89 lines
2.5 KiB
Bash
Executable File
89 lines
2.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
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ARCHNAME="x86_64"
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BLAS_TARGET="X64_AUTOMATIC"
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if [ -f /TICI ]; then
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ARCHNAME="larch64"
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BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
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elif [ -f /EON ]; then
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ARCHNAME="earch64"
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BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
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fi
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ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
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if [[ "$OSTYPE" == "darwin"* ]]; then
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ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
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ARCHNAME="Darwin"
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fi
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if [ ! -d acados_repo/ ]; then
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git clone https://github.com/acados/acados.git $DIR/acados_repo
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# git clone https://github.com/commaai/acados.git $DIR/acados_repo
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fi
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cd acados_repo
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git fetch --all
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git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
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git submodule update --depth=1 --recursive --init
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# build
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mkdir -p build
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cd build
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cmake $ACADOS_FLAGS ..
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make -j20 install
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INSTALL_DIR="$DIR/$ARCHNAME"
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rm -rf $INSTALL_DIR
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mkdir -p $INSTALL_DIR
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rm $DIR/acados_repo/lib/*.json
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rm -rf $DIR/include $DIR/acados_template
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cp -r $DIR/acados_repo/include $DIR
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cp -r $DIR/acados_repo/lib $INSTALL_DIR
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cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
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#pip3 install -e $DIR/acados/interfaces/acados_template
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# hack to workaround no rpath on android
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if [ -f /EON ]; then
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pushd $INSTALL_DIR/lib
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for lib in $(ls .); do
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if ! readlink $lib; then
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patchelf --set-soname $PWD/$lib $lib
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if [ "$lib" = "libacados.so" ]; then
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for nlib in "libhpipm.so" "libblasfeo.so" "libqpOASES_e.so.3.1"; do
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patchelf --replace-needed $nlib $PWD/$nlib $lib
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done
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fi
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if [ "$lib" = "libhpipm.so" ]; then
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patchelf --replace-needed libblasfeo.so $PWD/libblasfeo.so $lib
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fi
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# pad extra byte to workaround bionic linker bug
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# https://android.googlesource.com/platform/bionic/+/93ce35434ca5af43a7449e289959543f0a2426fa%5E%21/#F0
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dd if=/dev/zero bs=1 count=1 >> $lib
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fi
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done
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popd
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cd $DIR
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git checkout $INSTALL_DIR/t_renderer
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else
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# build tera
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cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
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if [[ "$OSTYPE" == "darwin"* ]]; then
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cargo build --verbose --release --target aarch64-apple-darwin
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cargo build --verbose --release --target x86_64-apple-darwin
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lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
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else
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cargo build --verbose --release
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fi
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cp target/release/t_renderer $INSTALL_DIR/
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fi
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