Chance-Constrained-MPC/setup.py at main · RIVeR-Lab/Chance-Constrained-MPC · GitHub

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# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

# http://www.apache.org/licenses/LICENSE-2.0

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

from setuptools import find_packages

from sys import platform as _platform

import sys

import glob

import os

from distutils.core import setup

from distutils.extension import Extension

from distutils.util import get_platform

from glob import glob

# monkey-patch for parallel compilation

import multiprocessing

import multiprocessing.pool

def parallelCCompile(self,

sources,

output_dir=None,

macros=None,

include_dirs=None,

debug=0,

extra_preargs=None,

extra_postargs=None,

depends=None):

# those lines are copied from distutils.ccompiler.CCompiler directly

macros, objects, extra_postargs, pp_opts, build = self._setup_compile(

output_dir, macros, include_dirs, sources, depends, extra_postargs)

cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)

# parallel code

N = 2 * multiprocessing.cpu_count() # number of parallel compilations

try:

# On Unix-like platforms attempt to obtain the total memory in the

# machine and limit the number of parallel jobs to the number of Gbs

# of RAM (to avoid killing smaller platforms like the Pi)

mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE') # bytes

except (AttributeError, ValueError):

# Couldn't query RAM; don't limit parallelism (it's probably a well

# equipped Windows / Mac OS X box)

pass

else:

mem = max(1, int(round(mem / 1024**3))) # convert to Gb

N = min(mem, N)

def _single_compile(obj):

try:

src, ext = build[obj]

except KeyError:

return

newcc_args = cc_args

if _platform == "darwin":

if src.endswith('.cpp') or src.endswith('.cc'):

newcc_args = cc_args + [

"-mmacosx-version-min=10.7", "-std=c++17", "-stdlib=libc++"

]

self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)

# convert to list, imap is evaluated on-demand

pool = multiprocessing.pool.ThreadPool(N)

list(pool.imap(_single_compile, objects))

return objects

import distutils.ccompiler

distutils.ccompiler.CCompiler.compile = parallelCCompile

# see http://stackoverflow.com/a/8719066/295157

import os

platform = get_platform()

print(platform)

CXX_FLAGS = '-D__SUPPRESSANYOUTPUT__'

# libraries += [current_python]

libraries = []

include_dirs = [

'.',

'third_party/go1_sdk/pybind11/include',

'third_party/eigen3/include',

'third_party/osqp/include',

'third_party',

'third_party/osqp/lin_sys/direct/qdldl',

'third_party/osqp/lin_sys/direct/qdldl/qdldl_sources/include',

'third_party/osqp/lin_sys/direct/qdldl/amd/include',

'third_party/qpoases/include',

'src/convex_mpc_controller'

]

# Sources for chance constraints module

sources_chance_constraints = [

"src/convex_mpc_controller/chance_constraints.cc",

]

try:

import numpy

NP_DIRS = [numpy.get_include()]

except:

print("numpy is disabled. getCameraImage maybe slower.")

else:

print("numpy is enabled.")

CXX_FLAGS += '-DPYBULLET_USE_NUMPY '

for d in NP_DIRS:

print("numpy_include_dirs = %s" % d)

include_dirs += NP_DIRS

sources = [

"src/convex_mpc_controller/mpc_osqp.cc",

"third_party/osqp/src/auxil.c",

"third_party/osqp/src/cs.c",

"third_party/osqp/src/ctrlc.c",

"third_party/osqp/src/error.c",

"third_party/osqp/src/kkt.c",

"third_party/osqp/src/lin_alg.c",

"third_party/osqp/src/lin_sys.c",

"third_party/osqp/src/osqp.c",

"third_party/osqp/src/polish.c",

"third_party/osqp/src/proj.c",

"third_party/osqp/src/scaling.c",

"third_party/osqp/src/util.c",

"third_party/osqp/lin_sys/direct/qdldl/qdldl_interface.c",

"third_party/osqp/lin_sys/direct/qdldl/qdldl_sources/src/qdldl.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_1.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_2.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_aat.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_control.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_defaults.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_info.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_order.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_post_tree.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_postorder.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_preprocess.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_valid.c",

"third_party/osqp/lin_sys/direct/qdldl/amd/src/SuiteSparse_config.c",

"third_party/qpoases/src/BLASReplacement.cpp",

"third_party/qpoases/src/Bounds.cpp",

"third_party/qpoases/src/Constraints.cpp",

"third_party/qpoases/src/Flipper.cpp",

"third_party/qpoases/src/Indexlist.cpp",

"third_party/qpoases/src/LAPACKReplacement.cpp",

"third_party/qpoases/src/Matrices.cpp",

"third_party/qpoases/src/MessageHandling.cpp",

"third_party/qpoases/src/Options.cpp",

"third_party/qpoases/src/OQPinterface.cpp",

"third_party/qpoases/src/QProblem.cpp",

"third_party/qpoases/src/QProblemB.cpp",

"third_party/qpoases/src/SolutionAnalysis.cpp",

"third_party/qpoases/src/SparseSolver.cpp",

"third_party/qpoases/src/SQProblem.cpp",

"third_party/qpoases/src/SQProblemSchur.cpp",

"third_party/qpoases/src/SubjectTo.cpp",

"third_party/qpoases/src/Utils.cpp",

]

if _platform == "linux" or _platform == "linux2":

print("linux")

include_dirs += ['third_party/osqp/include/linux']

CXX_FLAGS += '-fpermissive '

libraries = ['dl', 'pthread']

CXX_FLAGS += '-D_LINUX '

CXX_FLAGS += '-DGLEW_STATIC '

CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '

CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '

CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '

CXX_FLAGS += '-DHAS_SOCKLEN_T '

CXX_FLAGS += '-fno-inline-functions-called-once '

CXX_FLAGS += '-fvisibility=hidden '

CXX_FLAGS += '-fvisibility-inlines-hidden '

CXX_FLAGS += '-std=c++1z '

CXX_FLAGS += '-Wno-sign-compare '

CXX_FLAGS += '-Wno-reorder '

CXX_FLAGS += '-Wno-unused-local-typedefs '

CXX_FLAGS += '-Wno-unused-variable '

CXX_FLAGS += '-Wno-unused-but-set-variable '

elif _platform == "win32":

print("win32!")

include_dirs += ['third_party/osqp/include/windows']

print(include_dirs)

libraries = ['User32', 'kernel32']

#CXX_FLAGS += '-DIS_WINDOWS '

CXX_FLAGS += '-DWIN32 '

CXX_FLAGS += '-DGLEW_STATIC '

CXX_FLAGS += '/std:c++17 '

elif _platform == "darwin":

print("darwin!")

CXX_FLAGS += '-fpermissive '

include_dirs += ['third_party/osqp/include/macosx']

os.environ[

'LDFLAGS'] = '-framework Cocoa -mmacosx-version-min=10.7 -stdlib=libc++ -framework OpenGL'

CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '

CXX_FLAGS += '-DHAS_SOCKLEN_T '

CXX_FLAGS += '-D_DARWIN '

CXX_FLAGS += '-stdlib=libc++ '

CXX_FLAGS += '-mmacosx-version-min=10.7 '

# CXX_FLAGS += '-framework Cocoa '

else:

print("bsd!")

include_dirs += ['third_party/osqp/include/linux']

libraries = ['GL', 'GLEW', 'pthread']

os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'

CXX_FLAGS += '-D_BSD '

CXX_FLAGS += '-I/usr/X11R6/include '

CXX_FLAGS += '-DHAS_SOCKLEN_T '

CXX_FLAGS += '-fno-inline-functions-called-once'

setup_py_dir = os.path.dirname(os.path.realpath(__file__))

mpc_osqp_ext = Extension("mpc_osqp",

sources=sources,

libraries=libraries,

extra_compile_args=CXX_FLAGS.split(),

include_dirs=include_dirs + ["."])

# Creating a separate module for chance constraints

# Only an additional source file is added

chance_constraints_ext = Extension("chance_constraints_cpp",

sources=sources_chance_constraints,

libraries=libraries,

extra_compile_args=CXX_FLAGS.split(),

include_dirs=include_dirs + ["."])

extensions = [mpc_osqp_ext,chance_constraints_ext]

print(find_packages('.'))

setup(

name='quadruped_mpc',

version='1.0.0',

license='mixed',

platforms='any',

keywords=['robotics', 'control', 'physics simulation'],

install_requires=[

'numpy',

# 'pybullet',

ext_modules=extensions,

classifiers=[

'Development Status :: 5 - Production/Stable',

'License :: OSI Approved :: zlib/libpng License',

'Operating System :: Microsoft :: Windows',

'Operating System :: POSIX :: Linux', 'Operating System :: MacOS',

'Intended Audience :: Science/Research',

"Programming Language :: Python",

'Programming Language :: Python :: 2.7',

'Programming Language :: Python :: 3.4',

'Programming Language :: Python :: 3.5',

'Programming Language :: Python :: 3.6',

'Programming Language :: Python :: 3.7',

'Programming Language :: Python :: 3.8',

'Topic :: Games/Entertainment :: Simulation',

'Topic :: Scientific/Engineering :: Artificial Intelligence',

'Framework :: Robot Framework'

packages=[x for x in find_packages('.')],

)

Chance-Constrained-MPC/setup.py at main · RIVeR-Lab/Chance-Constrained-MPC · GitHub

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