mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 23:33:58 +08:00
2b470f4e38
* 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
69 lines
2.0 KiB
Python
69 lines
2.0 KiB
Python
Import('env', 'arch')
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gen = "c_generated_code"
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casadi_model = [
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f'{gen}/long_model/long_expl_ode_fun.c',
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f'{gen}/long_model/long_expl_vde_forw.c',
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]
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casadi_cost_y = [
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f'{gen}/long_cost/long_cost_y_fun.c',
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f'{gen}/long_cost/long_cost_y_fun_jac_ut_xt.c',
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f'{gen}/long_cost/long_cost_y_hess.c',
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]
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casadi_cost_e = [
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f'{gen}/long_cost/long_cost_y_e_fun.c',
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f'{gen}/long_cost/long_cost_y_e_fun_jac_ut_xt.c',
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f'{gen}/long_cost/long_cost_y_e_hess.c',
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]
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casadi_cost_0 = [
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f'{gen}/long_cost/long_cost_y_0_fun.c',
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f'{gen}/long_cost/long_cost_y_0_fun_jac_ut_xt.c',
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f'{gen}/long_cost/long_cost_y_0_hess.c',
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]
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casadi_constraints = [
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f'{gen}/long_constraints/long_constr_h_fun.c',
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f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c',
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f'{gen}/long_constraints/long_constr_h_e_fun.c',
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f'{gen}/long_constraints/long_constr_h_e_fun_jac_uxt_zt.c',
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]
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build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e + \
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casadi_cost_0 + casadi_constraints
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# extra generated files used to trigger a rebuild
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generated_files = [
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f'{gen}/Makefile',
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f'{gen}/main_long.c',
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f'{gen}/acados_solver_long.h',
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f'{gen}/long_model/long_expl_vde_adj.c',
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f'{gen}/long_model/long_model.h',
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f'{gen}/long_constraints/long_h_constraint.h',
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f'{gen}/long_constraints/long_h_e_constraint.h',
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f'{gen}/long_cost/long_cost_y_fun.h',
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f'{gen}/long_cost/long_cost_y_e_fun.h',
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f'{gen}/long_cost/long_cost_y_0_fun.h',
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] + build_files
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lenv = env.Clone()
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lenv.Clean(generated_files, Dir(gen))
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lenv.Command(generated_files,
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["long_mpc.py"],
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f"cd {Dir('.').abspath} && python long_mpc.py")
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lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CCFLAGS"].append("-Wno-unused")
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
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lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
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build_files,
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
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