Docker::Installers: 1) added magma binary & source installer to be used by libtorch

2) Bugfix for upstream mkl==2021.1.1 installer

Please note that binary Magma release should be aligned with SUPPORTED_NVIDIA_SMS
from installer_base.sh, once SUPPORTED_NVIDIA_SMS changed, please
rebuild Magma also.

3) Docker::Installers: libtorch-1.6.0-1 for x86_64.stable with magma support

docker/build/installers/install_gpu_support.sh

@@ -27,10 +27,9 @@ apt_get_update_and_install \
     libatlas-base-dev \
     liblapack-dev
 
-TARGET_ARCH="$(uname -m)"
-
-# Note(storypku):
-# 1) cublas was already installed before this installer runs
+# Note(infra): build magma before mkl
+info "Install Magma ..."
+bash ${CURR_DIR}/install_magma.sh
 
 info "Install libtorch ..."
 bash ${CURR_DIR}/install_libtorch.sh

docker/build/installers/install_libtorch.sh

@@ -18,8 +18,8 @@
 
 set -e
 
-cd "$(dirname "${BASH_SOURCE[0]}")"
-. ./installer_base.sh
+CURR_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
+. ${CURR_DIR}/installer_base.sh
 
 # TODO(build): Docs on how to build libtorch on Jetson boards
 # References:
@@ -27,45 +27,18 @@ cd "$(dirname "${BASH_SOURCE[0]}")"
 #   https://github.com/dusty-nv/jetson-containers/blob/master/Dockerfile.pytorch
 #   https://forums.developer.nvidia.com/t/pytorch-for-jetson-version-1-6-0-now-available
 #   https://github.com/pytorch/pytorch/blob/master/docker/caffe2/ubuntu-16.04-cpu-all-options/Dockerfile
+bash ${CURR_DIR}/install_mkl.sh
 
 TARGET_ARCH="$(uname -m)"
 
-if [[ "${TARGET_ARCH}" == "x86_64" ]]; then
-    # Libtorch-gpu dependency for x86_64
-    pip3_install mkl==2021.1.1
-
-    # Workaround for duplicate entries in mkl installation
-    MKL_LIBDIR="/usr/local/lib"
-    for so in ${MKL_LIBDIR}/libmkl*.so; do
-        so1="${so}.1"
-        if [[ "$(basename ${so})" == "libmkl_sycl.so" ]]; then
-            if [[ -f "${so1}" ]]; then
-                rm -f ${so1}
-            fi
-            rm -f ${so}
-            continue
-        fi
-        if [[ -f "${so}.1" ]]; then
-            cs1=$(sha256sum ${so1} | awk '{print $1}')
-            cs0=$(sha256sum ${so} | awk '{print $1}')
-            if [[ "${cs1}" == "${cs0}" ]]; then
-                so1_name="$(basename $so1)"
-                warning "Duplicate so ${so} with ${so1_name} found, re-symlinking..."
-                info "Now perform: rm -f ${so} && ln -s ${so1_name} ${so}"
-                rm -f ${so} && ln -s ${so1_name} ${so}
-            fi
-        fi
-    done
-fi
-
 ##============================================================##
 # libtorch_cpu
 
 if [[ "${TARGET_ARCH}" == "x86_64" ]]; then
     if [[ "${APOLLO_DIST}" == "stable" ]]; then
         # https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.5.0%2Bcpu.zip
-        VERSION="1.6.0"
-        CHECKSUM="2bc75f4b38e7c23f99a2e0367b64c8626cac1442e87b7ab9878859bbf10973fe"
+        VERSION="1.6.0-1"
+        CHECKSUM="4931fe651f2098ee3f0c4147099bd5dddcc15c0e9108e49a5ffdf46d98a7092a"
     else # testing
         VERSION="1.7.0"
         CHECKSUM="1baccc141347ce33cd998513f5cfdb0b5c359d66cd2b59b055c9eadc9e954d19"
@@ -92,9 +65,9 @@ ok "Successfully installed libtorch_cpu ${VERSION}"
 # libtorch_gpu
 if [[ "${TARGET_ARCH}" == "x86_64" ]]; then
     if [[ "${APOLLO_DIST}" == "stable" ]]; then
-        VERSION="1.6.0"
-        CHECKSUM="ab540c8d6c088ca5eda0e861bb39e985b046f363c3a1fbd65176090c202f8af3"
-        PKG_NAME="libtorch_gpu-1.6.0-cu102-linux-x86_64.tar.gz"
+        VERSION="1.6.0-1"
+        CHECKSUM="8ca52235cb91aba6d39fb144ec5414bebf0e94a2ee03115ae83650fc4d421719"
+        PKG_NAME="libtorch_gpu-${VERSION}-cu102-linux-x86_64.tar.gz"
     else
         VERSION="1.7.0"
         CHECKSUM="d2356b641d78e33d5decebf8c32f726b831045d5a0aff276545b40a259225885"

docker/build/installers/install_magma.sh

+#! /usr/bin/env bash
+###############################################################################
+# Copyright 2021 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+set -e
+
+CURR_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
+. ${CURR_DIR}/installer_base.sh
+
+if ldconfig -p | grep -q magma ; then
+    warning "Magma already installed, re-installation skipped."
+    exit 0
+fi
+
+: ${INSTALL_MODE:=download}
+: ${APOLLO_DIST:=stable}
+
+GPU_ARCHS=
+function determine_gpu_targets() {
+    IFS=' ' read -r -a sms <<< "${SUPPORTED_NVIDIA_SMS}"
+    local archs=
+    for sm in "${sms[@]}"; do
+        if [[ -z "${archs}" ]]; then
+            archs="sm_${sm//./}"
+        else
+            archs+=" sm_${sm//./}"
+        fi
+    done
+    GPU_ARCHS="${archs}"
+}
+determine_gpu_targets
+
+apt_get_update_and_install \
+    libopenblas-dev \
+    gfortran
+
+TARGET_ARCH="$(uname -m)"
+VERSION="2.5.4"
+
+if [[ "${INSTALL_MODE}" == "download" ]]; then
+    if [[ "${TARGET_ARCH}" == "x86_64" ]]; then
+        if [[ "${APOLLO_DIST}" == "stable" ]]; then
+            CHECKSUM="962447d0f4dfbfade34d4b1dd8658a97b6fdeb88340637581566f24861a60812"
+            PKG_NAME="magma-${VERSION}-cu102-x86_64.tar.gz"
+        else
+            CHECKSUM="TODO"
+            PKG_NAME="magma-${VERSION}-cu111-x86_64.tar.gz"
+        fi
+    else # AArch64
+        CHECKSUM="TODO"
+        PKG_NAME="magma-${VERSION}-aarch64.tar.gz"
+    fi
+    DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
+    download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
+    tar xzf ${PKG_NAME}
+    pushd ${PKG_NAME%.tar.gz}
+        mv include/* ${SYSROOT_DIR}/include/
+        mv lib/*.so     ${SYSROOT_DIR}/lib/
+        [[ -d ${SYSROOT_DIR}/lib/pkgconfig ]] || mkdir -p ${SYSROOT_DIR}/lib/pkgconfig
+        install -t ${SYSROOT_DIR}/lib/pkgconfig lib/pkgconfig/magma.pc
+    popd
+    rm -rf ${PKG_NAME%.tar.gz} ${PKG_NAME}
+    ok "Successfully installed magma-${VERSION} in download mode"
+else
+    PKG_NAME="magma-${VERSION}.tar.gz"
+    DOWNLOAD_LINK="http://icl.utk.edu/projectsfiles/magma/downloads/${PKG_NAME}"
+    CHECKSUM="7734fb417ae0c367b418dea15096aef2e278a423e527c615aab47f0683683b67"
+
+    download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
+
+    tar xzf ${PKG_NAME}
+
+    pushd magma-${VERSION}
+        mkdir build && cd build
+        cmake .. \
+            -DBUILD_SHARED_LIBS=ON \
+            -DCMAKE_INSTALL_PREFIX="${SYSROOT_DIR}" \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DGPU_TARGET="${GPU_ARCHS}"
+        # E.g., sm_52 sm_60 sm_61 sm_70 sm_75
+        make -j$(nproc)
+        make install
+    popd
+    rm -rf magma-${VERSION} ${PKG_NAME}
+fi
+
+ldconfig
+
+if [[ -n "${CLEAN_DEPS}" ]]; then
+    apt_get_remove gfortran
+fi

docker/build/installers/install_mkl.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2021 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+. ./installer_base.sh
+
+TARGET_ARCH="$(uname -m)"
+
+if [[ "${TARGET_ARCH}" != "x86_64" ]]; then
+    exit 0
+fi
+
+pip3_install mkl==2021.1.1
+
+# Workaround for removing duplicate entries in mkl PYPI installation
+function mkl_relink {
+    MKL_LIBDIR="/usr/local/lib"
+    for so in ${MKL_LIBDIR}/libmkl*.so; do
+        so1="${so}.1"
+
+        if [[ "$(basename ${so})" == "libmkl_sycl.so" ]]; then
+            rm -f ${so} ${so1} || true
+            continue
+        fi
+
+        if [[ -f "${so}.1" ]]; then
+            cs1=$(sha256sum ${so1} | awk '{print $1}')
+            cs0=$(sha256sum ${so} | awk '{print $1}')
+            if [[ "${cs1}" == "${cs0}" ]]; then
+                so1_name="$(basename $so1)"
+                warning "Duplicate so ${so} with ${so1_name} found, re-symlinking..."
+                info "Now perform: rm -f ${so} && ln -s ${so1_name} ${so}"
+                rm -f ${so} && ln -s ${so1_name} ${so}
+            fi
+        fi
+    done
+}
+
+function tbb_relink() {
+    TBB_LIBDIR="/usr/local/lib"
+    for so in ${TBB_LIBDIR}/libtbb*.so*; do
+        soname="$(basename ${so})"
+        IFS='.' read -ra arr <<< "${soname}"
+        IFS=' ' # restore IFS
+        num=${#arr[@]}
+        if [[ ${num} != 4 ]]; then # Keep only libtbb.so.12.1
+            rm -f ${so} || true
+        fi
+    done
+
+    for so in ${TBB_LIBDIR}/libtbb*.so*; do
+        soname="$(basename ${so})"
+        IFS='.' read -ra arr <<< "${soname}"
+        IFS=' ' # restore IFS
+        core="${arr[0]}.so"
+        ln -s ${soname} ${TBB_LIBDIR}/${core}.${arr[2]}
+        ln -s ${core}.${arr[2]} ${TBB_LIBDIR}/${core}
+    done
+}
+
+mkl_relink
+tbb_relink
+ldconfig
+
+ok "Successfully installed mkl from PYPI"

docker/build/installers/installer_base.sh

@@ -37,7 +37,7 @@ export LOCAL_HTTP_ADDR="http://172.17.0.1:8388"
 
 if [[ "$(uname -m)" == "x86_64" ]]; then
     if [[ "${APOLLO_DIST}" == "stable" ]]; then
-        export SUPPORTED_NVIDIA_SMS="3.7 5.2 6.0 6.1 7.0 7.5"
+        export SUPPORTED_NVIDIA_SMS="5.2 6.0 6.1 7.0 7.5"
     else
         export SUPPORTED_NVIDIA_SMS="5.2 6.0 6.1 7.0 7.5 8.0 8.6"
     fi