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CMakeLists.txt
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##############################################################################
# Copyright (c) 2024, NVIDIA Corporation. All rights reserved.
#
# This work is made available under the Nvidia Source Code License-NC.
# To view a copy of this license, visit
# https://nvlabs.github.io/gbrl/license.html
#
##############################################################################
cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
# Set project details
project(gbrl LANGUAGES C CXX VERSION 1.0.0)
# Set C++14
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# Default to release build type
if (NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
endif()
if (POLICY CMP0148)
cmake_policy(SET CMP0148 NEW)
endif()
if (MSVC)
if(MSVC_VERSION LESS 1910)
message(
FATAL_ERROR
"The compiler ${CMAKE_CXX_COMPILER} doesn't support required C++14 features. Please use a newer MSVC."
)
endif()
endif()
if (CMAKE_BUILD_TYPE STREQUAL "Debug")
add_definitions(-DDEBUG)
endif()
# Allow overriding Python paths
if (DEFINED PYTHON_EXECUTABLE)
set(Python3_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "Path to the Python executable")
endif()
if (DEFINED PYTHON_INCLUDE_DIR)
set(Python3_INCLUDE_DIR ${PYTHON_INCLUDE_DIR} CACHE FILEPATH "Path to the Python include directory")
endif()
if (DEFINED PYTHON_LIBRARY)
set(Python3_LIBRARY ${PYTHON_LIBRARY} CACHE FILEPATH "Path to the Python library")
endif()
# Find Python 3
find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
#-- Options
include(CMakeDependentOption)
option(USE_CUDA "Build with GPU acceleration" OFF)
option(COVERAGE "Run coverage report" OFF)
option(ASAN "Use address-santizier" OFF)
if(COVERAGE)
message(STATUS "Coverage build")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
endif()
# Check for CUDA availability
if (USE_CUDA AND NOT APPLE)
find_package(CUDAToolkit QUIET HINTS $ENV{CONDA_PREFIX})
# 2. Fallback to system-wide CUDA if not found in Anaconda
if (NOT CUDAToolkit_FOUND)
find_package(CUDAToolkit QUIET)
endif()
if (CUDAToolkit_FOUND)
set(CUDA_VERSION "${CUDAToolkit_VERSION_MAJOR}${CUDAToolkit_VERSION_MINOR}")
# Ensure CUDA architectures are set before enabling CUDA language
set(CUDA_ARCHS "60" "61" "62" "70" "75")
if(${CUDA_VERSION} VERSION_GREATER_EQUAL "110")
list(APPEND CUDA_ARCHS "80")
endif()
if(${CUDA_VERSION} VERSION_GREATER_EQUAL "111")
list(APPEND CUDA_ARCHS "86")
endif()
if(${CUDA_VERSION} VERSION_GREATER_EQUAL "115")
list(APPEND CUDA_ARCHS "87")
endif()
if(${CUDA_VERSION} VERSION_GREATER_EQUAL "118")
list(APPEND CUDA_ARCHS "89")
list(APPEND CUDA_ARCHS "90")
endif()
list(POP_BACK CUDA_ARCHS CUDA_LAST_SUPPORTED_ARCH)
list(APPEND CUDA_ARCHS "${CUDA_LAST_SUPPORTED_ARCH}-virtual")
set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCHS})
if(NOT DEFINED CMAKE_CUDA_HOST_COMPILER AND NOT DEFINED ENV{CUDAHOSTCXX})
set(CMAKE_CUDA_HOST_COMPILER ${CMAKE_CXX_COMPILER} CACHE FILEPATH
"The compiler executable to use when compiling host code for CUDA")
mark_as_advanced(CMAKE_CUDA_HOST_COMPILER)
message(STATUS "Configured CUDA host compiler: ${CMAKE_CUDA_HOST_COMPILER}")
endif()
if(NOT DEFINED CMAKE_CUDA_COMPILER)
if(DEFINED ENV{CUDACXX})
set(CMAKE_CUDA_COMPILER $ENV{CUDACXX} CACHE FILEPATH "CUDA Compiler")
message(STATUS "CMAKE_CUDA_COMPILER set to $ENV{CUDACXX} from environment.")
else()
message(STATUS "Setting CMAKE_CUDA_COMPILER to ${CUDAToolkit_NVCC_EXECUTABLE}")
set(CMAKE_CUDA_COMPILER "${CUDAToolkit_NVCC_EXECUTABLE}")
endif()
else()
message(STATUS "CMAKE_CUDA_COMPILER=${CMAKE_CUDA_COMPILER}")
endif()
# Validate the compiler before enabling CUDA
if (NOT EXISTS ${CMAKE_CUDA_COMPILER})
message(WARNING "CUDA toolkit found, but could not locate nvcc at ${CMAKE_CUDA_COMPILER}. Disabling GPU acceleration.")
set(USE_CUDA OFF)
endif()
if (USE_CUDA)
enable_language(CUDA)
if(${CUDA_VERSION} VERSION_LESS 11.0)
message(FATAL_ERROR "CUDA version must be at least 11.0!")
endif()
if(DEFINED GPU_COMPUTE_VER)
compute_cmake_cuda_archs("${GPU_COMPUTE_VER}")
endif()
endif()
else()
message(STATUS "CUDA not found, compiling for CPU only")
set(USE_CUDA OFF)
endif()
endif()
if(NOT USE_CUDA)
message(STATUS "Compiling for CPU only")
else()
message(STATUS "NVCC ${CUDAToolkit_VERSION} found, compiling for CPU and GPU")
endif()
# Find required packages
# Attempt to find pybind11 automatically with Anaconda
find_package(pybind11 CONFIG QUIET HINTS $ENV{CONDA_PREFIX})
# 2. Fallback to system-wide CUDA if not found in Anaconda
if (NOT pybind11)
find_package(pybind11 CONFIG QUIET)
endif()
# If pybind11 is not found, use Python to find it
if(NOT pybind11_FOUND)
message(STATUS "pybind11 not found automatically, attempting to locate with Python")
execute_process(
COMMAND ${Python3_EXECUTABLE} -c "import pybind11; print(pybind11.get_cmake_dir())"
OUTPUT_VARIABLE pybind11_DIR
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(NOT EXISTS ${pybind11_DIR})
message(FATAL_ERROR "pybind11 not found, please install it using 'pip install pybind11'")
endif()
list(APPEND CMAKE_PREFIX_PATH ${pybind11_DIR})
find_package(pybind11 CONFIG REQUIRED)
endif()
find_path(GRAPHVIZ_INCLUDE_DIR NAMES graphviz/cgraph.h
HINTS ${_GRAPHVIZ_INCLUDE_DIR})
find_library(GRAPHVIZ_GVC_LIBRARY NAMES gvc
HINTS ${_GRAPHVIZ_LIBRARY_DIR})
find_library(GRAPHVIZ_CGRAPH_LIBRARY NAMES cgraph
HINTS ${_GRAPHVIZ_LIBRARY_DIR})
if(GRAPHVIZ_INCLUDE_DIR AND GRAPHVIZ_GVC_LIBRARY AND GRAPHVIZ_CGRAPH_LIBRARY)
set(GRAPHVIZ_FOUND TRUE)
else()
set(GRAPHVIZ_FOUND FALSE)
endif()
if(APPLE)
find_package(OpenMP)
if(NOT OpenMP_FOUND)
# Try again with extra path info; required for libomp 15+ from Homebrew
execute_process(COMMAND brew --prefix libomp
OUTPUT_VARIABLE HOMEBREW_LIBOMP_PREFIX
OUTPUT_STRIP_TRAILING_WHITESPACE)
set(OpenMP_C_FLAGS
"-Xpreprocessor -fopenmp -I${HOMEBREW_LIBOMP_PREFIX}/include")
set(OpenMP_CXX_FLAGS
"-Xpreprocessor -fopenmp -I${HOMEBREW_LIBOMP_PREFIX}/include")
set(OpenMP_C_LIB_NAMES omp)
set(OpenMP_CXX_LIB_NAMES omp)
set(OpenMP_omp_LIBRARY ${HOMEBREW_LIBOMP_PREFIX}/lib/libomp.dylib)
find_package(OpenMP REQUIRED)
endif()
else()
if (MSVC)
find_package(OpenMP REQUIRED COMPONENTS C CXX)
else()
find_package(OpenMP REQUIRED)
endif()
set(OpenMP_CXX_FLAGS ${OpenMP_CXX_FLAGS})
set(OpenMP_CXX_LIB_NAMES ${OpenMP_CXX_LIB_NAMES})
set(OpenMP_omp_LIBRARY ${OpenMP_omp_LIBRARY})
endif()
# Ensure OpenMP flags and directories are applied
if (OpenMP_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
if (MSVC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp:experimental")
endif()
endif()
# Add subdirectories for cpp and cuda
add_subdirectory(gbrl/src/cpp)
if (USE_CUDA AND NOT APPLE)
set(CMAKE_CUDA_STANDARD 14)
include_directories(${CUDAToolkit_INCLUDE_DIRS} ${CMAKE_SOURCE_DIR}/gbrl/src/cuda)
add_definitions(-DUSE_CUDA)
add_subdirectory(gbrl/src/cuda)
set(CUDA_SOURCES $<TARGET_OBJECTS:cuda_gbrl_src>)
else()
set(CUDA_SOURCES "")
endif()
# Only include pybind11 in the binding file
set(PYBIND_SOURCES
gbrl/src/cpp/binding.cpp
)
pybind11_add_module(gbrl_cpp MODULE ${PYBIND_SOURCES})
target_include_directories(gbrl_cpp PRIVATE ${Python3_INCLUDE_DIRS} ${pybind11_INCLUDE_DIRS} ${CMAKE_SOURCE_DIR}/gbrl/src/cpp ${CMAKE_SOURCE_DIR}/gbrl/include/)
target_compile_definitions(gbrl_cpp PRIVATE MODULE_NAME="gbrl_cpp")
target_link_libraries(gbrl_cpp PRIVATE ${Python3_LIBRARIES})
target_link_libraries(gbrl_cpp PRIVATE gbrl_cpp_src)
if (CMAKE_BUILD_TYPE STREQUAL "Debug")
target_link_libraries(gbrl_cpp PRIVATE ${DEBUG_LINK_FLAGS})
endif()
if (USE_CUDA)
target_link_libraries(gbrl_cpp PRIVATE cuda_gbrl_src)
endif()
# Platform-specific settings and linking
if (CMAKE_SYSTEM_NAME STREQUAL "Linux")
target_link_libraries(gbrl_cpp PRIVATE OpenMP::OpenMP_CXX)
if (USE_CUDA)
target_link_libraries(gbrl_cpp PRIVATE CUDA::cudart)
endif()
elseif (CMAKE_SYSTEM_NAME STREQUAL "Darwin")
find_package(LLVM REQUIRED)
include_directories(${LLVM_INCLUDE_DIRS})
link_directories(${LLVM_LIBRARY_DIRS})
target_link_libraries(gbrl_cpp PRIVATE ${LLVM_LIBRARIES} OpenMP::OpenMP_CXX)
elseif (WIN32)
target_link_libraries(gbrl_cpp PRIVATE OpenMP::OpenMP_CXX)
if (USE_CUDA)
set(cuda_lib_path "${CUDAToolkit_ROOT_DIR}/lib/x64")
message(STATUS "cuda_lib_path: ${cuda_lib_path}")
target_link_libraries(gbrl_cpp PRIVATE CUDA::cudart)
endif()
endif()
# Link Graphviz libraries if available
if (GRAPHVIZ_FOUND)
if (CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin")
# target_link_libraries(gbrl_cpp PRIVATE gvc cgraph)
target_link_libraries(gbrl_cpp PRIVATE ${GRAPHVIZ_GVC_LIBRARY} ${GRAPHVIZ_CGRAPH_LIBRARY})
elseif (WIN32)
target_link_libraries(gbrl_cpp PRIVATE gvc.lib cgraph.lib)
endif()
endif()