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Add support for onnxruntime just on Linux with apt #1387

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merged 1 commit into from
Apr 17, 2023
Merged

Add support for onnxruntime just on Linux with apt #1387

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11 changes: 11 additions & 0 deletions cmake/Buildbipedal-locomotion-framework.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,16 @@ if(APPLE OR WIN32)
list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DENABLE_YarpRobotLoggerDevice:BOOL=OFF")
endif()

# onnxruntime
# Just on Linux without conda, we download onnxruntime
set(FRAMEWORK_USE_onnxruntime OFF)
if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
include(Fetchonnxruntimebinaries)
set(FRAMEWORK_USE_onnxruntime ON)
endif()
endif()

ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
STYLE GITHUB
REPOSITORY ami-iit/bipedal-locomotion-framework.git
Expand All @@ -79,6 +89,7 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
-DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_USE_LieGroupControllers:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_USE_tomlplusplus:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_USE_onnxruntime:BOOL=${FRAMEWORK_USE_onnxruntime}
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}
${bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS}
DEPENDS ${bipedal-locomotion-framework_DEPENDS})
Expand Down
37 changes: 37 additions & 0 deletions cmake/Fetchonnxruntimebinaries.cmake
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
# Copyright (C) Fondazione Istituto Italiano di Tecnologia

# silence deprecation warnings in newer versions of cmake
if(POLICY CMP0135)
cmake_policy(SET CMP0135 NEW)
endif()

if(NOT CMAKE_SYSTEM_NAME STREQUAL "Linux")
message(FATAL_ERROR "Fetchonnxruntimebinaries is only supported on Linux, not on ${CMAKE_SYSTEM_NAME}")
endif()

set(onnxruntimebinaries_VERSION "1.14.1")
if(CMAKE_HOST_SYSTEM_PROCESSOR STREQUAL "x86_64")
set(onnxruntimebinaries_ARCH "x64")
elseif(CMAKE_HOST_SYSTEM_PROCESSOR STREQUAL "aarch64")
set(onnxruntimebinaries_ARCH "aarch64")
else()
message(FATAL_ERROR "Fetchonnxruntimebinaries is not supported on architecture ${CMAKE_HOST_SYSTEM_PROCESSOR}")
endif()

set(onnxruntimebinaries_URL "https://github.com/microsoft/onnxruntime/releases/download/v${onnxruntimebinaries_VERSION}/onnxruntime-linux-${onnxruntimebinaries_ARCH}-${onnxruntimebinaries_VERSION}.tgz")

FetchContent_Declare(
onnxruntimebinaries
URL ${onnxruntimebinaries_URL}
)

FetchContent_GetProperties(onnxruntimebinaries)
if(NOT onnxruntimebinaries_POPULATED)
message(STATUS "Downloading onnxruntime binaries.")
FetchContent_Populate(onnxruntimebinaries)
file(GLOB onnxruntimebinaries_HEADERS ${onnxruntimebinaries_SOURCE_DIR}/include/*)
file(COPY ${onnxruntimebinaries_HEADERS} DESTINATION ${YCM_EP_INSTALL_DIR}/include)
file(GLOB onnxruntimebinaries_LIBRARIES ${onnxruntimebinaries_SOURCE_DIR}/lib/*)
file(COPY ${onnxruntimebinaries_LIBRARIES} DESTINATION ${YCM_EP_INSTALL_DIR}/lib)
message(STATUS "Installing onnxruntime binaries in ${YCM_EP_INSTALL_DIR}")
endif()