build for mac (#23048)
parent
646fe7de4b
commit
16dd7ce1fe
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@ -127,6 +127,7 @@ else:
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"/opt/homebrew/lib",
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"/usr/local/opt/openssl/lib",
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"/opt/homebrew/opt/openssl/lib",
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f"#third_party/acados/{arch}/lib",
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"/System/Library/Frameworks/OpenGL.framework/Libraries",
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]
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cflags += ["-DGL_SILENCE_DEPRECATION"]
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@ -48,12 +48,13 @@ lenv.Clean(generated_files, Dir(gen))
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lenv.Command(generated_files,
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["lat_mpc.py"],
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f"cd {Dir('.').abspath} && python lat_mpc.py")
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f"cd {Dir('.').abspath} && python3 lat_mpc.py")
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lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CCFLAGS"].append("-Wno-unused")
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
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if arch != "Darwin":
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
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lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
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build_files,
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
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@ -58,12 +58,13 @@ lenv.Clean(generated_files, Dir(gen))
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lenv.Command(generated_files,
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["long_mpc.py"],
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f"cd {Dir('.').abspath} && python long_mpc.py")
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f"cd {Dir('.').abspath} && python3 long_mpc.py")
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lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CCFLAGS"].append("-Wno-unused")
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
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if arch != "Darwin":
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
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lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
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build_files,
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
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@ -31,8 +31,8 @@ const char frame_fragment_shader[] =
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"#version 150 core\n"
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#else
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"#version 300 es\n"
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#endif
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"precision mediump float;\n"
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#endif
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"uniform sampler2D uTexture;\n"
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"in vec4 vTexCoord;\n"
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"out vec4 colorOut;\n"
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@ -15,7 +15,8 @@ struct buffer_data {
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int readPacket(void *opaque, uint8_t *buf, int buf_size) {
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struct buffer_data *bd = (struct buffer_data *)opaque;
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buf_size = std::min((size_t)buf_size, bd->size - bd->offset);
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assert(bd->offset <= bd->size);
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buf_size = std::min((size_t)buf_size, (size_t)(bd->size - bd->offset));
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if (!buf_size) return AVERROR_EOF;
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memcpy(buf, bd->data + bd->offset, buf_size);
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@ -0,0 +1 @@
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libqpOASES_e.3.1.dylib
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