mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-20 06:44:04 +08:00
c6d9b9565a
* start again
* need that too
* this actually works
* not needed
* do properly
* still works
* still works
* still good
* all G without ll
* still works
* all still good
* cleanup building
* cleanup sconscript
* new lane planner
* how on earth is this silent too....
* update
* add rotation radius
* update
* pathplanner first pass
* misc fixes
* fix
* need deep_interp
* local again
* fix
* fix test
* very old
* new replay
* interp properly
* correct length
* another horrible silent bug
* like master
* fix that
* do doubles
* different delay compensation
* make robust to empty msg
* make pass with hack for now
* add some extra
* update ref for increased leg
* test cpu usage on this pr
* tiny bit faster
* purge numpy
* update ref
* not needed
* ready for merge
* try again after recompile
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 158210cde8
48 lines
1.5 KiB
Python
48 lines
1.5 KiB
Python
Import('env', 'arch')
|
|
|
|
cpp_path = [
|
|
"#selfdrive",
|
|
"#phonelibs/acado/include",
|
|
"#phonelibs/acado/include/acado",
|
|
"#phonelibs/qpoases/INCLUDE",
|
|
"#phonelibs/qpoases/INCLUDE/EXTRAS",
|
|
"#phonelibs/qpoases/SRC/",
|
|
"#phonelibs/qpoases",
|
|
"lib_mpc_export",
|
|
]
|
|
|
|
generated_c = [
|
|
'lib_mpc_export/acado_auxiliary_functions.c',
|
|
'lib_mpc_export/acado_qpoases_interface.cpp',
|
|
'lib_mpc_export/acado_integrator.c',
|
|
'lib_mpc_export/acado_solver.c',
|
|
]
|
|
|
|
generated_h = [
|
|
'lib_mpc_export/acado_common.h',
|
|
'lib_mpc_export/acado_auxiliary_functions.h',
|
|
'lib_mpc_export/acado_qpoases_interface.hpp',
|
|
]
|
|
|
|
interface_dir = Dir('lib_mpc_export')
|
|
|
|
SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
|
|
|
|
if GetOption('mpc_generate'):
|
|
generator_cpp = File('generator.cpp')
|
|
|
|
acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
|
|
File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
|
|
File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
|
|
|
|
generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
|
|
CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
|
|
|
|
cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
|
|
env.Command(generated_c + generated_h, generator, cmd)
|
|
|
|
|
|
|
|
mpc_files = ["lateral_mpc.c"] + generated_c
|
|
env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
|