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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
35 lines
753 B
Python
35 lines
753 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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libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())
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ffi = FFI()
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ffi.cdef("""
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const int MPC_N = 32;
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typedef struct {
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double x_ego, v_ego, a_ego;
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} state_t;
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typedef struct {
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double x_ego[MPC_N+1];
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double v_ego[MPC_N+1];
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double a_ego[MPC_N+1];
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double t[MPC_N+1];
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double j_ego[MPC_N];
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double cost;
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} log_t;
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void init(double xCost, double vCost, double aCost, double jerkCost, double constraintCost);
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int run_mpc(state_t * x0, log_t * solution,
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double target_x[MPC_N+1], double target_v[MPC_N+1], double target_a[MPC_N+1],
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double min_a, double max_a);
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""")
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libmpc = ffi.dlopen(libmpc_fn)
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