Skip to content

Commit 136d4b1

Browse files
lxsy-xcylxsy-xcy
committed
quant clean
1 parent 77104d6 commit 136d4b1

17 files changed

Lines changed: 144 additions & 147 deletions

‎CMakeLists.txt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
cmake_minimum_required(VERSION 3.16)
22
project(vlacpp VERSION 0.1.0 LANGUAGES C CXX)
33

4-
option(VLACPP_BUILD_ROBOT_SERVER "Build model-cli, model-server, and robot client targets" ON)
4+
option(BUILD_ROBOT_SERVER "Build model-cli, model-server, and robot client targets" ON)
55

66
set(CMAKE_CXX_STANDARD 17)
77
set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -107,7 +107,7 @@ target_include_directories(robotcpp
107107
target_link_libraries(robotcpp PUBLIC smolvla_runtime pi0_engine)
108108
target_compile_features(robotcpp PUBLIC cxx_std_17)
109109

110-
if(VLACPP_BUILD_ROBOT_SERVER)
110+
if(BUILD_ROBOT_SERVER)
111111
add_library(robot_server_common STATIC
112112
${ROBOT_SERVER_DIR}/protocol.cpp
113113
${ROBOT_SERVER_DIR}/protocol.h

‎eval/libero/run_model_server_eval.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -98,7 +98,7 @@ if [[ "${SKIP_BUILD}" != "1" ]]; then
9898
cmake_args=(
9999
-S "${REPO_ROOT}"
100100
-B "${BUILD_DIR}"
101-
-DVLACPP_BUILD_ROBOT_SERVER=ON
101+
-DBUILD_ROBOT_SERVER=ON
102102
"-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}"
103103
)
104104
if [[ "${BACKEND}" == "cuda" ]]; then

‎robot_client/shell/cpp_client_example.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@ if [ "${BUILD_CLIENT}" = "1" ] || [ ! -x "${CLIENT_BIN}" ]; then
2020
-DGGML_BLAS_VENDOR=Apple \
2121
-DGGML_OPENMP=OFF \
2222
-DGGML_METAL=OFF \
23-
-DVLACPP_BUILD_ROBOT_SERVER=ON
23+
-DBUILD_ROBOT_SERVER=ON
2424

2525
echo "== build cpp client example =="
2626
"${CMAKE_BIN}" --build "${BUILD_DIR}" \

‎robot_server/shell/launch_robot_server_linux_cpu.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,7 @@ if [ "${SKIP_BUILD}" != "1" ]; then
5151
-DGGML_OPENMP="${GGML_OPENMP}"
5252
-DGGML_CUDA=OFF
5353
-DGGML_METAL=OFF
54-
-DVLACPP_BUILD_ROBOT_SERVER=ON
54+
-DBUILD_ROBOT_SERVER=ON
5555
)
5656
if [ -n "${GGML_BLAS_VENDOR:-}" ]; then
5757
CMAKE_FLAGS+=(-DGGML_BLAS_VENDOR="${GGML_BLAS_VENDOR}")

‎robot_server/shell/launch_robot_server_linux_cuda.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,7 @@ if [ "${SKIP_BUILD}" != "1" ]; then
4848
-DGGML_OPENMP="${GGML_OPENMP}" \
4949
-DGGML_CUDA=ON \
5050
-DGGML_METAL=OFF \
51-
-DVLACPP_BUILD_ROBOT_SERVER=ON
51+
-DBUILD_ROBOT_SERVER=ON
5252

5353
echo "== build =="
5454
"${CMAKE_BIN}" --build "${BUILD_DIR}" --target model-server -j8

‎robot_server/shell/launch_robot_server_mac_cpu.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ if [ "${SKIP_BUILD}" != "1" ]; then
3131
-DGGML_BLAS_VENDOR=Apple \
3232
-DGGML_OPENMP=OFF \
3333
-DGGML_METAL=OFF \
34-
-DVLACPP_BUILD_ROBOT_SERVER=ON
34+
-DBUILD_ROBOT_SERVER=ON
3535

3636
echo "== build =="
3737
"${CMAKE_BIN}" --build "${BUILD_DIR}" \

‎robot_server/shell/launch_robot_server_mac_metal.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -32,7 +32,7 @@ if [ "${SKIP_BUILD}" != "1" ]; then
3232
-DGGML_BLAS_VENDOR=Apple \
3333
-DGGML_OPENMP=OFF \
3434
-DGGML_METAL=ON \
35-
-DVLACPP_BUILD_ROBOT_SERVER=ON
35+
-DBUILD_ROBOT_SERVER=ON
3636

3737
echo "== build =="
3838
"${CMAKE_BIN}" --build "${BUILD_DIR}" \

‎robot_server/shell/launch_robot_server_windows_cpu.bat‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -101,7 +101,7 @@ if not "!SKIP_BUILD!"=="1" (
101101
-DGGML_OPENMP=!GGML_OPENMP! ^
102102
-DGGML_CUDA=OFF ^
103103
-DGGML_METAL=OFF ^
104-
-DVLACPP_BUILD_ROBOT_SERVER=ON
104+
-DBUILD_ROBOT_SERVER=ON
105105
) else (
106106
"%CMAKE_BIN%" -S "!VLA_CPP_ROOT!" -B "!BUILD_DIR!" -G "!CMAKE_GENERATOR!" ^
107107
-DCMAKE_BUILD_TYPE=!CMAKE_BUILD_TYPE! ^
@@ -113,7 +113,7 @@ if not "!SKIP_BUILD!"=="1" (
113113
-DGGML_OPENMP=!GGML_OPENMP! ^
114114
-DGGML_CUDA=OFF ^
115115
-DGGML_METAL=OFF ^
116-
-DVLACPP_BUILD_ROBOT_SERVER=ON
116+
-DBUILD_ROBOT_SERVER=ON
117117
)
118118
) else (
119119
if defined GGML_BLAS_VENDOR (
@@ -127,7 +127,7 @@ if not "!SKIP_BUILD!"=="1" (
127127
-DGGML_OPENMP=!GGML_OPENMP! ^
128128
-DGGML_CUDA=OFF ^
129129
-DGGML_METAL=OFF ^
130-
-DVLACPP_BUILD_ROBOT_SERVER=ON
130+
-DBUILD_ROBOT_SERVER=ON
131131
) else (
132132
"%CMAKE_BIN%" -S "!VLA_CPP_ROOT!" -B "!BUILD_DIR!" -G "!CMAKE_GENERATOR!" ^
133133
-DCMAKE_BUILD_TYPE=!CMAKE_BUILD_TYPE! ^
@@ -138,7 +138,7 @@ if not "!SKIP_BUILD!"=="1" (
138138
-DGGML_OPENMP=!GGML_OPENMP! ^
139139
-DGGML_CUDA=OFF ^
140140
-DGGML_METAL=OFF ^
141-
-DVLACPP_BUILD_ROBOT_SERVER=ON
141+
-DBUILD_ROBOT_SERVER=ON
142142
)
143143
)
144144
if errorlevel 1 exit /b 1

‎robot_server/shell/launch_robot_server_windows_cuda.bat‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -145,7 +145,7 @@ if not "!SKIP_BUILD!"=="1" (
145145
-DGGML_CUDA=ON ^
146146
-DGGML_METAL=OFF ^
147147
-DBUILD_SHARED_LIBS=OFF ^
148-
-DVLACPP_BUILD_ROBOT_SERVER=ON ^
148+
-DBUILD_ROBOT_SERVER=ON ^
149149
!COMMON_CUDA_ARCH!
150150
) else (
151151
"%CMAKE_BIN%" -S "!VLA_CPP_ROOT!" -B "!BUILD_DIR!" -G Ninja ^
@@ -159,7 +159,7 @@ if not "!SKIP_BUILD!"=="1" (
159159
-DGGML_CUDA=ON ^
160160
-DGGML_METAL=OFF ^
161161
-DBUILD_SHARED_LIBS=OFF ^
162-
-DVLACPP_BUILD_ROBOT_SERVER=ON ^
162+
-DBUILD_ROBOT_SERVER=ON ^
163163
!COMMON_CUDA_ARCH!
164164
)
165165
) else (
@@ -172,7 +172,7 @@ if not "!SKIP_BUILD!"=="1" (
172172
-DGGML_CUDA=ON ^
173173
-DGGML_METAL=OFF ^
174174
-DBUILD_SHARED_LIBS=OFF ^
175-
-DVLACPP_BUILD_ROBOT_SERVER=ON ^
175+
-DBUILD_ROBOT_SERVER=ON ^
176176
-DCMAKE_CUDA_ARCHITECTURES=!CMAKE_CUDA_ARCHITECTURES!
177177
) else (
178178
"%CMAKE_BIN%" -S "!VLA_CPP_ROOT!" -B "!BUILD_DIR!" -G "!CMAKE_GENERATOR!" -A "!CMAKE_PLATFORM!" ^
@@ -182,7 +182,7 @@ if not "!SKIP_BUILD!"=="1" (
182182
-DGGML_CUDA=ON ^
183183
-DGGML_METAL=OFF ^
184184
-DBUILD_SHARED_LIBS=OFF ^
185-
-DVLACPP_BUILD_ROBOT_SERVER=ON
185+
-DBUILD_ROBOT_SERVER=ON
186186
)
187187
)
188188
if errorlevel 1 exit /b 1

‎robot_server/test/test_server_correctness_mac_cpu.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ echo "== configure =="
5555
-DGGML_BLAS_VENDOR=Apple \
5656
-DGGML_OPENMP=OFF \
5757
-DGGML_METAL=OFF \
58-
-DVLACPP_BUILD_ROBOT_SERVER=ON
58+
-DBUILD_ROBOT_SERVER=ON
5959

6060
echo "== build =="
6161
"${CMAKE_BIN}" --build "${BUILD_DIR}" \

0 commit comments

Comments
 (0)