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acados build script improvements for mac (#24634) 

* add Darwin build w/ universal2 libs

* add rust for acados rebuilds

* just build script fixes

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Andrew 2022-06-11 23:38:32 -07:00 committed by GitHub
parent 0fce5d9045
commit 1dd52ba27b
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1 changed files with 10 additions and 2 deletions
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12
third_party/acados/build.sh vendored
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@ -1,4 +1,5 @@
#!/usr/bin/bash -e
#!/usr/bin/env bash
set -e
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
@ -9,6 +10,13 @@ if [ -f /TICI ]; then
BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
fi
ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
if [[ "$OSTYPE" == "darwin"* ]]; then
ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
ARCHNAME="Darwin"
fi
if [ ! -d acados_repo/ ]; then
git clone https://github.com/acados/acados.git $DIR/acados_repo
# git clone https://github.com/commaai/acados.git $DIR/acados_repo
@ -21,7 +29,7 @@ git submodule update --recursive --init
# build
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
cmake $ACADOS_FLAGS ..
make -j20 install
INSTALL_DIR="$DIR/$ARCHNAME"