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- #!/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/
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