mirror of
https://github.com/sunnypilot/sunnypilot.git
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c422cce205
* lateral acados
* looks good!
* add another solve, needed for init somehow
* use copy
* init correctly
* cleanup sconstruct
* Update files_common
* update cpu usage
* reset when invalid
* fix cpu usage
* cost_set doesnt leak
* new ref
* non leaky reset
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7081ab4fb7
59 lines
1.6 KiB
Python
59 lines
1.6 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}/lat_model/lat_expl_ode_fun.c',
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f'{gen}/lat_model/lat_expl_vde_forw.c',
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]
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casadi_cost_y = [
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f'{gen}/lat_cost/lat_cost_y_fun.c',
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f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
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f'{gen}/lat_cost/lat_cost_y_hess.c',
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]
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casadi_cost_e = [
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f'{gen}/lat_cost/lat_cost_y_e_fun.c',
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f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
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f'{gen}/lat_cost/lat_cost_y_e_hess.c',
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]
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casadi_cost_0 = [
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f'{gen}/lat_cost/lat_cost_y_0_fun.c',
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f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
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f'{gen}/lat_cost/lat_cost_y_0_hess.c',
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]
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build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
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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_lat.c',
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f'{gen}/acados_solver_lat.h',
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f'{gen}/lat_model/lat_expl_vde_adj.c',
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f'{gen}/lat_model/lat_model.h',
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f'{gen}/lat_cost/lat_cost_y_fun.h',
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f'{gen}/lat_cost/lat_cost_y_e_fun.h',
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f'{gen}/lat_cost/lat_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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["lat_mpc.py"],
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f"cd {Dir('.').abspath} && python lat_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_lat",
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build_files,
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
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