mirror of
https://github.com/sunnypilot/sunnypilot.git
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be5ddd25cd
* 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
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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