HyLaGI - HydLa Guaranteed Implementation

HyLaGI is a C++ implementation of hybrid constraint language HydLa.

Email address: hydla@ueda.info.waseda.ac.jp

More information about HydLa: http://www.ueda.info.waseda.ac.jp/hydla/

Build

You can also use webHydLa to run HydLa programs without building HyLaGI on your own.

Required packages

• Git
• Make
• GCC or Clang, and Boost library
• Python
• Wolfram system (Mathematica, or WolframEngine)

Ubuntu 22.04 with Clang

1. Install required packages

   sudo apt update && sudo apt install -y git make clang libboost-all-dev uuid-dev

2. Install and activate Mathematica
   If you don't have Wolfram's license, you can use Free Wolfram Engine for Developers.
3. Set $MATHPATH (see What is MATHPATH? below)
   e.g., Wolfram Engine 14.0

   echo "export MATHPATH='/usr/local/Wolfram/WolframEngine/14.0'" >> ~/.bashrc
   source ~/.bashrc   # or restart the terminal

4. Library settings

   echo "$MATHPATH/SystemFiles/Links/WSTP/DeveloperKit/Linux-x86-64/CompilerAdditions" | sudo tee /etc/ld.so.conf.d/wstp.conf
   sudo ldconfig

5. Build HyLaGI

   git clone https://github.com/HydLa/HyLaGI.git
   cd HyLaGI
   make -j 4 MATHPATH=$MATHPATH
   echo "export PATH='$PATH:$MATHPATH/Executables:$(pwd)/bin'" >> ~/.bashrc
   source ~/.bashrc   # or restart the terminal

   Then, you can use hylagi command. For example:

   hylagi -p 6 examples/bouncing_particle.hydla

6. Run tests
   By default, make test tries to do tests in parallel with too many threads. You should specify the number of threads as follows:

   make test fnum=2

Other environments

HyLaGI supports several environments.

• OS: Ubuntu and macOS
• C++ compiler: Clang (default) and GCC

Build confirmed environment

• Ubuntu 20.04.1, GCC 9.3.0, Python 3.8.5
• Ubuntu 20.04.1, Clang 10.0.0, Python 3.8.5
• Ubuntu 22.04.1, GCC 11.3.0, Python 3.10.6
• Ubuntu 22.04.1, Clang 14.0.0, Python 3.10.6
• macOS 10.15.7, Apple clang 12.0.0, Python 3.6.9
• macOS 10.15.7, Apple clang 12.0.0, Python 3.8.5

Make options

To build several environments, you can set environment variables when you exec make.

Using GCC:

make -j 4 CC=gcc CXX=g++

When using Python3 with python command:

make -j 4 PYTHON_CONFIG=python-config

What is MATHPATH?

MATHPATH is the path to the directory where the Wolfram system is installed.
You can see it in $InstallationDirectory.

$ math
Wolfram Language 14.0.0 Engine for Linux x86 (64-bit)
Copyright 1988-2023 Wolfram Research, Inc.

In[1]:= $InstallationDirectory

Out[1]= /usr/local/Wolfram/WolframEngine/14.0

Examples of MATHPATH:

• With WolframEngine 14.0: /usr/local/Wolfram/WolframEngine/14.0
• With Mathematica 12.1: /usr/local/Wolfram/Mathematica/12.1

Known issues

libc++abi: terminating with uncaught exception of type hydla::backend::LinkError: math link error: can not link : 1

HyLaGI uses the wolfram system to calculate constraints. It uses WSTP communication with the math command to make the call.

If you see this error, please make sure that the math command is installed and in the path. If the math command does not exist (as confirmed when using WolframEngine on MacOS), create a symbolic link to WolframKernel named math.

CI

CI supports only build (not include testing examples). If you want to test them, do make test after building HyLaGI on your terminal.