mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-21 08:53:53 +08:00
158210cde8
* start again * need that too * this actually works * not needed * do properly * still works * still works * still good * all G without ll * still works * all still good * cleanup building * cleanup sconscript * new lane planner * how on earth is this silent too.... * update * add rotation radius * update * pathplanner first pass * misc fixes * fix * need deep_interp * local again * fix * fix test * very old * new replay * interp properly * correct length * another horrible silent bug * like master * fix that * do doubles * different delay compensation * make robust to empty msg * make pass with hack for now * add some extra * update ref for increased leg * test cpu usage on this pr * tiny bit faster * purge numpy * update ref * not needed * ready for merge * try again after recompile Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
48 lines
1.5 KiB
Python
48 lines
1.5 KiB
Python
Import('env', 'arch')
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cpp_path = [
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"#selfdrive",
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"#phonelibs/acado/include",
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"#phonelibs/acado/include/acado",
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"#phonelibs/qpoases/INCLUDE",
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"#phonelibs/qpoases/INCLUDE/EXTRAS",
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"#phonelibs/qpoases/SRC/",
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"#phonelibs/qpoases",
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"lib_mpc_export",
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]
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generated_c = [
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'lib_mpc_export/acado_auxiliary_functions.c',
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'lib_mpc_export/acado_qpoases_interface.cpp',
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'lib_mpc_export/acado_integrator.c',
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'lib_mpc_export/acado_solver.c',
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]
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generated_h = [
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'lib_mpc_export/acado_common.h',
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'lib_mpc_export/acado_auxiliary_functions.h',
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'lib_mpc_export/acado_qpoases_interface.hpp',
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]
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interface_dir = Dir('lib_mpc_export')
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SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
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if GetOption('mpc_generate'):
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generator_cpp = File('generator.cpp')
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acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
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File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
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File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
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generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
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CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
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cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
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env.Command(generated_c + generated_h, generator, cmd)
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mpc_files = ["lateral_mpc.c"] + generated_c
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env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
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