openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

third_party/acados/acados_template/builders.py

@@ -0,0 +1,131 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+import sys
+from subprocess import DEVNULL, call, STDOUT
+
+
+class CMakeBuilder:
+    """
+    Class to work with the `CMake` build system.
+    """
+    def __init__(self):
+        self._source_dir = None  # private source directory, this is set to code_export_dir
+        self.build_dir = 'build'
+        self._build_dir = None  # private build directory, usually rendered to abspath(build_dir)
+        self.generator = None
+        """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`."""
+        # set something for Windows
+        if os.name == 'nt':
+            self.generator = 'Visual Studio 15 2017 Win64'
+        self.build_targets = None
+        """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`."""
+        self.options_on = None
+        """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`."""
+
+    # Generate the command string for handling the cmake command.
+    def get_cmd1_cmake(self):
+        defines_str = ''
+        if self.options_on is not None:
+            defines_arr = [f' -D{opt}=ON' for opt in self.options_on]
+            defines_str = ' '.join(defines_arr)
+        generator_str = ''
+        if self.generator is not None:
+            generator_str = f' -G"{self.generator}"'
+        return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"'
+
+    # Generate the command string for handling the build.
+    def get_cmd2_build(self):
+        import multiprocessing
+        cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}'
+        if self.build_targets is not None:
+            cmd += f' -t {self.build_targets}'
+        return cmd
+
+    # Generate the command string for handling the install command.
+    def get_cmd3_install(self):
+        return f'cmake --install "{self._build_dir}"'
+
+    def exec(self, code_export_directory, verbose=True):
+        """
+        Execute the compilation using `CMake` with the given settings.
+        :param code_export_directory: must be the absolute path to the directory where the code was exported to
+        """
+        if(os.path.isabs(code_export_directory) is False):
+            print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!')
+        self._source_dir = code_export_directory
+        self._build_dir = os.path.abspath(self.build_dir)
+        try:
+            os.mkdir(self._build_dir)
+        except FileExistsError as e:
+            pass
+
+        try:
+            os.chdir(self._build_dir)
+            cmd_str = self.get_cmd1_cmake()
+            print(f'call("{cmd_str})"')
+            retcode = call(
+                cmd_str,
+                shell=True,
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
+            if retcode != 0:
+                raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
+            cmd_str = self.get_cmd2_build()
+            print(f'call("{cmd_str}")')
+            retcode = call(
+                cmd_str,
+                shell=True,
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
+            if retcode != 0:
+                raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
+            cmd_str = self.get_cmd3_install()
+            print(f'call("{cmd_str}")')
+            retcode = call(
+                cmd_str,
+                shell=True,
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
+            if retcode != 0:
+                raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
+        except OSError as e:
+            print("Execution failed:", e, file=sys.stderr)
+        except Exception as e:
+            print("Execution failed:", e, file=sys.stderr)
+            exit(1)