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93 lines
2.7 KiB
Nix
93 lines
2.7 KiB
Nix
{
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cmake,
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crocoddyl,
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ctestCheckHook,
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fetchFromGitHub,
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lib,
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llvmPackages,
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pkg-config,
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proxsuite,
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python3Packages,
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pythonSupport ? false,
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stdenv,
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nix-update-script,
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}:
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stdenv.mkDerivation (finalAttrs: {
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pname = "mim-solvers";
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version = "0.1.1";
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src = fetchFromGitHub {
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owner = "machines-in-motion";
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repo = "mim_solvers";
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rev = "v${finalAttrs.version}";
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hash = "sha256-1Mqu9Hfy65HUIOVG/gJBpSMlOwDWVcH+LrR8CaWz0BE=";
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};
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# eigenpy is not used without python support
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postPatch = lib.optionalString (!pythonSupport) ''
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substituteInPlace CMakeLists.txt --replace-fail \
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"add_project_dependency(eigenpy 2.7.10 REQUIRED)" \
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""
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'';
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nativeBuildInputs = [
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cmake
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pkg-config
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]
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++ lib.optional pythonSupport python3Packages.pythonImportsCheckHook;
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buildInputs = lib.optional stdenv.hostPlatform.isDarwin llvmPackages.openmp;
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propagatedBuildInputs =
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lib.optionals pythonSupport [
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python3Packages.crocoddyl
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python3Packages.osqp
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python3Packages.proxsuite
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python3Packages.scipy
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]
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++ lib.optionals (!pythonSupport) [
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crocoddyl
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proxsuite
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];
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cmakeFlags = [
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(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_PROXSUITE" true)
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]
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++ lib.optional (stdenv.hostPlatform.isDarwin) (
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lib.cmakeFeature "CMAKE_CTEST_ARGUMENTS" "--exclude-regex;'py-test-clqr-osqp'"
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)
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++ lib.optional (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) (
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lib.cmakeFeature "CMAKE_CTEST_ARGUMENTS" "--exclude-regex;'test_solvers'"
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);
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nativeCheckInputs = [
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ctestCheckHook
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];
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disabledTests = [
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# Fails with osqp>=1.0.0
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# See https://github.com/machines-in-motion/mim_solvers/pull/66
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"py-test-clqr-osqp"
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]
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++ lib.optionals (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) [
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# Several errors such as:
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# /build/source/tests/test_solvers.cpp(296):
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# error: in "test_SolverCSQP__PointMass1D_X-Ineq-All_U-Eq-All/boost__bind(&test_solver_convergence_ solver_type_ problem_type_ model_type_ x_cstr_type_ u_cstr_type)":
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# check solver_cast->get_norm_dual() <= solver_cast->get_norm_dual_tolerance() has failed
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# Reported upstream: https://github.com/machines-in-motion/mim_solvers/issues/69
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"test_solvers"
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];
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doCheck = true;
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pythonImportsCheck = [ "mim_solvers" ];
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passthru.updateScript = nix-update-script { };
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meta = {
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description = "Numerical solvers used in the Machines in Motion Laboratory";
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homepage = "https://github.com/machines-in-motion/mim_solvers";
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license = lib.licenses.bsd3;
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maintainers = with lib.maintainers; [ nim65s ];
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platforms = lib.platforms.all;
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};
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})
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