This is the repo that builds ceres and its dependents for for use in wpical. It uses vcpkg to build all the dependencies and Gradle to package it for use in allwpilib.
The build requirements are the same as allwpilib.
- Clone the repo with
git clone --recursive https://github.com/wpilibsuite/thirdparty-ceres.git. This will also initialize the vcpkg submodule. - Build the libraries with
gradlew buildVcpkgand publish the artifacts locally withgradlew publish.
There are two overlay ports for blas and lapack. By default on x86-64 Windows, vcpkg will use lapack-reference and its cblas feature, which is an issue because it requires shared libraries for the gfortran dependency, which we can't use for a static build. (The DLL list is libblas.dll, libgcc_s_seh-1.dll, libgfortran-5.dll, liblapack.dll, libquadmath-0.dll, libwinpthread-1.dll)
To solve this, overlay ports were used to override the blas port to use openblas and the lapack port to use clapack, avoiding the gfortran dependency and allowing a completely static build. This is the same setup as ARM Windows (which is where this setup was copied from.)
The vcpkg triplets used for Windows end in -static-md. This enables static library building, but dynamic linkage to the CRT, which matches the way WPILib builds.