Добавлен darknet со стабильной веткой nixpkgs 22.11

flake.lock

@@ -17,11 +17,11 @@
     },
     "flake-utils_2": {
       "locked": {
-        "lastModified": 1667395993,
+        "lastModified": 1676283394,
-        "narHash": "sha256-nuEHfE/LcWyuSWnS8t12N1wc105Qtau+/OdUAjtQ0rA=",
+        "narHash": "sha256-XX2f9c3iySLCw54rJ/CZs+ZK6IQy7GXNY4nSOyu2QG4=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "5aed5285a952e0b949eb3ba02c12fa4fcfef535f",
+        "rev": "3db36a8b464d0c4532ba1c7dda728f4576d6d073",
         "type": "github"
       },
       "original": {
@@ -32,27 +32,27 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1677021523,
+        "lastModified": 1669833724,
-        "narHash": "sha256-0EhZjJ3rq8ZTTJ6Trrf/9hYtnIry0OsyY2NKoQoOS5Q=",
+        "narHash": "sha256-/HEZNyGbnQecrgJnfE8d0WC5c1xuPSD2LUpB6YXlg4c=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "5a5adc2ad7009851d7d0fc26311e42a93b171d2e",
+        "rev": "4d2b37a84fad1091b9de401eb450aae66f1a741e",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixpkgs-unstable",
+        "ref": "22.11",
         "repo": "nixpkgs",
         "type": "github"
       }
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1674641431,
+        "lastModified": 1678244258,
-        "narHash": "sha256-qfo19qVZBP4qn5M5gXc/h1MDgAtPA5VxJm9s8RUAkVk=",
+        "narHash": "sha256-iecrLqFb1QDgBKmC0h065ZBV6CZsigcz+1aHCv6rvfg=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "9b97ad7b4330aacda9b2343396eb3df8a853b4fc",
+        "rev": "61852b7faa8b47aad422adca0fea90fe007e9ead",
         "type": "github"
       },
       "original": {
@@ -75,11 +75,11 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1677031957,
+        "lastModified": 1678246785,
-        "narHash": "sha256-Fz8f3Lfgg0rcCtPxeUn+Ng6jomuJQukph7e4EGEwob8=",
+        "narHash": "sha256-ma+ToZZddLpGed7pPBfG0CFYjP66QU/m0Yn4JM1Ezl4=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "ca325a145772dfce52a23359996a47899f252c37",
+        "rev": "155fc6ac233c64eb9fa07a1a81d6c6726441271c",
         "type": "github"
       },
       "original": {

flake.nix

@@ -1,7 +1,7 @@
 {
   description = "Robossembler Development Environments on Nix";
   inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs/nixpkgs-unstable";
+    nixpkgs.url = "github:NixOS/nixpkgs/22.11";
     flake-utils.url = "github:numtide/flake-utils";
     ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=staging";
   };
@@ -24,7 +24,7 @@
           bpy = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy { };
           pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
           mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
-          # darknet = pkgs.callPackage ./darknet.nix { };
+          darknet = pkgs.callPackage ./pkgs/misc/darknet { };
           fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
         in
         {
@@ -38,7 +38,7 @@
           };
 
           packages = {
-            inherit mayo blender bpy pysdf fstl;
+            inherit mayo blender bpy pysdf fstl darknet;
             gazebo = ros.humble.gazebo;
           };
 
@@ -78,9 +78,22 @@
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
             };
 
-          devShells.bpy = pkgs.mkShell { packages = [ bpy pysdf ]; };
+          devShells.bpy = pkgs.mkShell { packages = [ bpy pysdf pkgs.freecad ]; };
           devShells.mayo = pkgs.mkShell { packages = [ mayo ]; };
           devShells.blender = pkgs.mkShell { packages = [ blender ]; };
+          devShells.up =
+            let
+              my-python-packages = p: with p; [
+                # python-gitlab
+                # jinja2
+                # unified-planning
+                # tamer
+                blenderproc
+              ]; 
+            in 
+            pkgs.mkShell {
+              packages = [ (pkgs.python3.withPackages my-python-packages) ]; 
+            };
         }
       );
 }

pkgs/misc/darknet/default.nix

@@ -0,0 +1,107 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, cmake
+, cudatoolkit
+, opencv4
+, cudaPackages
+, addOpenGLRunpath
+, enableCuda ? false
+, cudaSupport ? true
+, linkFarm
+, symlinkJoin
+, autoPatchelfHook
+}:
+let
+  cudaStub = linkFarm "cuda-stub" [{
+    name = "libcuda.so.1";
+    path = "${cudatoolkit}/lib/stubs/libcuda.so";
+  }];
+
+  cudaEnv = symlinkJoin {
+      name = "darknet-cuda-env";
+      paths = with cudaPackages; [];
+      postBuild = ''
+        ln -s ${addOpenGLRunpath.driverLink}/lib/libcuda.so $out/lib
+        ln -s lib $out/lib64
+      '';
+    };
+ 
+  cuda-opencv = opencv4.override {
+    enableCuda = true;
+  };
+in
+stdenv.mkDerivation rec {
+  pname = "darknet";
+  version = "unstable";
+
+  src = fetchFromGitHub {
+    owner = "AlexeyAB";
+    repo = "darknet";
+    rev = "0faed3e60e52f742bbef43b83f6be51dd30f373e";
+    hash = "sha256-6qY1QG7Pq/d5W+BvnMD2pFdBVWdvmCP0spUAjyGWB8M=";
+  };
+
+  nativeBuildInputs = [
+    cmake
+    opencv4
+    autoPatchelfHook
+    cudaPackages.autoAddOpenGLRunpathHook
+  ];
+
+  buildInputs = [
+    cudaPackages.cudnn
+    cudatoolkit
+    cudaEnv
+  ];
+
+
+# indefined reference to `std::condition_variable::wait(std::unique_lock<std::mutex>&)@GLIBCXX_3.4.30
+
+  # LD_LIBRARY_PATH = lib.makeLibraryPath (nativeBuildInputs ++ [ cudaStub ]);
+  
+  # shellHook = ''
+  #   export ARCH= -gencode arch=compute_61,code=sm_61 -gencode arch=compute_61,code=compute_61
+  #   export LDFLAGS+= `pkg-config --libs opencv4 2> /dev/null || pkg-config --libs opencv` -lstdc++
+  # '';
+
+  cmakeFlags =
+    (lib.optionals enableCuda [ "CUDA_PATH=${cudatoolkit}" ]) ++ [
+      "GPU=1"
+      "CUDNN=1"
+      "OPENCV=1"
+      "AVX=1"
+      "OPENMP=1"
+      "LIBSO=0"
+      "ARCH= -gencode arch=compute_61,code=sm_61 -gencode arch=compute_61,code=compute_61"
+    ];
+
+  configurePhase = ''
+    mkdir build_release
+    cd build_release
+    cmake ..
+  '';
+
+  buildPhase = ''
+    export LD_LIBRARY_PATH=${cudaStub}''${LD_LIBRARY_PATH:+:}$LD_LIBRARY_PATH
+    cmake --build . --target install --parallel 8
+  '';
+
+  installPhase = ''
+    mkdir -p $out/bin
+    cp darknet $out/bin
+  '';
+
+  autoPatchelfIgnoreMissingDeps = true;
+
+  shellHook = ''
+    export LD_LIBRARY_PATH=${cudaStub}''${LD_LIBRARY_PATH:+:}$LD_LIBRARY_PATH
+  '';
+
+  meta = with lib; {
+    description = "YOLOv4 / Scaled-YOLOv4 / YOLO - Neural Networks for Object Detection (Windows and Linux version of Darknet )";
+    homepage = "https://github.com/AlexeyAB/darknet";
+    license = with licenses; [ ];
+    maintainers = with maintainers; [ ];
+  };
+}