diff --git a/ClumsyPilot/ThirdParty/OSQP/.gitattributes b/ClumsyPilot/ThirdParty/OSQP/.gitattributes new file mode 100644 index 0000000..55ebf72 --- /dev/null +++ b/ClumsyPilot/ThirdParty/OSQP/.gitattributes @@ -0,0 +1,2 @@ +# The pinned upstream NOTICE is retained byte-for-byte, including its terminal blank line. +NOTICE whitespace=-blank-at-eof diff --git a/ClumsyPilot/ThirdParty/OSQP/LICENSE b/ClumsyPilot/ThirdParty/OSQP/LICENSE new file mode 100644 index 0000000..999bae3 --- /dev/null +++ b/ClumsyPilot/ThirdParty/OSQP/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "{}" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2021 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd + + 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. diff --git a/ClumsyPilot/ThirdParty/OSQP/NOTICE b/ClumsyPilot/ThirdParty/OSQP/NOTICE new file mode 100644 index 0000000..dd7c53f --- /dev/null +++ b/ClumsyPilot/ThirdParty/OSQP/NOTICE @@ -0,0 +1,14 @@ +OSQP +Copyright (c) 2019 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd + +This product includes software developed at Stanford University and at the University of Oxford. + + +The following external modules are included in this software library + +QDLDL +Copyright (c) 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac. + +AMD +Copyright (c) 1996-2015, Timothy A. Davis, Patrick R. Amestoy, and Iain S. Duff. + diff --git a/ClumsyPilot/ThirdParty/OSQP/SHA256SUMS b/ClumsyPilot/ThirdParty/OSQP/SHA256SUMS new file mode 100644 index 0000000..b8b3dbc --- /dev/null +++ b/ClumsyPilot/ThirdParty/OSQP/SHA256SUMS @@ -0,0 +1 @@ +d253695eb1cb13a58a525279710ad82bfc6be069c320fe6e29e6217b33534470 win-x64/osqp.dll diff --git a/ClumsyPilot/ThirdParty/OSQP/VERSION b/ClumsyPilot/ThirdParty/OSQP/VERSION new file mode 100644 index 0000000..31841f3 --- /dev/null +++ b/ClumsyPilot/ThirdParty/OSQP/VERSION @@ -0,0 +1,13 @@ +OSQP v1.0.0 +Platform: win-x64 +OSQP_ALGEBRA_BACKEND=builtin +OSQP_BUILD_SHARED_LIB=ON +OSQP_BUILD_STATIC_LIB=OFF +OSQP_BUILD_DEMO_EXE=OFF +OSQP_BUILD_UNITTESTS=OFF +OSQP_USE_FLOAT=OFF +OSQP_USE_LONG=OFF +OSQP_PACK_SETTINGS=OFF +OSQP_ENABLE_PRINTING=OFF +OSQP_CODEGEN=OFF +OSQP_ENABLE_DERIVATIVES=OFF diff --git a/ClumsyPilot/ThirdParty/OSQP/build-win-x64.ps1 b/ClumsyPilot/ThirdParty/OSQP/build-win-x64.ps1 new file mode 100644 index 0000000..188a747 --- /dev/null +++ b/ClumsyPilot/ThirdParty/OSQP/build-win-x64.ps1 @@ -0,0 +1,119 @@ +[CmdletBinding()] +param() + +$ErrorActionPreference = 'Stop' + +$tag = 'v1.0.0' +$packageRoot = Split-Path -Parent $MyInvocation.MyCommand.Path +$temporaryRoot = Join-Path ([System.IO.Path]::GetTempPath()) ('osqp-' + [Guid]::NewGuid().ToString('N')) +$sourceRoot = Join-Path $temporaryRoot 'source' +$buildRoot = Join-Path $temporaryRoot 'build' +$outputDirectory = Join-Path $packageRoot 'win-x64' +$outputDll = Join-Path $outputDirectory 'osqp.dll' +$licenseDestination = Join-Path $packageRoot 'LICENSE' +$noticeDestination = Join-Path $packageRoot 'NOTICE' +$versionDestination = Join-Path $packageRoot 'VERSION' +$hashDestination = Join-Path $packageRoot 'SHA256SUMS' + +if ($null -eq (Get-Command cmake -ErrorAction SilentlyContinue)) { + $installedCmakeDirectory = Join-Path ${env:ProgramFiles} 'CMake\bin' + if (Test-Path -LiteralPath (Join-Path $installedCmakeDirectory 'cmake.exe')) { + $env:Path = $installedCmakeDirectory + ';' + $env:Path + } +} +if ($null -eq (Get-Command cmake -ErrorAction SilentlyContinue)) { + throw 'CMake 3.18 or later must be installed and available to the native build script.' +} + +function Invoke-Checked { + param([scriptblock]$Command, [string]$Description) + + & $Command + if ($LASTEXITCODE -ne 0) { + throw "$Description failed with exit code $LASTEXITCODE." + } +} + +function Assert-ByteIdentical { + param([string]$ExpectedPath, [string]$ActualPath, [string]$Description) + + [byte[]]$expected = [System.IO.File]::ReadAllBytes($ExpectedPath) + [byte[]]$actual = [System.IO.File]::ReadAllBytes($ActualPath) + if ($expected.Length -ne $actual.Length) { + throw "$Description differs in length." + } + + for ($index = 0; $index -lt $expected.Length; $index++) { + if ($expected[$index] -ne $actual[$index]) { + throw "$Description differs at byte $index." + } + } +} + +try { + New-Item -ItemType Directory -Path $temporaryRoot | Out-Null + + Invoke-Checked { git clone --depth 1 --branch $tag --single-branch https://github.com/osqp/osqp.git $sourceRoot } 'OSQP source checkout' + + Invoke-Checked { + cmake -S $sourceRoot -B $buildRoot -A x64 ` + -DOSQP_ALGEBRA_BACKEND=builtin ` + -DOSQP_BUILD_SHARED_LIB=ON ` + -DOSQP_BUILD_STATIC_LIB=OFF ` + -DOSQP_BUILD_DEMO_EXE=OFF ` + -DOSQP_BUILD_UNITTESTS=OFF ` + -DOSQP_USE_FLOAT=OFF ` + -DOSQP_USE_LONG=OFF ` + -DOSQP_PACK_SETTINGS=OFF ` + -DOSQP_ENABLE_PRINTING=OFF ` + -DOSQP_CODEGEN=OFF ` + -DOSQP_ENABLE_DERIVATIVES=OFF + } 'OSQP CMake configuration' + + Invoke-Checked { cmake --build $buildRoot --config Release --target osqp } 'OSQP x64 build' + + $dllCandidates = @(Get-ChildItem -LiteralPath $buildRoot -Recurse -File -Filter 'osqp.dll') + if ($dllCandidates.Count -ne 1) { + throw "Expected exactly one generated osqp.dll, found $($dllCandidates.Count)." + } + + $sourceLicense = Join-Path $sourceRoot 'LICENSE' + $sourceNotice = Join-Path $sourceRoot 'NOTICE' + if (!(Test-Path -LiteralPath $sourceLicense) -or !(Test-Path -LiteralPath $sourceNotice)) { + throw 'Pinned OSQP source is missing LICENSE or NOTICE.' + } + + New-Item -ItemType Directory -Path $outputDirectory -Force | Out-Null + Copy-Item -LiteralPath $dllCandidates[0].FullName -Destination $outputDll -Force + Copy-Item -LiteralPath $sourceLicense -Destination $licenseDestination -Force + Copy-Item -LiteralPath $sourceNotice -Destination $noticeDestination -Force + Assert-ByteIdentical $sourceLicense $licenseDestination 'LICENSE copied from the pinned tag' + Assert-ByteIdentical $sourceNotice $noticeDestination 'NOTICE copied from the pinned tag' + + $versionText = @( + "OSQP $tag", + 'Platform: win-x64', + 'OSQP_ALGEBRA_BACKEND=builtin', + 'OSQP_BUILD_SHARED_LIB=ON', + 'OSQP_BUILD_STATIC_LIB=OFF', + 'OSQP_BUILD_DEMO_EXE=OFF', + 'OSQP_BUILD_UNITTESTS=OFF', + 'OSQP_USE_FLOAT=OFF', + 'OSQP_USE_LONG=OFF', + 'OSQP_PACK_SETTINGS=OFF', + 'OSQP_ENABLE_PRINTING=OFF', + 'OSQP_CODEGEN=OFF', + 'OSQP_ENABLE_DERIVATIVES=OFF' + ) -join [Environment]::NewLine + [System.IO.File]::WriteAllText($versionDestination, $versionText + [Environment]::NewLine, (New-Object System.Text.UTF8Encoding($false))) + + $hash = (Get-FileHash -LiteralPath $outputDll -Algorithm SHA256).Hash.ToLowerInvariant() + [System.IO.File]::WriteAllText($hashDestination, "$hash win-x64/osqp.dll$([Environment]::NewLine)", (New-Object System.Text.UTF8Encoding($false))) + + Write-Output 'OSQP v1.0.0 win-x64 package ready' +} +finally { + if (Test-Path -LiteralPath $temporaryRoot) { + Remove-Item -LiteralPath $temporaryRoot -Recurse -Force + } +} diff --git a/ClumsyPilot/ThirdParty/OSQP/win-x64/osqp.dll b/ClumsyPilot/ThirdParty/OSQP/win-x64/osqp.dll new file mode 100644 index 0000000..65bb3cb Binary files /dev/null and b/ClumsyPilot/ThirdParty/OSQP/win-x64/osqp.dll differ