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#!/usr/bin/bash -e
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DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
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ARCHNAME="x86_64"
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BLAS_TARGET="X64_AUTOMATIC"
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if [ -f /TICI ]; then
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ARCHNAME="larch64"
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BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
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fi
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if [ ! -d acados_repo/ ]; then
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git clone https://github.com/acados/acados.git $DIR/acados_repo
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# git clone https://github.com/commaai/acados.git $DIR/acados_repo
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fi
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cd acados_repo
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git fetch --all
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git checkout 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
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git submodule update --recursive --init
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# build
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mkdir -p build
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cd build
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cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
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make -j20 install
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INSTALL_DIR="$DIR/$ARCHNAME"
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rm -rf $INSTALL_DIR
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mkdir -p $INSTALL_DIR
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rm $DIR/acados_repo/lib/*.json
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rm -rf $DIR/include
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cp -r $DIR/acados_repo/include $DIR
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cp -r $DIR/acados_repo/lib $INSTALL_DIR
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rm -rf $DIR/../../pyextra/acados_template
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cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/../../pyextra
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#pip3 install -e $DIR/acados/interfaces/acados_template
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# build tera
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cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
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cargo build --verbose --release
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cp target/release/t_renderer $INSTALL_DIR/
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