acados long merged (#22224)

* rebased

* cleaner, seems to drive better?

* more stable

* wrong import

* new way of thinking

* reports look nice

* start move back

* works at leas

* good timestamps

* step by step

* somewhat work

* tests pass

* ALL CARS STOPPED

* should work

* fake a cruise obstacle

* cleaner costs

* pretty good except cruise braking

* works pretty well now!

* cleanup

* add source

* add source

* that is needed for unit tests

* nan recovery

* little cleaner

* stop wasting arrays

* unreasonable without unfair init

* this isnt needed without the exponential

* that works too

* unused

* uses less

* new ref

* long enough

* e2e long api

* DONT PUT IN A VIEW INTO ACADOS

* new ref for outside weights

* remove debug prints
old-commit-hash: fe983a7b8c

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -25,7 +25,15 @@ casadi_cost_0 = [
   f'{gen}/long_cost/long_cost_y_0_hess.c',
 ]
 
-build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
+casadi_constraints = [
+  f'{gen}/long_constraints/long_constr_h_fun.c',
+  f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c',
+  f'{gen}/long_constraints/long_constr_h_e_fun.c',
+  f'{gen}/long_constraints/long_constr_h_e_fun_jac_uxt_zt.c',
+]
+
+build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e +  \
+              casadi_cost_0 + casadi_constraints
 
 # extra generated files used to trigger a rebuild
 generated_files = [
@@ -37,6 +45,8 @@ generated_files = [
   f'{gen}/long_model/long_expl_vde_adj.c',
 
   f'{gen}/long_model/long_model.h',
+  f'{gen}/long_constraints/long_h_constraint.h',
+  f'{gen}/long_constraints/long_h_e_constraint.h',
   f'{gen}/long_cost/long_cost_y_fun.h',
   f'{gen}/long_cost/long_cost_y_e_fun.h',
   f'{gen}/long_cost/long_cost_y_0_fun.h',