57 lines
1.6 KiB
Bash
57 lines
1.6 KiB
Bash
|
#!/usr/bin/env bash
|
||
|
|
set -e
|
||
|
|
|
||
|
|
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
|
||
|
|
|
||
|
|
ARCHNAME="x86_64"
|
||
|
|
BLAS_TARGET="X64_AUTOMATIC"
|
||
|
|
if [ -f /TICI ]; then
|
||
|
|
ARCHNAME="larch64"
|
||
|
|
BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
|
||
|
|
fi
|
||
|
|
|
||
|
|
ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
|
||
|
|
|
||
|
|
if [[ "$OSTYPE" == "darwin"* ]]; then
|
||
|
|
ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
|
||
|
|
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
|
||
|
|
fi
|
||
|
|
cd acados_repo
|
||
|
|
git fetch --all
|
||
|
|
git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
|
||
|
|
git submodule update --depth=1 --recursive --init
|
||
|
|
|
||
|
|
# build
|
||
|
|
mkdir -p build
|
||
|
|
cd build
|
||
|
|
cmake $ACADOS_FLAGS ..
|
||
|
|
make -j20 install
|
||
|
|
|
||
|
|
INSTALL_DIR="$DIR/$ARCHNAME"
|
||
|
|
rm -rf $INSTALL_DIR
|
||
|
|
mkdir -p $INSTALL_DIR
|
||
|
|
|
||
|
|
rm $DIR/acados_repo/lib/*.json
|
||
|
|
|
||
|
|
rm -rf $DIR/include $DIR/acados_template
|
||
|
|
cp -r $DIR/acados_repo/include $DIR
|
||
|
|
cp -r $DIR/acados_repo/lib $INSTALL_DIR
|
||
|
|
cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
|
||
|
|
#pip3 install -e $DIR/acados/interfaces/acados_template
|
||
|
|
|
||
|
|
# build tera
|
||
|
|
cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
|
||
|
|
if [[ "$OSTYPE" == "darwin"* ]]; then
|
||
|
|
cargo build --verbose --release --target aarch64-apple-darwin
|
||
|
|
cargo build --verbose --release --target x86_64-apple-darwin
|
||
|
|
lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
|
||
|
|
else
|
||
|
|
cargo build --verbose --release
|
||
|
|
fi
|
||
|
|
cp target/release/t_renderer $INSTALL_DIR/
|