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[osqp-eigen, osqp] Add new port #41676

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[osqp-eigen, osqp] Add new port #41676

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ed2050c
Add osqp to vcpkg
aboelens Oct 20, 2024
477c760
version database
aboelens Oct 20, 2024
f3d2cc9
Add osqp-eigen to vcpkg
aboelens Oct 20, 2024
08f2daa
version database
aboelens Oct 20, 2024
951f714
Merge branch 'microsoft:master' into add_osqp
aboelens Nov 8, 2024
ecb7ae1
Enable building a shared library on Windows for osqp-eigen
aboelens Nov 8, 2024
5156189
version database
aboelens Nov 8, 2024
462198c
Fixed patch for osqp-eigen
aboelens Nov 8, 2024
4778eca
version database
aboelens Nov 8, 2024
f751aea
Update ports/osqp-eigen/portfile.cmake
aboelens Nov 12, 2024
0ab8da7
Update ports/osqp-eigen/portfile.cmake
aboelens Nov 12, 2024
0ac0d5b
Merge branch 'microsoft:master' into add_osqp
aboelens Nov 17, 2024
d4def60
Simplified osqp.patch
aboelens Nov 17, 2024
6af9bf0
Simplified qdldl patch
aboelens Nov 17, 2024
0a049c6
Update ports/osqp-eigen/portfile.cmake
aboelens Nov 17, 2024
ba1b1ea
Update ports/osqp-eigen/portfile.cmake
aboelens Nov 17, 2024
29d5cee
Update ports/osqp-eigen/portfile.cmake
aboelens Nov 17, 2024
c938406
Update ports/osqp-eigen/vcpkg.json
aboelens Nov 17, 2024
5497ca9
Update ports/osqp-eigen/vcpkg.json
aboelens Nov 17, 2024
4667ee0
Decreased patch size osqp-eigen
aboelens Nov 17, 2024
176d432
Update ports/osqp/portfile.cmake
aboelens Nov 17, 2024
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17 changes: 17 additions & 0 deletions ports/osqp-eigen/osqp-eigen.patch
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@@ -0,0 +1,17 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8406ab9..24c6328 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -144,6 +144,7 @@ install_basic_package_files(${PROJECT_NAME}
NO_CHECK_REQUIRED_COMPONENTS_MACRO
DEPENDENCIES ${OSQP_EIGEN_EXPORTED_DEPENDENCIES})

+if(0)
# Install package.xml to share
install(FILES package.xml DESTINATION share/cmake/osqp-eigen)

@@ -152,3 +153,4 @@ include(AddOsqpEigenUnitTest)
add_subdirectory(tests)

include(AddUninstallTarget)
+endif()
18 changes: 18 additions & 0 deletions ports/osqp-eigen/portfile.cmake
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@@ -0,0 +1,18 @@
vcpkg_from_github(
OUT_SOURCE_PATH SOURCE_PATH
REPO "robotology/osqp-eigen"
REF v${VERSION}
SHA512 92a801892ce11d3167e3f1eb98cd988e7be7cbc3caa070b1628977b7d881b34c1207d9c1443ba381d88be4133bda6d3e9195c931f9554537c86832841f1e61fb
PATCHES osqp-eigen.patch
)

vcpkg_cmake_configure(
SOURCE_PATH "${SOURCE_PATH}"
)

vcpkg_cmake_install()
vcpkg_cmake_config_fixup(PACKAGE_NAME "osqpeigen" CONFIG_PATH "lib/cmake/OsqpEigen")

file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")

vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")
22 changes: 22 additions & 0 deletions ports/osqp-eigen/vcpkg.json
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@@ -0,0 +1,22 @@
{
"name": "osqp-eigen",
"version": "0.7.0",
"port-version": 2,
"description": "Simple C++ wrapper for the osqp library",
"homepage": "https://robotology.github.io/osqp-eigen/",
"dependencies": [
"eigen3",
{
"name": "osqp",
"version>=": "0.6.2"
},
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{
"name": "vcpkg-cmake",
"host": true
},
{
"name": "vcpkg-cmake-config",
"host": true
}
]
}
45 changes: 45 additions & 0 deletions ports/osqp/osqp.patch
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@@ -0,0 +1,45 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 64671fc6..4cf113c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -265,7 +265,7 @@ add_subdirectory(lin_sys)
# Static library
add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
# Give same name to static library output
-set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
+set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp EXPORT_NAME osqp)

# Include directories for linear system solvers
target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
@@ -298,6 +298,7 @@ if (MATLAB)
target_link_libraries (osqpstatic ${Matlab_LIBRARIES})
endif (MATLAB)

+if(0)
# If we are building Python/Matlab/R interface:
# - do not build shared library
# - do not build demo
@@ -326,6 +327,7 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
target_link_libraries (osqp_demo osqpstatic)

endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
+endif()

# Create CMake packages for the build directory
# ----------------------------------------------
@@ -355,6 +357,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/osqp-config.cmake



+if(0)
# Add uninstall command
# ----------------------------------------------
if(NOT TARGET uninstall)
@@ -366,6 +369,7 @@ if(NOT TARGET uninstall)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()
+endif()



52 changes: 52 additions & 0 deletions ports/osqp/portfile.cmake
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@@ -0,0 +1,52 @@
if(VCPKG_TARGET_IS_WINDOWS)
vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
endif()

vcpkg_from_github(
OUT_SOURCE_PATH SOURCE_PATH
REPO "osqp/osqp"
REF v0.6.2
SHA512 1e3e1e06891ba862d982f9f37503580268709bf1ea5008daab95393501c85aa69c79d321c45bc87dc53000274dd120c148b90c1797156e340fe361929ff2e324
PATCHES osqp.patch
)

vcpkg_download_distfile(
QDLDL
URLS "https://github.com/osqp/qdldl/archive/refs/tags/v0.1.5.tar.gz"
FILENAME "qdldl-0.1.5.tar.gz"
SHA512 3a224767708484d6728e4b0801210c5e7d4e906564c0855c7987876316cde7349c2717a169b4a6680495b0c71415be383e3e5c6826873fb92d7e93258a7a03a8
)
Comment on lines +13 to +18
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Maybe a candidate for a separate port?

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It is currently loaded as a git sub module, which is why I took this approach.

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Fyi I opened an issue on this upstream some time ago: osqp/osqp#85 . If I recall correctly the critical point is that osqp package also has some code-generation functionalities, and so at least for those they need access to qdldl source code, but I guess there is nothing preventing using an external qdldl for all other uses.

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And apparently I forgot that eventually we devendored qdldl in conda-forge, see https://github.com/conda-forge/libosqp-feedstock/blob/main/recipe/patches/0002-build-qdldl-interface-as-part-of-osqp.patch and conda-forge/libosqp-feedstock#8 .

fyi @h-vetinari as he is the author of the patch, so I guess he need to be onboard for the patch to be used here unless the copyright info of the conda-forge feedstock needs to be added here somehow.

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The feedstock is under bsd-3 license so the patch can be used freely. If properly attributed, even better.

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I finally got around to looking at the patch. It seems that the patch is not for compiling osqp against a separate installation of qdldl. Instead it pulls in the relevant code of qdldl and compiles it as part of osqp.

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@traversaro traversaro Dec 2, 2024 •
edited
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I finally got around to looking at the patch. It seems that the patch is not for compiling osqp against a separate installation of qdldl. Instead it pulls in the relevant code of qdldl and compiles it as part of osqp.

Where did you get that impression? The patch explicitly removed the add_subdirectory of the submodule, and substitute it with a find_package(qdldl), see https://github.com/conda-forge/libosqp-feedstock/blob/a60a9fc6866820657fe71a112f35d99fe19a5978/recipe/patches/0002-build-qdldl-interface-as-part-of-osqp.patch#L64 . Are you sure you are not confusing qdldl itself with the qdldl_interface.h/qdldl_interface.c files that are instead the osqp files used to interface with qdldl ?

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Maybe I misread? "Since we were not building the MKL pardiso bindings correctly anyway we can just ignore the whole ./lin_sys folder, or rather: just take out what we need and put it in the sources directly, rather than muck around with trying to build a separate library."

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@traversaro traversaro Dec 2, 2024 •
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Ah, I see why it is misleading. The folder contains both qdldl_interface.h and qdldl_interface.c, and the qdldl submodules, see https://github.com/osqp/osqp/tree/v0.6.3/lin_sys/direct/qdldl . If you check what the patch is actually doing, it takes the non-qdldl files and move them to the osqp library, while using the qdldl external library.

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OK. Thanks for the explanation.


vcpkg_extract_source_archive(
QDLDL_SOURCE_PATH
ARCHIVE "${QDLDL}"
PATCHES qdldl.patch
)

vcpkg_execute_required_process(
COMMAND ${CMAKE_COMMAND} -E copy_directory "${QDLDL_SOURCE_PATH}" "${SOURCE_PATH}/lin_sys/direct/qdldl/qdldl_sources/"
WORKING_DIRECTORY "${SOURCE_PATH}"
LOGNAME copy
)

vcpkg_cmake_configure(
SOURCE_PATH "${SOURCE_PATH}"
OPTIONS
-DPYTHON=OFF
-DMATLAB=OFF
-DR_LANG=OFF
-DUNITTESTS=OFF
)

vcpkg_cmake_install()
vcpkg_cmake_config_fixup(
CONFIG_PATH "lib/cmake/osqp"
)

file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")

file(
INSTALL "${SOURCE_PATH}/LICENSE"
DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}"
RENAME copyright
)
36 changes: 36 additions & 0 deletions ports/osqp/qdldl.patch
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@@ -0,0 +1,36 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06c3d9c..6720029 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -126,6 +126,7 @@ install(TARGETS qdldlstatic
install(FILES ${qdldl_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/qdldl")


+if(0)
# Install Shared Library
# ----------------------------------------------
# Create qdldl shared library
@@ -146,6 +147,7 @@ install(TARGETS qdldl
# Create demo executable (linked to static library)
add_executable (qdldl_example ${PROJECT_SOURCE_DIR}/examples/example.c)
target_link_libraries (qdldl_example qdldlstatic)
+endif()


# Create CMake packages for the build directory
@@ -176,6 +178,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/qdldl-config.cmake



+if(0)
# Add uninstall command
# ----------------------------------------------
if(NOT TARGET uninstall)
@@ -187,6 +190,7 @@ if(NOT TARGET uninstall)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()
+endif()



16 changes: 16 additions & 0 deletions ports/osqp/vcpkg.json
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@@ -0,0 +1,16 @@
{
"name": "osqp",
"version": "0.6.2",
"description": "The Operator Splitting QP Solver",
"homepage": "https://osqp.org/",
"dependencies": [
{
"name": "vcpkg-cmake",
"host": true
},
{
"name": "vcpkg-cmake-config",
"host": true
}
]
}
8 changes: 8 additions & 0 deletions versions/baseline.json
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Expand Up @@ -6832,6 +6832,14 @@
"baseline": "4.6.1",
"port-version": 0
},
"osqp": {
"baseline": "0.6.2",
"port-version": 0
},
"osqp-eigen": {
"baseline": "0.7.0",
"port-version": 2
},
"otl": {
"baseline": "4.0.478",
"port-version": 0
Expand Down
19 changes: 19 additions & 0 deletions versions/o-/osqp-eigen.json
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@@ -0,0 +1,19 @@
{
"versions": [
{
"git-tree": "22e7cc81d95db7211121a9102764f38bbe0a58c4",
"version": "0.7.0",
"port-version": 2
},
{
"git-tree": "e7ea18207927577f82e9c0d9354355d5aa4fe278",
"version": "0.7.0",
"port-version": 1
},
{
"git-tree": "5ce5aa1c304bd2ceee4bfbc25e3b25be6408e0c2",
"version": "0.7.0",
"port-version": 0
}
]
}
9 changes: 9 additions & 0 deletions versions/o-/osqp.json
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@@ -0,0 +1,9 @@
{
"versions": [
{
"git-tree": "ec510c3dc408a6286bad2dcb0e23b1275a2660dc",
"version": "0.6.2",
"port-version": 0
}
]
}
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