[Bug]: Nlopt install error for Apple silicon

[BradyPlanden]

Python Version

N/A

Describe the bug

Installing nlopt.py on Apple silicon hardware results in a build error as shown in the log output below. Others have encountered this problem [1], and it appears that the current method of resolving it is to build nlopt from source. This is a tedious process that we shouldn't expect an end user to do.

In this case, I think we have two options:

1. Deprecate nlopt and replace it with scipy & pints
2. Have nlopt as an optional installation for Apple silicon hardware.

I believe they lead to roughly identical results, since it's clear that we can't rely on nlopt as a robust optimisation package in the future. My preference is option 1, but I am open to other ideas.

Steps to reproduce the behaviour

pip install nlopt on Apple silicon hardware

Relevant log output

Building wheels for collected packages: nlopt
  Building wheel for nlopt (setup.py): started
  Building wheel for nlopt (setup.py): finished with status 'error'
  error: subprocess-exited-with-error
  
  × python setup.py bdist_wheel did not run successfully.
  │ exit code: 1
  ╰─> [247 lines of output]
      running bdist_wheel
      running build
      running build_ext
      cmake version 3.27.7
      
      CMake suite maintained and supported by Kitware (kitware.com/cmake).
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.
      
        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.
      
      
      -- The C compiler identification is AppleClang 14.0.3.14030022
      -- The CXX compiler identification is AppleClang 14.0.3.14030022
      -- Detecting C compiler ABI info
      -- Detecting C compiler ABI info - done
      -- Check for working C compiler: /Library/Developer/CommandLineTools/usr/bin/cc - skipped
      -- Detecting C compile features
      -- Detecting C compile features - done
      -- Detecting CXX compiler ABI info
      -- Detecting CXX compiler ABI info - done
      -- Check for working CXX compiler: /Library/Developer/CommandLineTools/usr/bin/c++ - skipped
      -- Detecting CXX compile features
      -- Detecting CXX compile features - done
      CMake Warning (dev) at CMakeLists.txt:12 (find_package):
        Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
        are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
        the cmake_policy command to set the policy and suppress this warning.
      
      This warning is for project developers.  Use -Wno-dev to suppress it.
      
      -- Found PythonInterp: /Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/bin/python (found version "3.9.18")
      -- Found Python includes: /Users/runner/.pyenv/versions/3.9.18/include/python3.9
      -- Found Python libs: /Users/runner/.pyenv/versions/3.9.18/lib
      CMake Deprecation Warning at extern/nlopt/CMakeLists.txt:15 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.
      
        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.
      
      
      -- NLopt version 2.6.2
      -- Looking for dlfcn.h
      -- Looking for dlfcn.h - found
      -- Looking for getopt.h
      -- Looking for getopt.h - found
      -- Looking for unistd.h
      -- Looking for unistd.h - found
      -- Looking for string.h
      -- Looking for string.h - found
      -- Looking for strings.h
      -- Looking for strings.h - found
      -- Looking for inttypes.h
      -- Looking for inttypes.h - found
      -- Looking for memory.h
      -- Looking for memory.h - found
      -- Looking for stdlib.h
      -- Looking for stdlib.h - found
      -- Looking for stdint.h
      -- Looking for stdint.h - found
      -- Looking for time.h
      -- Looking for time.h - found
      -- Looking for sys/types.h
      -- Looking for sys/types.h - found
      -- Looking for sys/stat.h
      -- Looking for sys/stat.h - found
      -- Looking for sys/time.h
      -- Looking for sys/time.h - found
      -- Looking for getpid
      -- Looking for getpid - found
      -- Looking for syscall
      -- Looking for syscall - found
      -- Looking for isinf
      -- Looking for isinf - found
      -- Looking for isnan
      -- Looking for isnan - found
      -- Looking for gettimeofday
      -- Looking for gettimeofday - found
      -- Looking for qsort_r
      -- Looking for qsort_r - found
      -- Looking for time
      -- Looking for time - found
      -- Looking for copysign
      -- Looking for copysign - found
      -- Looking for stddef.h
      -- Looking for stddef.h - found
      -- Check size of uint32_t
      -- Check size of uint32_t - done
      -- Check size of unsigned int
      -- Check size of unsigned int - done
      -- Check size of unsigned long
      -- Check size of unsigned long - done
      -- Looking for sqrt in m
      -- Looking for sqrt in m - found
      -- Looking for fpclassify
      -- Looking for fpclassify - TRUE
      -- Performing Test HAVE_THREAD_LOCAL_STORAGE
      -- Performing Test HAVE_THREAD_LOCAL_STORAGE - Success
      -- Performing Test HAVE_THREAD_LOCAL_STORAGE
      -- Performing Test HAVE_THREAD_LOCAL_STORAGE - Failed
      -- Looking for __cplusplus
      -- Looking for __cplusplus - found
      -- Performing Test SUPPORTS_STDCXX11
      -- Performing Test SUPPORTS_STDCXX11 - Success
      -- Performing Test HAS_FPIC
      -- Performing Test HAS_FPIC - Success
      CMake Warning (dev) at extern/nlopt/CMakeLists.txt:306 (find_package):
        Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
        are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
        the cmake_policy command to set the policy and suppress this warning.
      
      This warning is for project developers.  Use -Wno-dev to suppress it.
      
      CMake Warning (dev) at extern/nlopt/CMakeLists.txt:307 (find_package):
        Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
        are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
        the cmake_policy command to set the policy and suppress this warning.
      
      This warning is for project developers.  Use -Wno-dev to suppress it.
      
      -- Found PythonLibs: /Users/runner/.pyenv/versions/3.9.18/lib (found suitable exact version "3.9.18")
      CMake Warning (dev) at extern/nlopt/cmake/FindNumPy.cmake:45 (find_package):
        Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
        are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
        the cmake_policy command to set the policy and suppress this warning.
      
      Call Stack (most recent call first):
        extern/nlopt/CMakeLists.txt:308 (find_package)
      This warning is for project developers.  Use -Wno-dev to suppress it.
      
      -- Could NOT find NumPy (missing: NUMPY_INCLUDE_DIRS)
      -- Could NOT find Guile (missing: GUILE_EXECUTABLE GUILE_ROOT_DIR GUILE_INCLUDE_DIRS GUILE_LIBRARIES)
      -- Could NOT find SWIG (missing: SWIG_EXECUTABLE SWIG_DIR)
      -- Could NOT find Octave (missing: OCTAVE_EXECUTABLE OCTAVE_ROOT_DIR OCTAVE_INCLUDE_DIRS OCTAVE_LIBRARIES)
      -- Could NOT find Matlab (missing: Matlab_INCLUDE_DIRS Matlab_MEX_LIBRARY Matlab_MEX_EXTENSION Matlab_ROOT_DIR Matlab_MX_LIBRARY MX_LIBRARY MAIN_PROGRAM) (found version "NOTFOUND")
      -- Configuring done (2.9s)
      -- Generating done (0.0s)
      -- Build files have been written to: /private/var/folders/46/vvrt_nq91kj6lc8nv1_p7p6r0000gn/T/pip-install-u4t32o5w/nlopt_b73e733ab75542a888053759f4463ce5/build/temp.macosx-13.5-arm64-cpython-39
      [  3%] Generating nlopt.f
      [  3%] Generating nlopt.hpp
      CMake Deprecation Warning at /private/var/folders/46/vvrt_nq91kj6lc8nv1_p7p6r0000gn/T/pip-install-u4t32o5w/nlopt_b73e733ab75542a888053759f4463ce5/extern/nlopt/cmake/generate-cpp.cmake:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.
      
        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.
      
      
      CMake Deprecation Warning at /private/var/folders/46/vvrt_nq91kj6lc8nv1_p7p6r0000gn/T/pip-install-u4t32o5w/nlopt_b73e733ab75542a888053759f4463ce5/extern/nlopt/cmake/generate-fortran.cmake:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.
      
        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.
      
      
      [  3%] Built target generate-fortran
      [  3%] Built target generate-cpp
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      [ 96%] Linking CXX static library libnlopt.a
      [100%] Built target nlopt
      Traceback (most recent call last):
        File "<string>", line 2, in <module>
        File "<pip-setuptools-caller>", line 34, in <module>
        File "/private/var/folders/46/vvrt_nq91kj6lc8nv1_p7p6r0000gn/T/pip-install-u4t32o5w/nlopt_b73e733ab75542a888053759f4463ce5/setup.py", line 85, in <module>
          setup(
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/__init__.py", line 103, in setup
          return distutils.core.setup(**attrs)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/core.py", line 185, in setup
          return run_commands(dist)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
          dist.run_commands()
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
          self.run_command(cmd)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/dist.py", line 989, in run_command
          super().run_command(command)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
          cmd_obj.run()
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/wheel/bdist_wheel.py", line 364, in run
          self.run_command("build")
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
          self.distribution.run_command(command)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/dist.py", line 989, in run_command
          super().run_command(command)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
          cmd_obj.run()
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/command/build.py", line 131, in run
          self.run_command(cmd_name)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
          self.distribution.run_command(command)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/dist.py", line 989, in run_command
          super().run_command(command)
        File "/Users/runner/Documents/pybop-runner/_work/PyBOP/PyBOP/.nox/unit/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
          cmd_obj.run()
        File "/private/var/folders/46/vvrt_nq91kj6lc8nv1_p7p6r0000gn/T/pip-install-u4t32o5w/nlopt_b73e733ab75542a888053759f4463ce5/setup.py", line 28, in run
          self.build_extension(ext)
        File "/private/var/folders/46/vvrt_nq91kj6lc8nv1_p7p6r0000gn/T/pip-install-u4t32o5w/nlopt_b73e733ab75542a888053759f4463ce5/setup.py", line 70, in build_extension
          nlopt_py = next(Path(self.build_temp).rglob("nlopt.py"))
      StopIteration
      [end of output]
  
  note: This error originates from a subprocess, and is likely not a problem with pip.
  ERROR: Failed building wheel for nlopt
  Running setup.py clean for nlopt
Failed to build nlopt
ERROR: Could not build wheels for nlopt, which is required to install pyproject.toml-based projects

Notice:  A new release of pip is available: 23.2.1 -> 23.3.1
Notice:  To update, run: pip install --upgrade pip
nox > Command pip install -e . failed with exit code 1
nox > Session unit failed.
Error: Process completed with exit code 1.