From 7dc21c53ec264231d88016ac4a76528b669e4313 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Sun, 3 Jan 2021 00:36:16 +0100
Subject: [PATCH] Add libosqp

---
 recipes/libosqp/bld.bat   | 24 +++++++++++++++++
 recipes/libosqp/build.sh  | 18 +++++++++++++
 recipes/libosqp/meta.yaml | 56 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 98 insertions(+)
 create mode 100644 recipes/libosqp/bld.bat
 create mode 100644 recipes/libosqp/build.sh
 create mode 100644 recipes/libosqp/meta.yaml

diff --git a/recipes/libosqp/bld.bat b/recipes/libosqp/bld.bat
new file mode 100644
index 0000000000000..df6847b800905
--- /dev/null
+++ b/recipes/libosqp/bld.bat
@@ -0,0 +1,24 @@
+:: Copy qdldl files to the submodule directory
+xcopy /E qdldl osqp\lin_sys\direct\qdldl\qdldl_sources\
+
+cd osqp
+mkdir build
+cd build
+
+cmake ^
+    -G "NMake Makefiles" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_PREFIX_PATH=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_LIBDIR=lib ^
+    -DBUILD_SHARED_LIBS=ON ^
+    ..
+if errorlevel 1 exit 1
+
+:: Build.
+cmake --build . --config Release
+if errorlevel 1 exit 1
+
+:: Install.
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
\ No newline at end of file
diff --git a/recipes/libosqp/build.sh b/recipes/libosqp/build.sh
new file mode 100644
index 0000000000000..5a464b4c6b82b
--- /dev/null
+++ b/recipes/libosqp/build.sh
@@ -0,0 +1,18 @@
+#!/bin/sh
+
+# Copy qdldl files to the submodule directory
+cp -r qdldl/. osqp/lin_sys/direct/qdldl/qdldl_sources
+
+cd osqp
+
+mkdir build && cd build
+
+cmake -DCMAKE_INSTALL_PREFIX=$PREFIX \
+      -DCMAKE_PREFIX_PATH=$PREFIX \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_INSTALL_LIBDIR=lib \
+      -DBUILD_SHARED_LIBS=ON \
+      ..
+
+make -j${CPU_COUNT}
+make install
\ No newline at end of file
diff --git a/recipes/libosqp/meta.yaml b/recipes/libosqp/meta.yaml
new file mode 100644
index 0000000000000..52604ecd1777e
--- /dev/null
+++ b/recipes/libosqp/meta.yaml
@@ -0,0 +1,56 @@
+{% set name = "libosqp" %}
+{% set version = "0.6.0" %}
+
+package:
+  name: {{ name }}
+  version: {{ version }}
+
+source:
+  - folder: osqp
+    url: https://github.com/oxfordcontrol/osqp/archive/v{{ version }}.tar.gz
+    sha256: 6e00d11d1f88c1e32a4419324b7539b89e8f9cbb1c50afe69f375347c989ba2b
+
+  # Manually download repos that are used via git submodules
+  # Note: make sure that the version used here is compatible with the one used in osqp
+  - folder: qdldl
+    url: https://github.com/oxfordcontrol/qdldl/archive/70596afefe1c8a58ddd491ff9b55d976c296a64b.zip
+    sha256: f48129c5c2f0879866bff8b82f6c0dd35d7c256ef86887905ebc337798a6aabf
+
+build:
+  number: 0
+  run_exports:
+    # No ABI policy is documented, let's be conservative
+    - {{ pin_subpackage(name, max_pin='x.x.x') }}
+
+requirements:
+  build:
+    - {{ compiler('c') }}
+    - {{ compiler('cxx') }}
+    - make                               # [not win]
+    - cmake
+
+
+test:
+  commands:
+    - test -f ${PREFIX}/include/osqp/osqp.h  # [not win]
+    - test -f ${PREFIX}/lib/libosqp.so  # [linux]
+    - test -f ${PREFIX}/lib/libosqp.dylib  # [osx]
+    - test -f ${PREFIX}/lib/cmake/osqp/osqp-config.cmake  # [not win]
+    - if exist %PREFIX%\\Library\\include\\osqp\\osqp.h (exit 0) else (exit 1)  # [win]
+    - if exist $PREFIX$\\Library\\lib\\osqp.lib (exit 0) else (exit 1)  # [win]
+    - if exist $PREFIX$\\Library\\bin\\osqp.dll (exit 0) else (exit 1)  # [win]
+    - if exist %PREFIX%\\Library\\lib\\cmake\\osqp\\osqp-config.cmake (exit 0) else (exit 1)  # [win]
+
+about:
+  home: https://github.com/oxfordcontrol/osqp
+  license: Apache-2.0
+  summary: The Operator Splitting QP Solver.
+  license_file:
+    - osqp/LICENSE
+    - qdldl/LICENSE
+    - osqp/lin_sys/direct/qdldl/amd/LICENSE
+
+extra:
+  recipe-maintainers:
+    - traversaro
+    - h-vetinari