception specifications 122 | TSOccVector3Iter(TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:138:56: error: ISO C++17 does not allow dynamic exception specifications 138 | TSOccConstIter(const TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:151:45: error: ISO C++17 does not allow dynamic exception specifications 151 | TSOccIter(TimeSequence& ts) throw(NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:164:87: error: ISO C++17 does not allow dynamic exception specifications 164 | TSOccMatrix3x3ConstIter(const Open3DMotion::TimeSequence& ts) throw(Open3DMotion::NoSuchFieldException) : | ^~~~~ /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/Biomechanics/Trial/TSFactory.h:180:76: error: ISO C++17 does not allow dynamic exception specifications 180 | TSOccMatrix3x3Iter(Open3DMotion::TimeSequence& ts) throw(Open3DMotion::NoSuchFieldException) : | ^~~~~ In file included from /home/william/Software/opensim-core-source/dependencies/BTK/Code/IO/btkMDFFileIO.cpp:40: /home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/Formats/MDF/FileFormatMDF.h:70:107: error: ISO C++17 does not allow dynamic exception specifications 70 | rtual bool Probe(const MotionFileHandler& context, TreeValue*& readoptions, std::istream& is) const throw(MotionFileException); | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/Formats/MDF/FileFormatMDF.h:73:150: error: ISO C++17 does not allow dynamic exception specifications 73 | er& context, std::istream& is, const BinMemFactory& memfactory, const TreeValue* readoptions) const throw(MotionFileException) ; | ^~~~~
/home/william/Software/opensim-core-source/dependencies/BTK/Utilities/Open3DMotion/src/Open3DMotion/MotionFile/Formats/MDF/FileFormatMDF.h:76:140: error: ISO C++17 does not allow dynamic exception specifications 76 | Handler& context, const TreeValue* contents, std::ostream& os, const TreeValue* writeoptions) const throw(MotionFileException); | ^~~~~
make[6]: *** [Code/IO/CMakeFiles/BTKIO.dir/build.make:384: Code/IO/CMakeFiles/BTKIO.dir/btkMDFFileIO.cpp.o] Error 1 make[5]: *** [CMakeFiles/Makefile2:270: Code/IO/CMakeFiles/BTKIO.dir/all] Error 2 make[4]: *** [Makefile:136: all] Error 2 make[3]: *** [CMakeFiles/BTK.dir/build.make:86: BTK/stamp/BTK-build] Error 2 make[2]: *** [CMakeFiles/Makefile2:125: CMakeFiles/BTK.dir/all] Error 2 make[1]: *** [CMakeFiles/Makefile2:132: CMakeFiles/BTK.dir/rule] Error 2 make: *** [Makefile:137: BTK] Error 2
If running without BTK, and compiling casadi manually first, the dependencies build without issue. Note that if Tropter was not built, the next build step (of the main code) complains of a missing ADOLC dependency. Even if Tropter is not selected.
Building the main code, with python bindings, appears to work. Seven test fails with timeout, and will be re run. I will update this later on to confirm if it is actually working or not.
libadolc.so.2 was not copied on install and had to be copied manually from the depency-install location to install/lib.
The libipopt.so.1 symlink was also not present. So I had to copy libipopt.so.1.10.8 to lib, and link libipopt.so.1 to it. The same goes for libcoinmumps.so.1, linked to libcoinmumps.so.1.6.0, libcoinmetis.so.1 to libcoinmetis.so.1.3.5.
At least then the opensim-cmd runs without error. I have yet to test any real example to validate if this actually works.
Went back to reinstall with java support, and realized that there were more issues when building the python bindings.
make[2]: *** No rule to make target 'Bindings/Python/Bindings/preliminaries.i', needed by 'Bindings/Python/simbody.py'. Stop. make[1]: *** [CMakeFiles/Makefile2:7145: Bindings/Python/CMakeFiles/_simbody.dir/all] Error 2
In the build folder, in build/Bindings/Python/CMakeFiles/_simbody.dir/build.cmake, on line 75 and 76:
Bindings/Python/simbody.py: Bindings/Python/Bindings/preliminaries.i Bindings/Python/simbody.py: Bindings/Python/Bindings/simbody.i
If I manually change the above to by replacing Bindings/Python with absolute_path_to_source,i.e. to the following it works:
Bindings/Python/simbody.py: absolute_path_to_source/Bindings/preliminaries.i Bindings/Python/simbody.py: absolute_path_to_source/Bindings/simbody.i
When this was fixed, it triggers the same or similar issue in the other build.make in Bindings/Python/CMakeFiles/(_common.dir, _simulation.dir, _actuators.dir, _analyses.dir, _tools.dir, _examplecomponents.dir, _moco.dir). In all cases, Bindings/Python should be replaced with absolute_path_to_source.
This is then repeated with the java bindings:
make[2]: *** No rule to make target 'Bindings/Java/OpenSimJNI/Bindings/preliminaries.i', needed by 'Bindings/Java/OpenSimJNI/java_simulation.cxx'. Stop. make[1]: *** [CMakeFiles/Makefile2:7494: Bindings/Java/OpenSimJNI/CMakeFiles/osimJavaJNI.dir/all] Error 2
Again at line 74 and 75 (and then a few more places):
Bindings/Java/OpenSimJNI/java_simbody.cxx: Bindings/Java/OpenSimJNI/Bindings/preliminaries.i Bindings/Java/OpenSimJNI/java_simbody.cxx: Bindings/Java/OpenSimJNI/Bindings/simbody.i
This time, replacingBindings/Java/OpenSimJNI with absolute_path_to_source.
And later on, replacing the same in more places.
Now, it occured in the make file in the osimJavaJNI.dir,
Unfortunately, the java testa does not finish succesfully. I will have to look into what is the issue a bit more and get back
