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cython wrapper for acados (#22784)

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* cython wrapper for acados

* fix building

* sconscript cleanup

* no cython numpy

* cleanup

* upgrade build script

* try without slices

* new acados commit

* c3 update acados libs

* c2 libs

* make faster

* undo profiling

* fix build

* somewhat faster

* tryout cost_set_slice

* Revert "tryout cost_set_slice"

This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.

* cleanup

* undo t_renderer change

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 89d0a52d16
This commit is contained in:
Joost Wooning
2021-11-12 17:09:08 +01:00
committed by GitHub
parent 1bcba44589
commit 9042f18afd
60 changed files with 503 additions and 187 deletions
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27
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
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@@ -1,4 +1,4 @@
Import('env', 'arch')
Import('env', 'envCython', 'arch', 'common')
gen = "c_generated_code"
@@ -41,6 +41,7 @@ generated_files = [
f'{gen}/main_long.c',
f'{gen}/acados_solver_long.h',
f'{gen}/acados_solver.pxd',
f'{gen}/long_model/long_expl_vde_adj.c',
@@ -63,6 +64,24 @@ lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CCFLAGS"].append("-Wno-unused")
lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
# generate cython stuff
acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \
f' -o {libacados_ocp_solver_c.get_labspath()}' + \
f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
lenv2.Depends(lib_cython, lib_solver)