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Merge pull request #1 from kgreenek/kgreenek/aarch64
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Add support for aarch64
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@kgreenek
kgreenek authored Jul 26, 2020
2 parents bfa4040 + 04c738a commit ca2544f
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Showing 4 changed files with 93 additions and 38 deletions.
109 changes: 79 additions & 30 deletions bzl/pcl.bzl
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,33 @@
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")

_PCL_CONFIG_H_TEMPLATE = "@pcl//:pcl_config.h.in"

_PCL_AARCH64_COMPILER_CONFIG = {
"have_posix_memalign": True,
"have_mm_malloc": False,
"have_sse4_2_extensions": False,
"have_sse4_1_extensions": False,
"have_ssse3_extensions": False,
"have_sse3_extensions": False,
"have_sse2_extensions": False,
"have_sse_extensions": False,
}

_PCL_DEFAULT_COMPILER_CONFIG = {
"have_posix_memalign": True,
"have_mm_malloc": True,
"have_sse4_2_extensions": True,
"have_sse4_1_extensions": True,
"have_ssse3_extensions": True,
"have_sse3_extensions": True,
"have_sse2_extensions": True,
"have_sse_extensions": True,
}

def _compiler_config_value(value, kwargs):
# NOTE: __pcl_linux-aarch64 is defined by the pcl_config macro.
return select({
":__pcl_linux-aarch64": _PCL_AARCH64_COMPILER_CONFIG[value],
"//conditions:default": _PCL_DEFAULT_COMPILER_CONFIG[value],
}) if not value in kwargs else kwargs[value]

def _cmakedefine_substitutions(*args):
substitutions = {}
Expand All @@ -11,11 +37,10 @@ def _cmakedefine_substitutions(*args):
substitutions[full_cmakedefine_str] = "#define {}".format(cmakedefine_str)
else:
substitutions[full_cmakedefine_str] = "/* #undef {} */".format(
cmakedefine_str.split(" ")[0])
cmakedefine_str.split(" ")[0],
)
return substitutions



def _log_level_substitutions(log_level):
valid_log_levels = ["Always", "Error", "Warn", "Info", "Debug", "Verbose"]
if not log_level in valid_log_levels:
Expand All @@ -29,11 +54,13 @@ def _log_level_substitutions(log_level):
("VERBOSITY_LEVEL_VERBOSE", log_level == "Verbose"),
)


def _gen_pcl_config_impl(ctx):
version_pretty_str = "{}.{}.{}{}".format(
ctx.attr.version_major, ctx.attr.version_minor, ctx.attr.version_patch,
"-dev" if ctx.attr.dev_version else "")
ctx.attr.version_major,
ctx.attr.version_minor,
ctx.attr.version_patch,
"-dev" if ctx.attr.dev_version else "",
)
dev_version_str = "1" if ctx.attr.dev_version else "0"
substitutions = {
"@CMAKE_BUILD_TYPE@": ctx.attr.build_type,
Expand All @@ -50,7 +77,7 @@ def _gen_pcl_config_impl(ctx):
_cmakedefine_substitutions(
("PCL_NO_PRECOMPILE", ctx.attr.no_precompile),
("PCL_ONLY_CORE_POINT_TYPES", ctx.attr.no_precompile),
)
),
)
substitutions.update(
_cmakedefine_substitutions(
Expand All @@ -63,48 +90,54 @@ def _gen_pcl_config_impl(ctx):
("HAVE_ENSENSO 1", False),
("HAVE_DAVIDSDK 1", False),
("HAVE_PNG", True),
)
),
)

# SSE macros.
# Just enable them all, since it should be rare that someone is targeting a platform that
# doesn't support all of these. Please let us know if you have a specific use-case where this
# doesn't hold.
substitutions.update(
_cmakedefine_substitutions(
("HAVE_POSIX_MEMALIGN", True),
("HAVE_MM_MALLOC", True),
("HAVE_SSE4_2_EXTENSIONS", True),
("HAVE_SSE4_1_EXTENSIONS", True),
("HAVE_SSSE3_EXTENSIONS", True),
("HAVE_SSE3_EXTENSIONS", True),
("HAVE_SSE2_EXTENSIONS", True),
("HAVE_SSE_EXTENSIONS", True),
)
("HAVE_POSIX_MEMALIGN", ctx.attr.have_posix_memalign),
("HAVE_MM_MALLOC", ctx.attr.have_mm_malloc),
("HAVE_SSE4_2_EXTENSIONS", ctx.attr.have_sse4_2_extensions),
("HAVE_SSE4_1_EXTENSIONS", ctx.attr.have_sse4_1_extensions),
("HAVE_SSSE3_EXTENSIONS", ctx.attr.have_ssse3_extensions),
("HAVE_SSE3_EXTENSIONS", ctx.attr.have_sse3_extensions),
("HAVE_SSE2_EXTENSIONS", ctx.attr.have_sse2_extensions),
("HAVE_SSE_EXTENSIONS", ctx.attr.have_sse_extensions),
),
)
substitutions.update(
_cmakedefine_substitutions(
("OPENGL_IS_A_FRAMEWORK", False),
("GLUT_IS_A_FRAMEWORK", False),
)
),
)
ctx.actions.expand_template(
template = ctx.file._template,
substitutions = substitutions,
output = ctx.outputs.pcl_config_hdr,
)


gen_pcl_config = rule(
implementation = _gen_pcl_config_impl,
attrs = {
"build_type": attr.string(default = "RelWithDebInfo"),
"dev_version": attr.bool(default = False),
"log_level": attr.string(default = "Info"),
"no_precompile": attr.bool(default = False),
"only_core_point_types": attr.bool(default = False),
"version_major": attr.string(default = "1"),
"version_minor": attr.string(default = "9"),
"version_patch": attr.string(default = "1"),
"dev_version": attr.bool(default = False),
# Compiler config settings.
"have_posix_memalign": attr.bool(default = True),
"have_mm_malloc": attr.bool(default = True),
"have_sse4_2_extensions": attr.bool(default = True),
"have_sse4_1_extensions": attr.bool(default = True),
"have_ssse3_extensions": attr.bool(default = True),
"have_sse3_extensions": attr.bool(default = True),
"have_sse2_extensions": attr.bool(default = True),
"have_sse_extensions": attr.bool(default = True),
"_template": attr.label(
default = Label(_PCL_CONFIG_H_TEMPLATE),
allow_single_file = True,
Expand All @@ -113,7 +146,6 @@ gen_pcl_config = rule(
outputs = {"pcl_config_hdr": "pcl_config.h"},
)


def pcl_library(name, **kwargs):
exclude_srcs = kwargs.pop("exclude_srcs", [])
exclude_hdrs = kwargs.pop("exclude_hdrs", [])
Expand All @@ -126,19 +158,36 @@ def pcl_library(name, **kwargs):
hdrs = native.glob([
"{}/include/**/*.h".format(name),
"{}/include/**/*.hh".format(name),
], exclude=exclude_hdrs),
], exclude = exclude_hdrs),
copts = ["-Wno-unknown-pragmas"],
includes = ["{}/include".format(name)],
visibility = ["//visibility:public"],
**kwargs
)


def pcl_config(**kwargs):
gen_pcl_config(name="_gen_pcl_config", **kwargs)
native.config_setting(
name = "__pcl_linux-aarch64",
constraint_values = [
"@platforms//os:linux",
"@platforms//cpu:aarch64",
],
)
gen_pcl_config(
name = "__pcl_gen_pcl_config",
have_posix_memalign = _compiler_config_value("have_posix_memalign", kwargs),
have_mm_malloc = _compiler_config_value("have_posix_memalign", kwargs),
have_sse4_2_extensions = _compiler_config_value("have_sse4_2_extensions", kwargs),
have_sse4_1_extensions = _compiler_config_value("have_sse4_1_extensions", kwargs),
have_ssse3_extensions = _compiler_config_value("have_ssse3_extensions", kwargs),
have_sse3_extensions = _compiler_config_value("have_sse3_extensions", kwargs),
have_sse2_extensions = _compiler_config_value("have_sse2_extensions", kwargs),
have_sse_extensions = _compiler_config_value("have_sse_extensions", kwargs),
**kwargs
)
native.cc_library(
name = "pcl_config",
hdrs = [":_gen_pcl_config"],
hdrs = [":__pcl_gen_pcl_config"],
include_prefix = "pcl",
visibility = ["//visibility:public"],
)
14 changes: 9 additions & 5 deletions bzl/repositories.bzl
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")


def pcl_repositories():
_maybe_repo(
http_archive,
Expand All @@ -14,9 +13,15 @@ def pcl_repositories():
http_archive,
name = "eigen",
build_file = "@rules_pcl//third_party:eigen.BUILD",
sha256 = "d56fbad95abf993f8af608484729e3d87ef611dd85b3380a8bad1d5cbc373a57",
strip_prefix = "eigen-3.3.7",
urls = ["https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz"],
sha256 = "a8d87c8df67b0404e97bcef37faf3b140ba467bc060e2b883192165b319cea8d",
strip_prefix = "eigen-git-mirror-3.3.7",
# NOTE: The official repo is hosted on gitlab, but gitlab appears to return a 406 error when
# trying to fetch archives. So we are using the deprecated github mirror instead until
# either bazel or gitlab fixes this issue.
# See:
# https://github.com/bazelbuild/bazel/issues/11187
# https://stackoverflow.com/questions/60864626/cannot-fetch-eigen-with-bazel-406-not-acceptable
urls = ["https://github.com/eigenteam/eigen-git-mirror/archive/3.3.7.tar.gz"],
)

_maybe_repo(
Expand Down Expand Up @@ -61,7 +66,6 @@ def pcl_repositories():
urls = ["https://github.com/qhull/qhull/archive/2019.1.tar.gz"],
)


def _maybe_repo(repo_rule, name, **kwargs):
"""A wrapper around repo rules to prevent adding a rule if it already exists, e.g. if it was
already added to a user's WORKSPACE file by other dependencies.
Expand Down
6 changes: 4 additions & 2 deletions example/main.cc
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Original file line number Diff line number Diff line change
@@ -1,8 +1,10 @@
#include <iostream>

#include "pcl/point_cloud.h"
#include "pcl/point_types.h"


int main(int argc, const char** argv) {
int main(int argc, const char **argv) {
pcl::PointCloud<pcl::PointXYZ> point_cloud;
std::cout << "SUCCESS!" << std::endl;
return 0;
}
2 changes: 1 addition & 1 deletion third_party/pcl.BUILD
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
# Description:
# A Massively Spiffy Yet Delicately Unobtrusive Compression Library.
# Point Cloud Library (PCL) pointclouds.org

licenses(["notice"]) # BSD 3-Clause

Expand Down

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