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https://github.com/sunnypilot/sunnypilot.git
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96d4bfbff3
* refactor
* needs casting
* tests pass
* fix that test
* refactor in controls
* lets not go crazy
* change of names
* use constants
* better naming
* renamed
* soft constraints
* compile slack variables
* rm git conflict
* add slack variables
* unused
* new edition
* fcw
* fix tests
* dividing causes problems
* was way too slow
* take a step back
* byeeee
* for another time
* bad idxs
* little more cpu for cruise mpc
* update refs
* these limits seem fine
* rename
* test model timings fails sometimes
* add default
* save some cpu
* Revert "little more cpu for cruise mpc"
This reverts commit f0a8163ec90e8dc1eabb3c4a4268ad330d23374d.
* Revert "test model timings fails sometimes"
This reverts commit d259d845710ed2cbeb28b383e2600476527d4838.
* update refs
* less cpu
* Revert "Revert "test model timings fails sometimes""
This reverts commit e0263050d9929bfc7ee70c9788234541a4a8461c.
* Revert "less cpu"
This reverts commit 679007472bc2013e7fafb7b17de7a43d6f82359a.
* cleanup
* not too much until we clean up mpc
* more cost on jerk
* change ref
* add todo
* new ref
* indentation
old-commit-hash: be5ddd25cd
42 lines
988 B
Python
42 lines
988 B
Python
import os
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from cffi import FFI
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from common.ffi_wrapper import suffix
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mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
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def _get_libmpc(mpc_id):
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libmpc_fn = os.path.join(mpc_dir, "libmpc%d%s" % (mpc_id, suffix()))
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ffi = FFI()
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ffi.cdef("""
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typedef struct {
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double x_ego, v_ego, a_ego, x_l, v_l, a_l;
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} state_t;
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typedef struct {
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double x_ego[21];
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double v_ego[21];
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double a_ego[21];
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double j_ego[20];
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double x_l[21];
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double v_l[21];
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double a_l[21];
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double t[21];
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double cost;
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} log_t;
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void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
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void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
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int run_mpc(state_t * x0, log_t * solution,
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double l, double a_l_0);
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""")
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return (ffi, ffi.dlopen(libmpc_fn))
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mpcs = [_get_libmpc(0), _get_libmpc(1)]
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def get_libmpc(mpc_id):
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return mpcs[mpc_id]
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