Date: Sun, 12 Jan 2025 22:36:50 GMT From: Yuri Victorovich <yuri@FreeBSD.org> To: ports-committers@FreeBSD.org, dev-commits-ports-all@FreeBSD.org, dev-commits-ports-main@FreeBSD.org Subject: git: 79112d3decd9 - main - science/acados: New port: Fast and embedded solvers for nonlinear optimal control Message-ID: <202501122236.50CMaoWR094018@gitrepo.freebsd.org>
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The branch main has been updated by yuri: URL: https://cgit.FreeBSD.org/ports/commit/?id=79112d3decd9eadc698c3b5b33e9fa1f657553dc commit 79112d3decd9eadc698c3b5b33e9fa1f657553dc Author: Yuri Victorovich <yuri@FreeBSD.org> AuthorDate: 2025-01-12 22:12:14 +0000 Commit: Yuri Victorovich <yuri@FreeBSD.org> CommitDate: 2025-01-12 22:36:40 +0000 science/acados: New port: Fast and embedded solvers for nonlinear optimal control --- science/Makefile | 1 + science/acados/Makefile | 44 ++++++++++++++++++++ science/acados/distinfo | 3 ++ science/acados/files/patch-CMakeLists.txt | 11 +++++ science/acados/pkg-descr | 3 ++ science/acados/pkg-plist | 67 +++++++++++++++++++++++++++++++ 6 files changed, 129 insertions(+) diff --git a/science/Makefile b/science/Makefile index df34c6dbc9e0..da29a39c2615 100644 --- a/science/Makefile +++ b/science/Makefile @@ -22,6 +22,7 @@ SUBDIR += R-cran-som SUBDIR += R-cran-udunits2 SUBDIR += abinit + SUBDIR += acados SUBDIR += afni SUBDIR += agrum SUBDIR += aircraft-datcom diff --git a/science/acados/Makefile b/science/acados/Makefile new file mode 100644 index 000000000000..b3d432daf26f --- /dev/null +++ b/science/acados/Makefile @@ -0,0 +1,44 @@ +PORTNAME= acados +DISTVERSIONPREFIX= v +DISTVERSION= 0.4.3 +CATEGORIES= science + +MAINTAINER= yuri@FreeBSD.org +COMMENT= Fast and embedded solvers for nonlinear optimal control +WWW= https://github.com/acados/acados + +LICENSE= BSD2CLAUSE +LICENSE_FILE= ${WRKSRC}/LICENSE + +LIB_DEPENDS= libblasfeo.so:math/blasfeo \ + libhpipm.so:math/hpipm + # math/casadi should be a dependency, but somehow cmake doesn't look for it + +USES= cmake:testing localbase:ldflags +USE_GITHUB= yes +USE_LDCONFIG= yes + +OPTIONS_DEFINE= OSQP +OPTIONS_DEFAULT= OSQP + +OSQP_DESC= Build with OSQP solver +OSQP_CMAKE_BOOL= ACADOS_WITH_OSQP +OSQP_LIB_DEPENDS= libosqp.so:math/osqp + +QPOASES_DESC= Build with QPOASES solver +QPOASES_CMAKE_BOOL= ACADOS_WITH_QPOASES +QPOASES_LIB_DEPENDS= libqpOASES.so:math/qposases +QPOASES_BROKEN= error: unknown type name 'namespace' + +post-patch: # workaround for https://github.com/acados/acados/issues/1413 + @${FIND} ${WRKSRC} -name "*.c" -o -name "*.cpp" -o -name "*.h" -o -name "*.hpp" | \ + ${XARGS} ${REINPLACE_CMD} -E 's,"osqp/include/,"osqp/,' + @${FIND} ${WRKSRC} -name "*.c" -o -name "*.cpp" -o -name "*.h" -o -name "*.hpp" | \ + ${XARGS} ${REINPLACE_CMD} \ + -E '\ + s,"(blasfeo|catch|daqp|hpmpc|hpipm)/include/,",; \ + s|qpOASES_e|qpOASES|; \ + s|qpOASES/QProblem.h|qpOASES/QProblem.hpp| \ + ' + +.include <bsd.port.mk> diff --git a/science/acados/distinfo b/science/acados/distinfo new file mode 100644 index 000000000000..6a230ad224c1 --- /dev/null +++ b/science/acados/distinfo @@ -0,0 +1,3 @@ +TIMESTAMP = 1736714240 +SHA256 (acados-acados-v0.4.3_GH0.tar.gz) = d0fe5ea1e2cf79fcf0c173d52499277f4b82a116be5fc5b1a2e6cfb987b52c7b +SIZE (acados-acados-v0.4.3_GH0.tar.gz) = 23315087 diff --git a/science/acados/files/patch-CMakeLists.txt b/science/acados/files/patch-CMakeLists.txt new file mode 100644 index 000000000000..cfee60333c63 --- /dev/null +++ b/science/acados/files/patch-CMakeLists.txt @@ -0,0 +1,11 @@ +--- CMakeLists.txt.orig 2025-01-12 20:38:45 UTC ++++ CMakeLists.txt +@@ -267,7 +267,7 @@ add_subdirectory(${PROJECT_SOURCE_DIR}/interfaces/acad + add_subdirectory(${PROJECT_SOURCE_DIR}/interfaces/acados_c) + + # Configure external libraries +-add_subdirectory(${EXTERNAL_SRC_DIR}) ++#add_subdirectory(${EXTERNAL_SRC_DIR}) + + # Configure examples + if(ACADOS_EXAMPLES) diff --git a/science/acados/pkg-descr b/science/acados/pkg-descr new file mode 100644 index 000000000000..fb2e3628bdbf --- /dev/null +++ b/science/acados/pkg-descr @@ -0,0 +1,3 @@ +acados provides fast and embedded solvers for nonlinear optimal control. +It is written in C and offers interfaces to the programming languages Python, +MATLAB and Octave. diff --git a/science/acados/pkg-plist b/science/acados/pkg-plist new file mode 100644 index 000000000000..839a9e613df3 --- /dev/null +++ b/science/acados/pkg-plist @@ -0,0 +1,67 @@ +cmake/FindEigen3.cmake +cmake/FindFortranLibs.cmake +cmake/FindOpenBLAS.cmake +cmake/acadosConfig.cmake +cmake/acadosTargets-%%CMAKE_BUILD_TYPE%%.cmake +cmake/acadosTargets.cmake +include/acados/dense_qp/dense_qp_common.h +include/acados/dense_qp/dense_qp_daqp.h +include/acados/dense_qp/dense_qp_hpipm.h +include/acados/dense_qp/dense_qp_ooqp.h +include/acados/dense_qp/dense_qp_qore.h +include/acados/dense_qp/dense_qp_qpoases.h +include/acados/ocp_nlp/ocp_nlp_common.h +include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h +include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h +include/acados/ocp_nlp/ocp_nlp_constraints_common.h +include/acados/ocp_nlp/ocp_nlp_cost_common.h +include/acados/ocp_nlp/ocp_nlp_cost_conl.h +include/acados/ocp_nlp/ocp_nlp_cost_external.h +include/acados/ocp_nlp/ocp_nlp_cost_ls.h +include/acados/ocp_nlp/ocp_nlp_cost_nls.h +include/acados/ocp_nlp/ocp_nlp_ddp.h +include/acados/ocp_nlp/ocp_nlp_dynamics_common.h +include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h +include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h +include/acados/ocp_nlp/ocp_nlp_globalization_common.h +include/acados/ocp_nlp/ocp_nlp_globalization_fixed_step.h +include/acados/ocp_nlp/ocp_nlp_globalization_funnel.h +include/acados/ocp_nlp/ocp_nlp_globalization_merit_backtracking.h +include/acados/ocp_nlp/ocp_nlp_reg_common.h +include/acados/ocp_nlp/ocp_nlp_reg_convexify.h +include/acados/ocp_nlp/ocp_nlp_reg_mirror.h +include/acados/ocp_nlp/ocp_nlp_reg_noreg.h +include/acados/ocp_nlp/ocp_nlp_reg_project.h +include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h +include/acados/ocp_nlp/ocp_nlp_sqp.h +include/acados/ocp_nlp/ocp_nlp_sqp_rti.h +include/acados/ocp_qp/ocp_qp_common.h +include/acados/ocp_qp/ocp_qp_common_frontend.h +include/acados/ocp_qp/ocp_qp_full_condensing.h +include/acados/ocp_qp/ocp_qp_hpipm.h +include/acados/ocp_qp/ocp_qp_hpmpc.h +include/acados/ocp_qp/ocp_qp_ooqp.h +include/acados/ocp_qp/ocp_qp_osqp.h +include/acados/ocp_qp/ocp_qp_partial_condensing.h +include/acados/ocp_qp/ocp_qp_qpdunes.h +include/acados/ocp_qp/ocp_qp_xcond_solver.h +include/acados/sim/sim_collocation_utils.h +include/acados/sim/sim_common.h +include/acados/sim/sim_erk_integrator.h +include/acados/sim/sim_gnsf.h +include/acados/sim/sim_irk_integrator.h +include/acados/sim/sim_lifted_irk_integrator.h +include/acados/utils/external_function_generic.h +include/acados/utils/math.h +include/acados/utils/mem.h +include/acados/utils/print.h +include/acados/utils/strsep.h +include/acados/utils/timing.h +include/acados/utils/types.h +include/acados_c/condensing_interface.h +include/acados_c/dense_qp_interface.h +include/acados_c/external_function_interface.h +include/acados_c/ocp_nlp_interface.h +include/acados_c/ocp_qp_interface.h +include/acados_c/sim_interface.h +lib/libacados.so
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