Some fixes for C++ and tests

.gitignore

@@ -1,55 +1,5 @@
 # Created by http://www.gitignore.io
 
-### C ###
-# Object files
-*.o
-*.ko
-*.obj
-*.elf
-
-# Libraries
-*.lib
-*.a
-
-# Shared objects (inc. Windows DLLs)
-*.dll
-*.so
-*.so.*
-*.dylib
-
-# Executables
-*.exe
-*.out
-*.app
-*.i*86
-*.x86_64
-*.hex
-
-
-### C++ ###
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
 ### Linux ###
 *~
 
@@ -68,13 +18,6 @@ Desktop.ini
 # Recycle Bin used on file shares
 $RECYCLE.BIN/
 
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-
 ### OSX ###
 .DS_Store
 .AppleDouble
@@ -83,7 +26,6 @@ $RECYCLE.BIN/
 # Icon must ends with two \r.
 Icon
 
-
 # Thumbnails
 ._*
 
@@ -159,25 +101,11 @@ Session.vim
 .netrwhist
 *~
 
-
-### CMake ###
-CMakeCache.txt
-CMakeFiles
-# Makefile
-cmake_install.cmake
-install_manifest.txt
-
 ### Preconfigured target configuration file
-include/target.h
+# include/target.h <-- must be built off-source
 
-# Octave
-octave-workspace
-*.mex
+### VS Code ###
+.vscode
 
-# eps figures
-*.eps
-
-# tex
-*.aux
-*.log
-*.toc
+### CMake ###
+build

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "test/googletest"]
+	path = test/googletest
+	url = https://github.com/google/googletest.git

CMakeLists.txt

@@ -0,0 +1,222 @@
+################################################################################
+#
+# Project settings
+#
+################################################################################
+
+#
+# Minimum required version of cmake 
+#
+CMAKE_MINIMUM_REQUIRED( VERSION 2.8 )
+
+#
+# Project name and programming languages used
+#
+PROJECT( HPMPC )
+set(CMAKE_C_STANDARD 99)
+
+#
+# Folder path for generated executables
+#
+SET( EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin )
+
+#
+# Folder path for generated libraries
+#
+SET( LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib )
+
+################################################################################
+#
+# User configuration
+#
+################################################################################
+
+IF( NOT CMAKE_VERBOSE_MAKEFILE )
+	SET( CMAKE_VERBOSE_MAKEFILE OFF )
+ENDIF( NOT CMAKE_VERBOSE_MAKEFILE )
+
+#
+# Build type
+#
+IF( NOT CMAKE_BUILD_TYPE )
+	SET(CMAKE_BUILD_TYPE Release CACHE STRING
+		"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
+		FORCE
+	)
+ENDIF( NOT CMAKE_BUILD_TYPE )
+
+#
+# Target type
+#
+IF ( NOT HPMPC_TARGET )
+    SET( HPMPC_TARGET X64_AVX CACHE STRING
+   	    "Choose build target: X64_AVX2, X64_AVX, X64_SSE3, CORTEX_A57, CORTEX_A15, CORTEX_A9, CORTEX_A7, C99_4X4"
+    )
+ENDIF( )
+
+#
+# Build options
+#
+option(HPMPC_BUILD_TESTS "Build tests" ON)
+
+################################################################################
+#
+# Compiler settings
+#
+################################################################################
+
+SET( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC" )
+
+IF ( ${HPMPC_TARGET} STREQUAL "X64_AVX2" )
+    ADD_DEFINITIONS( -DTARGET_X64_AVX2 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -m64 -mavx2 -mfma")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "X64_AVX" )
+    ADD_DEFINITIONS( -DTARGET_X64_AVX )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -m64 -mavx")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "X64_SSE3" )
+    ADD_DEFINITIONS( -DTARGET_X64_SSE3 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -m64 -msse3")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A57" )
+    ADD_DEFINITIONS( -DTARGET_CORTEX_A57 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=armv8-a+fp+simd -mcpu=cortex-a57")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A15" )
+    ADD_DEFINITIONS( -DTARGET_CORTEX_A15 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -marm -mfloat-abi=hard -mfpu=neon-vfpv4 -mcpu=cortex-a15")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A9" )
+    ADD_DEFINITIONS( -DTARGET_CORTEX_A9 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -marm -mfloat-abi=hard -mfpu=neon -mcpu=cortex-a9")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A7" )
+    ADD_DEFINITIONS( -DTARGET_CORTEX_A7 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -marm -mfloat-abi=hard -mfpu=neon-vfpv4 -mcpu=cortex-a7")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "C99_4X4" )
+    ADD_DEFINITIONS( -DTARGET_C99_4X4 )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "C99_4X4_PREFETCH" )
+    ADD_DEFINITIONS( -DTARGET_C99_4X4_PREFETCH )
+	SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
+
+ELSE( )
+    MESSAGE( ERROR "You chose unsupported target ${HPMPC_TARGET}")	  
+ENDIF( )
+
+# Link math library against all targets
+LINK_LIBRARIES( m )
+
+# This will add the "make test" target
+ENABLE_TESTING()
+
+################################################################################
+#
+# Configure the target header file
+#
+################################################################################
+
+STRING(TOUPPER ${HPMPC_TARGET} TARGET_DEF)
+SET( TARGET_DEF TARGET_${TARGET_DEF})
+
+CONFIGURE_FILE(
+	"${PROJECT_SOURCE_DIR}/include/target.h.in"
+	"${CMAKE_CURRENT_BINARY_DIR}/include/target.h"    # Spit target.h in the build dir, don't pollute the source folder.
+	@ONLY
+)
+
+################################################################################
+#
+# Include directories
+#
+################################################################################
+
+INCLUDE_DIRECTORIES( include )
+INCLUDE_DIRECTORIES( "${CMAKE_CURRENT_BINARY_DIR}/include" )    # Make target.h accessible
+
+################################################################################
+#
+# Build the library
+#
+################################################################################
+
+MESSAGE( STATUS "Compiling the library for ${HPMPC_TARGET} target")
+
+#
+# Macro for adding source files
+#
+MACRO( HPMPC_ADD_SOURCE_FILES )
+#	MESSAGE( STATUS "${ARGV}" )
+	UNSET( _SRC )
+    FOREACH( SRC ${ARGV} )
+        GET_FILENAME_COMPONENT(ABS_SRC ${SRC} REALPATH)		
+		SET( _SRC ${_SRC} ${ABS_SRC} )
+	ENDFOREACH()
+	SET ( SOURCES ${SOURCES} ${_SRC} PARENT_SCOPE )
+ENDMACRO( HPMPC_ADD_SOURCE_FILES )
+
+#
+# Add source folders
+#
+UNSET( SOURCES )
+ADD_SUBDIRECTORY( kernel )
+ADD_SUBDIRECTORY( blas )
+ADD_SUBDIRECTORY( auxiliary )
+ADD_SUBDIRECTORY( lqcp_solvers )
+ADD_SUBDIRECTORY( mpc_solvers )
+ADD_SUBDIRECTORY( interfaces )
+ADD_SUBDIRECTORY( reference_code )
+#ADD_SUBDIRECTORY( codegen )
+
+#
+# Add library
+#
+ADD_LIBRARY( hpmpc STATIC ${SOURCES} )
+
+################################################################################
+#
+# Installation rules
+#
+################################################################################
+
+INSTALL(
+    DIRECTORY
+	    include/
+    DESTINATION
+        include/hpmpc
+	PATTERN "*.h.in*" EXCLUDE
+)
+
+INSTALL(
+	TARGETS
+	    hpmpc
+    DESTINATION
+        lib
+)
+
+INSTALL(
+	FILES
+	    "${CMAKE_CURRENT_BINARY_DIR}/include/target.h"
+    DESTINATION
+        "include/hpmpc"
+)
+
+################################################################################
+#
+# Build examples
+#
+################################################################################
+
+ADD_SUBDIRECTORY( test_problems )
+
+################################################################################
+#
+# Build tests
+#
+################################################################################
+if(HPMPC_BUILD_TESTS)
+    add_subdirectory(test)
+endif()

auxiliary/CMakeLists.txt

@@ -0,0 +1,25 @@
+
+IF ( ${HPMPC_TARGET} STREQUAL "X64_AVX2" )
+    HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib8.c d_aux_extern_depend_lib4.c i_aux.c)
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "X64_AVX" )
+    HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib8.c d_aux_extern_depend_lib4.c i_aux.c )
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "X64_SSE3" )
+    HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib4.c d_aux_extern_depend_lib4.c i_aux.c )
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A15" )
+    HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib4.c d_aux_extern_depend_lib4.c i_aux.c )
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A9" )
+    HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib4.c d_aux_extern_depend_lib4.c i_aux.c )
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "CORTEX_A7" )
+    HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib4.c d_aux_extern_depend_lib4.c i_aux.c )
+
+ELSEIF ( ${HPMPC_TARGET} STREQUAL "C99_4X4" )
+	HPMPC_ADD_SOURCE_FILES( d_aux_lib4.c s_aux_lib4.c d_aux_extern_depend_lib4.c i_aux.c )
+
+ELSE( )
+    MESSAGE( ERROR "Impossible happened!" )
+ENDIF( )