include blasfeo in python built

PREDICT-EPFL · Nov 1, 2024 · 0f99544 · 0f99544
1 parent 1e47f17
commit 0f99544
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Showing 10 changed files with 225 additions and 24 deletions.
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
@@ -10,10 +10,6 @@ on:
     types:
       - published
 
-env:
-  CIBW_ARCHS_LINUX: x86_64 i686 aarch64
-  CIBW_ARCHS_MACOS: x86_64 arm64
-
 jobs:
   setup_build_targets:
     name: Setup build targets
@@ -30,7 +26,7 @@ jobs:
         uses: actions/setup-python@v3
 
       - name: Install cibuildwheel
-        run: python -m pip install cibuildwheel==2.16.5
+        run: python -m pip install cibuildwheel==2.21.3
 
       - name: Generate strategy matrix
         id: set-matrix
@@ -57,9 +53,11 @@ jobs:
           platforms: all
 
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.16.5
+        uses: pypa/cibuildwheel@v2.21.3
         env:
-          CIBW_BEFORE_ALL: mkdir -p build_external && cd build_external && bash ../ci/install_eigen.sh
+          CIBW_BEFORE_ALL_LINUX: bash ci/cibw_before_all_linux.sh
+          CIBW_BEFORE_ALL_WINDOWS: bash ci/cibw_before_all_windows.sh
+          CIBW_BEFORE_ALL_MACOS: bash ci/cibw_before_all_macos_${{ runner.os == macos-14 && 'arm64' || 'x86_64' }}.sh
           CIBW_BUILD: ${{ matrix.target.build }}
 
       - uses: actions/upload-artifact@v3

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -167,22 +167,52 @@ if (BUILD_WITH_TEMPLATE_INSTANTIATION)
     target_compile_options(piqp PRIVATE ${compiler_flags})
     target_link_options(piqp PRIVATE ${compiler_flags})
 
+    create_piqp_library(piqp_header_only_no_blasfeo_linked INTERFACE)
     create_piqp_library(piqp_header_only INTERFACE)
+    target_link_libraries(piqp_header_only INTERFACE piqp_header_only_no_blasfeo_linked)
 else ()
     message(STATUS "Building without template instantiation")
 
     create_piqp_library(piqp INTERFACE)
+    create_piqp_library(piqp_header_only_no_blasfeo_linked INTERFACE)
     create_piqp_library(piqp_header_only INTERFACE)
+    target_link_libraries(piqp_header_only INTERFACE piqp_header_only_no_blasfeo_linked)
 endif ()
 
+function(CREATE_BLASFEO_LIBRARY library_name library_dir)
+    find_library(library_lib NAMES blasfeo HINTS "${library_dir}/lib")
+
+    add_library(${library_name} UNKNOWN IMPORTED)
+    set_target_properties(${library_name} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${library_dir}/include")
+    set_property(TARGET ${library_name} APPEND PROPERTY IMPORTED_LOCATION "${library_lib}")
+
+    message(STATUS "Found ${library_name}: ${library_dir}/include ${library_lib}")
+endfunction()
+
 if (BUILD_WITH_BLASFEO)
     # Find Blasfeo
     find_package(blasfeo REQUIRED)
 
+    # Create architecture specific library for blasfeo.
+    # Used in Python and Matlab interfaces.
+    if (DEFINED BLASFEO_X64_DIR)
+        create_blasfeo_library(blasfeo_x64 ${BLASFEO_X64_DIR})
+    endif ()
+    if (DEFINED BLASFEO_X64_AVX2_DIR)
+        create_blasfeo_library(blasfeo_x64_avx2 ${BLASFEO_X64_AVX2_DIR})
+    endif ()
+    if (DEFINED BLASFEO_X64_AVX512_DIR)
+        create_blasfeo_library(blasfeo_x64_avx512 ${BLASFEO_X64_AVX512_DIR})
+    endif ()
+    if (DEFINED BLASFEO_ARM64_DIR)
+        create_blasfeo_library(blasfeo_arm64 ${BLASFEO_ARM64_DIR})
+    endif ()
+
     target_compile_definitions(piqp PUBLIC PIQP_HAS_BLASFEO)
     target_link_libraries(piqp PUBLIC blasfeo)
 
     target_compile_definitions(piqp_header_only INTERFACE PIQP_HAS_BLASFEO)
+    target_compile_definitions(piqp_header_only_no_blasfeo_linked INTERFACE PIQP_HAS_BLASFEO)
     target_link_libraries(piqp_header_only INTERFACE blasfeo)
 endif ()
 
@@ -211,25 +241,25 @@ if (BUILD_WITH_OPENMP)
         target_compile_definitions(piqp PUBLIC PIQP_HAS_OPENMP)
         target_link_libraries(piqp PUBLIC OpenMP::OpenMP_CXX)
 
-        target_compile_definitions(piqp_header_only INTERFACE PIQP_HAS_OPENMP)
-        target_link_libraries(piqp_header_only INTERFACE OpenMP::OpenMP_CXX)
+        target_compile_definitions(piqp_header_only_no_blasfeo_linked INTERFACE PIQP_HAS_OPENMP)
+        target_link_libraries(piqp_header_only_no_blasfeo_linked INTERFACE OpenMP::OpenMP_CXX)
     else ()
         message(STATUS "OpenMP NOT found.")
     endif ()
 endif ()
 
 if (BUILD_WITH_STD_OPTIONAL)
     target_compile_definitions(piqp INTERFACE PIQP_STD_OPTIONAL)
-    target_compile_definitions(piqp_header_only INTERFACE PIQP_STD_OPTIONAL)
+    target_compile_definitions(piqp_header_only_no_blasfeo_linked INTERFACE PIQP_STD_OPTIONAL)
 endif ()
 if (BUILD_WITH_STD_FILESYSTEM)
     target_compile_definitions(piqp INTERFACE PIQP_STD_FILESYSTEM)
-    target_compile_definitions(piqp_header_only INTERFACE PIQP_STD_FILESYSTEM)
+    target_compile_definitions(piqp_header_only_no_blasfeo_linked INTERFACE PIQP_STD_FILESYSTEM)
 endif ()
 
 if (DEBUG_PRINTS)
     target_compile_definitions(piqp INTERFACE PIQP_DEBUG_PRINT)
-    target_compile_definitions(piqp_header_only INTERFACE PIQP_DEBUG_PRINT)
+    target_compile_definitions(piqp_header_only_no_blasfeo_linked INTERFACE PIQP_DEBUG_PRINT)
 endif ()
 
 add_library(piqp::piqp ALIAS piqp)
@@ -280,7 +310,7 @@ if (ENABLE_INSTALL)
     )
 
     install(
-        TARGETS piqp piqp_header_only
+        TARGETS piqp piqp_header_only_no_blasfeo_linked piqp_header_only
         EXPORT piqpTargets
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}

diff --git a/ci/build_install_blasfeo.sh b/ci/build_install_blasfeo.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# This file is part of PIQP.
+#
+# Copyright (c) 2024 EPFL
+#
+# This source code is licensed under the BSD 2-Clause License found in the
+# LICENSE file in the root directory of this source tree.
+
+BLASFEO_TARGET=${1:-GENERIC};
+ARCH_SUFFIX=${2:-};
+
+echo "Installing blasfeo..."
+
+cd blasfeo
+mkdir "build_$ARCH_SUFFIX"
+cd "build_$ARCH_SUFFIX"
+cmake .. -DCMAKE_BUILD_TYPE=Release -DBLASFEO_CROSSCOMPILING=ON -DTARGET="$BLASFEO_TARGET" ${3:+-DCMAKE_INSTALL_PREFIX="$3"}
+cmake --build .
+case "$(uname -sr)" in
+  CYGWIN*|MINGW*|MINGW32*|MSYS*) # detect windows
+    cmake --install .
+    ;;
+  *) # other OS
+    if [ "$EUID" -ne 0 ] # check if already root
+      then
+        sudo cmake --install .
+      else
+        cmake --install .
+    fi
+    ;;
+esac
diff --git a/ci/cibuildwheel_matrix.py b/ci/cibuildwheel_matrix.py
@@ -2,17 +2,18 @@
 import subprocess
 import json
 
-platforms = ['linux', 'macos', 'windows']
-runners = {
-    'linux': 'ubuntu-22.04',
-    'macos': 'macos-12',
-    'windows': 'windows-2022',
-}
+platforms = [
+    ('linux', 'ubuntu-22.04', 'x86_64,i686,aarch64'),
+    ('macos', 'macos-12', 'x86_64'),
+    ('macos', 'macos-14', 'arm64'),
+    ('windows', 'windows-2022', 'x86,AMD64')
+]
 
 targets = []
-for platform in platforms:
+for platform, runner, archs in platforms:
 
-    platform_targets = subprocess.check_output(['cibuildwheel', '--platform', platform, '--print-build-identifiers'])
+    platform_targets = subprocess.check_output(['cibuildwheel', '--platform', platform, '--archs', archs,
+                                                '--print-build-identifiers'])
     platform_targets = platform_targets.decode('utf-8')
     platform_targets = platform_targets.strip('\n').split('\n')
 
@@ -27,11 +28,11 @@
     for python_version, group_targets in grouped_targets.items():
         targets.append({
             'version': python_version,
-            'os': runners[platform],
+            'os': runner,
             'build': ' '.join(group_targets),
         })
 
-# print('matrix=' + json.dumps({'target': targets}))
+print(targets)
 
 with open(os.environ['GITHUB_OUTPUT'], 'a') as fh:
     print('matrix=' + json.dumps({'target': targets}), file=fh)
diff --git a/ci/cibw_before_all_linux.sh b/ci/cibw_before_all_linux.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+# This file is part of PIQP.
+#
+# Copyright (c) 2024 EPFL
+#
+# This source code is licensed under the BSD 2-Clause License found in the
+# LICENSE file in the root directory of this source tree.
+
+mkdir -p build_external
+cd build_external
+
+bash ../ci/install_eigen.sh
+
+bash ../ci/download_blasfeo.sh
+bash ../ci/build_install_blasfeo.sh GENERIC generic
+
+case $(uname -m) in
+    x86_64)
+        bash ../ci/build_install_blasfeo.sh X64_INTEL_CORE x64 /opt/blasfeo_x64
+        bash ../ci/build_install_blasfeo.sh X64_INTEL_HASWELL x64_avx2 /opt/blasfeo_x64_avx2
+        bash ../ci/build_install_blasfeo.sh X64_INTEL_SKYLAKE_X arm64 /opt/blasfeo_x64_avx512
+        export CMAKE_ARGS="-DBLASFEO_X64_DIR=/opt/blasfeo_x64 -DBLASFEO_X64_AVX2_DIR=/opt/blasfeo_x64_avx2 -DBLASFEO_X64_AVX512_DIR=/opt/blasfeo_x64_avx512"
+        ;;
+    aarch64|arm64)
+        bash ../ci/build_install_blasfeo.sh ARMV8A_APPLE_M1 arm64 /opt/blasfeo_arm64
+        export CMAKE_ARGS="-DBLASFEO_ARM64_DIR=/opt/blasfeo_arm64"
+        ;;
+esac
diff --git a/ci/cibw_before_all_macos_arm64.sh b/ci/cibw_before_all_macos_arm64.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# This file is part of PIQP.
+#
+# Copyright (c) 2024 EPFL
+#
+# This source code is licensed under the BSD 2-Clause License found in the
+# LICENSE file in the root directory of this source tree.
+
+mkdir -p build_external
+cd build_external
+
+bash ../ci/install_eigen.sh
+
+bash ../ci/download_blasfeo.sh
+bash ../ci/build_install_blasfeo.sh GENERIC generic
+bash ../ci/build_install_blasfeo.sh ARMV8A_APPLE_M1 arm64 /opt/blasfeo_arm64
+
+export CMAKE_ARGS="-DBLASFEO_ARM64_DIR=/opt/blasfeo_arm64"
diff --git a/ci/cibw_before_all_macos_x86_64.sh b/ci/cibw_before_all_macos_x86_64.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+# This file is part of PIQP.
+#
+# Copyright (c) 2024 EPFL
+#
+# This source code is licensed under the BSD 2-Clause License found in the
+# LICENSE file in the root directory of this source tree.
+
+mkdir -p build_external
+cd build_external
+
+bash ../ci/install_eigen.sh
+
+bash ../ci/download_blasfeo.sh
+bash ../ci/build_install_blasfeo.sh GENERIC generic
+bash ../ci/build_install_blasfeo.sh X64_INTEL_CORE x64 /opt/blasfeo_x64
+bash ../ci/build_install_blasfeo.sh X64_INTEL_HASWELL x64_avx2 /opt/blasfeo_x64_avx2
+bash ../ci/build_install_blasfeo.sh X64_INTEL_SKYLAKE_X arm64 /opt/blasfeo_x64_avx512
+
+export CMAKE_ARGS="-DBLASFEO_X64_DIR=/opt/blasfeo_x64 -DBLASFEO_X64_AVX2_DIR=/opt/blasfeo_x64_avx2 -DBLASFEO_X64_AVX512_DIR=/opt/blasfeo_x64_avx512"
diff --git a/ci/cibw_before_all_windows.sh b/ci/cibw_before_all_windows.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+# This file is part of PIQP.
+#
+# Copyright (c) 2024 EPFL
+#
+# This source code is licensed under the BSD 2-Clause License found in the
+# LICENSE file in the root directory of this source tree.
+
+mkdir -p build_external
+cd build_external
+
+bash ../ci/install_eigen.sh
+
+bash ../ci/download_blasfeo.sh
+bash ../ci/build_install_blasfeo.sh GENERIC generic
+bash ../ci/build_install_blasfeo.sh X64_INTEL_CORE x64 /opt/blasfeo_x64
+bash ../ci/build_install_blasfeo.sh X64_INTEL_HASWELL x64_avx2 /opt/blasfeo_x64_avx2
+bash ../ci/build_install_blasfeo.sh X64_INTEL_SKYLAKE_X arm64 /opt/blasfeo_x64_avx512
+
+export CMAKE_ARGS="-DBLASFEO_X64_DIR=/opt/blasfeo_x64 -DBLASFEO_X64_AVX2_DIR=/opt/blasfeo_x64_avx2 -DBLASFEO_X64_AVX512_DIR=/opt/blasfeo_x64_avx512"
diff --git a/ci/download_blasfeo.sh b/ci/download_blasfeo.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# This file is part of PIQP.
+#
+# Copyright (c) 2024 EPFL
+#
+# This source code is licensed under the BSD 2-Clause License found in the
+# LICENSE file in the root directory of this source tree.
+
+echo "Downloading blasfeo..."
+
+git clone https://github.com/giaf/blasfeo.git blasfeo
diff --git a/interfaces/python/CMakeLists.txt b/interfaces/python/CMakeLists.txt
@@ -40,7 +40,7 @@ endif()
 function(CREATE_PIQP_PYTHON_TARGET target_name COMPILE_OPTIONS)
     pybind11_add_module(${target_name} src/piqp_python.cpp)
     target_compile_options(${target_name} PRIVATE ${COMPILE_OPTIONS})
-    target_link_libraries(${target_name} PRIVATE piqp_header_only)
+    target_link_libraries(${target_name} PRIVATE piqp_header_only_no_blasfeo_linked)
     target_compile_definitions(${target_name} PRIVATE PYTHON_MODULE_NAME=${target_name})
     # PIQP_VERSION_INFO is defined by setup.py and passed into the C++ code as a define (VERSION_INFO) here.
     target_compile_definitions(${target_name} PRIVATE VERSION_INFO=${PIQP_VERSION_INFO})
@@ -63,3 +63,41 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
     create_piqp_python_target(piqp_python_avx2 "${AVX2_COMPILE_OPTION};${FMA_COMPILE_OPTION}")
     create_piqp_python_target(piqp_python_avx512 "${AVX512_COMPILE_OPTION};${FMA_COMPILE_OPTION}")
 endif()
+
+if (BUILD_WITH_BLASFEO)
+    # if x86/amd64
+    if (${CMAKE_SYSTEM_PROCESSOR} MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
+        # if 64bit
+        if (${CMAKE_SYSTEM_PROCESSOR} MATCHES "(x86_64)|(X86_64)|(amd64)|(AMD64)")
+            if (TARGET blasfeo_x64)
+                target_link_libraries(piqp_python PRIVATE blasfeo_x64)
+            else ()
+                target_link_libraries(piqp_python PRIVATE blasfeo)
+            endif ()
+            if (TARGET blasfeo_x64_avx2)
+                target_link_libraries(piqp_python_avx2 PRIVATE blasfeo_x64_avx2)
+            else ()
+                target_link_libraries(piqp_python_avx2 PRIVATE blasfeo)
+            endif ()
+            if (TARGET blasfeo_x64_avx512)
+                target_link_libraries(piqp_python PRIVATE blasfeo_x64_avx512)
+            else ()
+                target_link_libraries(piqp_python_avx512 PRIVATE blasfeo)
+            endif ()
+        else ()
+            target_link_libraries(piqp_python PRIVATE blasfeo)
+            target_link_libraries(piqp_python_avx2 PRIVATE blasfeo)
+            target_link_libraries(piqp_python_avx512 PRIVATE blasfeo)
+        endif ()
+
+    # if arm64
+    elseif (${CMAKE_SYSTEM_PROCESSOR} MATCHES "(ARM64)|(arm64)|(aarch64)")
+        if (TARGET blasfeo_arm64)
+            target_link_libraries(piqp_python PRIVATE blasfeo_arm64)
+        else ()
+            target_link_libraries(piqp_python PRIVATE blasfeo)
+        endif ()
+    else ()
+        target_link_libraries(piqp_python PRIVATE blasfeo)
+    endif()
+endif ()