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Add the possibility to use the official casadi binaries #14

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merged 3 commits into from
Aug 2, 2022
Merged

Add the possibility to use the official casadi binaries #14

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407e89a
update install
FabioBergonti Aug 2, 2022
307061d
update
FabioBergonti Aug 2, 2022
2a96b1a
fix
FabioBergonti Aug 2, 2022
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113 changes: 69 additions & 44 deletions install.m
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
function install(input)
arguments
input.mambaforge_prefix char = ''
input.env_name char = 'mystica'
input.mambaforge_prefix char = ''
input.env_name char = 'mystica'
input.install_casadi_via_mamba logical = true
end
% function created inspired by https://github.com/robotology/robotology-superbuild/blob/master/scripts/install_robotology_packages.m

Expand All @@ -10,6 +11,7 @@ function install(input)
setup_script = fullfile(mystica_fullpath,'deps','setup.m');

matlab_path_env = '';
matlab_folders_to_be_installed = {};

if exist(install_prefix,'dir')
fprintf('Directory %s already exists.\n', install_prefix);
Expand All @@ -31,7 +33,13 @@ function install(input)

% Install all the packages via conda
fprintf('Installing packages\n');
system(sprintf('"%s" create -n "%s" -y -c conda-forge -c robotology casadi-matlab-bindings=3.5.5.2 "libblas=*=*openblas"\n', mamba_full_path,input.env_name));
if input.install_casadi_via_mamba
system(sprintf('"%s" create -n "%s" -y -c conda-forge -c robotology casadi-matlab-bindings=3.5.5.2 "libblas=*=*openblas"\n', mamba_full_path,input.env_name));
else
system(sprintf('"%s" create -n "%s" -y -c conda-forge -c robotology \n', mamba_full_path,input.env_name));
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@traversaro traversaro Aug 2, 2022 •
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Why do you need to create the conda/mamba environment if you install casadi by the official binaries?

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@FabioBergonti FabioBergonti Aug 2, 2022 •
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Because in the environment I also declare the MATLABPATH env variable (see https://github.com/ami-iit/mystica/pull/14/files#diff-54c250a9c215f1709a131ba16c0752bab45e3460408a7ab3152a992dcda74ba3R140).
I usually run Matlab from a terminal where the mamba environment is active, in this way it's not necessary to run the autogenerated setup.m

casadi_full_path = fullfile(install_prefix,'casadi');
download_casadi_binaries(casadi_full_path)
end
% see discussion https://github.com/ami-iit/element_morphing-cover-design/issues/215#issuecomment-1081515249 to understand why we added "libblas=*=*openblas"
fprintf('Installation of packages completed\n');

Expand All @@ -43,35 +51,32 @@ function install(input)

%% Configure GitHub repositories

fprintf('Installing GitHub repositories\n');
fprintf('Cloning GitHub repositories\n')
clone_git_repository('https://github.com/ewiger/yamlmatlab.git','deps')
matlab_path_env = strcat( fullfile(install_prefix,'yamlmatlab') , env_sep , matlab_path_env );
system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
fprintf('Installation of GitHub repositories completed\n');
fprintf('Cloning GitHub repositories completed\n')

%% Addpath mystica directory
%% Installing matlab directories

fprintf('Installing mystica root folder\n')
matlab_path_env = strcat( mystica_fullpath , env_sep , matlab_path_env );
system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
fprintf('Installing mystica root folder completed\n')
% yamlmatlab
matlab_folders_to_be_installed{end+1} = fullfile(install_prefix,'yamlmatlab');

%% Addpath mystica/meshes directory
% mystica root folder
matlab_folders_to_be_installed{end+1} = mystica_fullpath;

fprintf('Installing mystica meshes folder\n')
mystica_meshes_fullpath = fullfile(mystica_fullpath,'meshes');
matlab_path_env = strcat( mystica_meshes_fullpath , env_sep , matlab_path_env );
system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
fprintf('Installing mystica meshes folder completed\n')
% mystica meshes
matlab_folders_to_be_installed{end+1} = fullfile(mystica_fullpath,'meshes');

%% Create csdMEX folder
% csdMEX
matlab_folders_to_be_installed{end+1} = fullfile(mystica_fullpath,'deps','csdMEX'); mkdir(matlab_folders_to_be_installed{end})

fprintf('Installing mystica csdMEX folder\n')
mystica_csdMEX_fullpath = fullfile(mystica_fullpath,'deps','csdMEX');
mkdir(mystica_csdMEX_fullpath)
matlab_path_env = strcat( mystica_csdMEX_fullpath , env_sep , matlab_path_env );
system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
fprintf('Installing mystica meshes folder completed\n')
% casadi binaries
if ~input.install_casadi_via_mamba
matlab_folders_to_be_installed{end+1} = casadi_full_path;
end

for i = 1 : length(matlab_folders_to_be_installed)
matlab_path_env = install_matlab_folder(matlab_folders_to_be_installed{i},matlab_path_env,mamba_full_path,env_full_path);
end

%% Creation of setup.m

Expand All @@ -84,32 +89,23 @@ function install(input)
fprintf(setupID,' env_sep = ":";\n');
fprintf(setupID,'end\n');
fprintf(setupID,'\n');
fprintf(setupID,'%% Install prefix (hardcoded at generation time)\n');
fprintf(setupID,'pckgs_install_prefix = "%s";\n', pckgs_install_prefix);
fprintf(setupID,'install_prefix = "%s";\n', install_prefix);
fprintf(setupID,'mystica_fullpath = "%s";\n', mystica_fullpath);
fprintf(setupID,'mystica_meshes_fullpath = "%s";\n', mystica_meshes_fullpath);
fprintf(setupID,'mystica_csdMEX_fullpath = "%s";\n', mystica_csdMEX_fullpath);
fprintf(setupID,'%% Configure `matlab_folders_to_be_installed` (hardcoded at generation time)\n');
for i = 1 : length(matlab_folders_to_be_installed)
fprintf(setupID,'matlab_folders_to_be_installed{%i} = "%s";\n',i,matlab_folders_to_be_installed{i});
end
fprintf(setupID,'%% Configure `pckgs_install_prefix` (hardcoded at generation time)\n');
fprintf(setupID,'pckgs_install_prefix = "%s";\n', pckgs_install_prefix);
fprintf(setupID,'\n');
fprintf(setupID,'%% Install `matlab_folders_to_be_installed`\n');
for i = 1 : length(matlab_folders_to_be_installed)
fprintf(setupID,'addpath(matlab_folders_to_be_installed{%i});\n',i);
end
fprintf(setupID,'%% AddPath packages installed with conda\n');
fprintf(setupID,'addpath(fullfile(pckgs_install_prefix,"mex"));\n');
fprintf(setupID,'\n');
fprintf(setupID,'%% AddPath github repositories\n');
fprintf(setupID,'addpath(fullfile(install_prefix,"yamlmatlab"));\n');
fprintf(setupID,'\n');
fprintf(setupID,'%% AddPath mystica\n');
fprintf(setupID,'addpath(mystica_fullpath);\n');
fprintf(setupID,'\n');
fprintf(setupID,'%% AddPath mystica meshes\n');
fprintf(setupID,'addpath(mystica_meshes_fullpath);\n');
fprintf(setupID,'\n');
fprintf(setupID,'%% AddPath mystica csdMEX\n');
fprintf(setupID,'addpath(mystica_csdMEX_fullpath);\n');
fprintf(setupID,'\n');
fprintf(setupID,'%% Add to the env:"PATH" the directory with the packages installed with conda\n');
fprintf(setupID,'setenv("PATH",strcat(fullfile(pckgs_install_prefix,"bin"), env_sep, getenv("PATH")));\n');
fclose( setupID);

fprintf('packages are successfully installed!\n');
fprintf('Please run %s before using the packages,\n',setup_script)
fprintf('or activate the conda enviroment %s and open matlab from that terminal.\n',input.env_name);
Expand All @@ -133,6 +129,35 @@ function clone_git_repository(repository_url,install_prefix)
end
end

function matlab_path_env = install_matlab_folder(name,matlab_path_env,mamba_full_path,env_full_path)
if ispc
env_sep = ";";
else
env_sep = ":";
end
fprintf('Installing %s\n',name)
matlab_path_env = strcat( name , env_sep , matlab_path_env );
system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
end

function download_casadi_binaries(casadi_full_path)
if ismac
websave('casadi','https://github.com/casadi/casadi/releases/download/3.5.5/casadi-osx-matlabR2015a-v3.5.5.tar.gz')
untar('casadi.gz',casadi_full_path)
delete('casadi.gz')
elseif isunix
websave('casadi','https://github.com/casadi/casadi/releases/download/3.5.5/casadi-linux-matlabR2014b-v3.5.5.tar.gz')
untar('casadi.gz',casadi_full_path)
delete('casadi.gz')
elseif ispc
websave('casadi','https://github.com/casadi/casadi/releases/download/3.5.5/casadi-windows-matlabR2016a-v3.5.5.zip')
unzip('casadi.zip',casadi_full_path)
delete('casadi.zip')
else
error('Platform not supported')
end
end

function [mamba_full_path,env_full_path] = configure_mambaforge(mambaforge_prefix,install_prefix,env_name)

if ispc
Expand Down