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Port lateral planning to ACADOS (#22080)

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* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7081ab4fb7
This commit is contained in:
HaraldSchafer
2021-09-13 19:06:54 -07:00
committed by GitHub
parent 335089db07
commit c422cce205
11 changed files with 301 additions and 125 deletions
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58
selfdrive/controls/lib/lateral_mpc_lib/SConscript Normal file
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Import('env', 'arch')
gen = "c_generated_code"
casadi_model = [
f'{gen}/lat_model/lat_expl_ode_fun.c',
f'{gen}/lat_model/lat_expl_vde_forw.c',
]
casadi_cost_y = [
f'{gen}/lat_cost/lat_cost_y_fun.c',
f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
f'{gen}/lat_cost/lat_cost_y_hess.c',
]
casadi_cost_e = [
f'{gen}/lat_cost/lat_cost_y_e_fun.c',
f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
f'{gen}/lat_cost/lat_cost_y_e_hess.c',
]
casadi_cost_0 = [
f'{gen}/lat_cost/lat_cost_y_0_fun.c',
f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
f'{gen}/lat_cost/lat_cost_y_0_hess.c',
]
build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
# extra generated files used to trigger a rebuild
generated_files = [
f'{gen}/Makefile',
f'{gen}/main_lat.c',
f'{gen}/acados_solver_lat.h',
f'{gen}/lat_model/lat_expl_vde_adj.c',
f'{gen}/lat_model/lat_model.h',
f'{gen}/lat_cost/lat_cost_y_fun.h',
f'{gen}/lat_cost/lat_cost_y_e_fun.h',
f'{gen}/lat_cost/lat_cost_y_0_fun.h',
] + build_files
lenv = env.Clone()
lenv.Clean(generated_files, Dir(gen))
lenv.Command(generated_files,
["lat_mpc.py"],
f"cd {Dir('.').abspath} && python lat_mpc.py")
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_lat",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])