osqp: add v0.6.3 version (#5226)
* osqp: add v0.6.3 version
* qdldl: fix static build
* fix link order
* add_deps pkg-config
* improve pkg-config
* add fallback
* Revert "add fallback"
This reverts commit b3676efa0e.
* fix pkg-config for subhost windows
pull/5238/head
star9029
2 months ago
committed by
GitHub
parent
7721db2c3a
commit
ce48c8ca4c
3 changed files with 136 additions and 8 deletions
@ -0,0 +1,88 @@ |
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index afd7bb94..a8ccb883 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -267,15 +267,18 @@ endif (R_LANG)
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# Create Static Library
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# ----------------------------------------------
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-
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+include(GNUInstallDirs)
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+include(FindPkgConfig)
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+pkg_search_module(qdldl REQUIRED IMPORTED_TARGET qdldl)
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# Add linear system solvers cumulative library
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add_subdirectory(lin_sys)
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+if(NOT BUILD_SHARED_LIBS)
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# Static library
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add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
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# Give same name to static library output
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set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
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-
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+target_link_libraries(osqpstatic PkgConfig::qdldl)
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# Include directories for linear system solvers
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target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
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@@ -294,7 +297,7 @@ install(TARGETS osqpstatic
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
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-
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+endif()
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# Install Headers
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# ----------------------------------------------
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@@ -310,10 +313,11 @@ endif (MATLAB)
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# If we are building Python/Matlab/R interface:
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# - do not build shared library
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# - do not build demo
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-if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
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+if (BUILD_SHARED_LIBS)
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# Create osqp shared library
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# NB: Add all the linear system solvers here
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add_library (osqp SHARED ${osqp_src} ${osqp_headers} ${linsys_solvers})
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+ target_link_libraries(osqp PkgConfig::qdldl)
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# Include directories for linear system solvers
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target_include_directories(osqp PRIVATE ${linsys_solvers_includes})
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@@ -331,10 +335,9 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
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# Create demo executable (linked to static library)
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- add_executable (osqp_demo ${PROJECT_SOURCE_DIR}/examples/osqp_demo.c)
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- target_link_libraries (osqp_demo osqpstatic)
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-endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
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+
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+endif (BUILD_SHARED_LIBS)
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# Create CMake packages for the build directory
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# ----------------------------------------------
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diff --git a/lin_sys/direct/CMakeLists.txt b/lin_sys/direct/CMakeLists.txt
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index c36c375a..2942cc9f 100644
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--- a/lin_sys/direct/CMakeLists.txt
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+++ b/lin_sys/direct/CMakeLists.txt
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@@ -6,7 +6,7 @@ add_subdirectory(qdldl)
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# Need to add qdldlobject only here because it cannot be
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# included in another object library such as linsys_qdldl
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-set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> $<TARGET_OBJECTS:qdldlobject>)
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+set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> )
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# NB. The second directory is added because we need to include the "qdldl_types.h" file in "qdldl_interface.h"
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set(direct_linsys_solvers_includes
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diff --git a/lin_sys/direct/qdldl/CMakeLists.txt b/lin_sys/direct/qdldl/CMakeLists.txt
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index d78c4a38..b3429a12 100644
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--- a/lin_sys/direct/qdldl/CMakeLists.txt
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+++ b/lin_sys/direct/qdldl/CMakeLists.txt
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@@ -1,5 +1,4 @@
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# Add qdldl
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-add_subdirectory(qdldl_sources)
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if(NOT DEFINED EMBEDDED)
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@@ -39,3 +38,4 @@ set(qdldl_interface_src
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# Create object library for linear system solver interface
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add_library(linsys_qdldl OBJECT ${qdldl_interface_src})
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target_include_directories(linsys_qdldl PRIVATE ${qdldl_interface_includes} ${PROJECT_SOURCE_DIR}/include)
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+target_link_libraries(linsys_qdldl PkgConfig::qdldl)
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@ -0,0 +1,30 @@ |
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package("qdldl") |
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set_homepage("https://github.com/osqp/qdldl") |
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set_description("A free LDL factorisation routine") |
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set_license("Apache-2.0") |
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add_urls("https://github.com/osqp/qdldl/archive/refs/tags/$(version).tar.gz", |
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"https://github.com/osqp/qdldl.git") |
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add_versions("v0.1.7", "631ae65f367859fa1efade1656e4ba22b7da789c06e010cceb8b29656bf65757") |
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add_includedirs("include", "include/qdldl") |
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add_deps("cmake") |
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on_install(function (package) |
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if package:config("shared") then |
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package:add("defines", "QDLDL_SHARED_LIB") |
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end |
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local configs = {"-DQDLDL_BUILD_DEMO_EXE=OFF", "-DCMAKE_POLICY_DEFAULT_CMP0057=NEW"} |
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table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:is_debug() and "Debug" or "Release")) |
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table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF")) |
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table.insert(configs, "-DQDLDL_BUILD_SHARED_LIB=" .. (package:config("shared") and "ON" or "OFF")) |
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table.insert(configs, "-DQDLDL_BUILD_STATIC_LIB=" .. (package:config("shared") and "OFF" or "ON")) |
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import("package.tools.cmake").install(package, configs) |
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end) |
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on_test(function (package) |
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assert(package:has_cfuncs("QDLDL_etree", {includes = "qdldl/qdldl.h"})) |
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end) |
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