mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 23:33:58 +08:00
c42e2ecc50
* use the openpilot/persist directory on PC * manager runs on mac * sim runs w/o carla * fix params location in test * that rmtree can fail and it's okay * refactor params clear functionality * set PARAMS_PATH
42 lines
992 B
Python
42 lines
992 B
Python
import os
|
|
|
|
from cffi import FFI
|
|
from common.ffi_wrapper import suffix
|
|
|
|
mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
|
|
|
|
def _get_libmpc(mpc_id):
|
|
libmpc_fn = os.path.join(mpc_dir, "libmpc%d%s" % (mpc_id, suffix()))
|
|
|
|
ffi = FFI()
|
|
ffi.cdef("""
|
|
typedef struct {
|
|
double x_ego, v_ego, a_ego, x_l, v_l, a_l;
|
|
} state_t;
|
|
|
|
|
|
typedef struct {
|
|
double x_ego[21];
|
|
double v_ego[21];
|
|
double a_ego[21];
|
|
double j_ego[20];
|
|
double x_l[21];
|
|
double v_l[21];
|
|
double a_l[21];
|
|
double t[21];
|
|
double cost;
|
|
} log_t;
|
|
|
|
void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
|
|
void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
|
|
int run_mpc(state_t * x0, log_t * solution,
|
|
double l, double a_l_0);
|
|
""")
|
|
|
|
return (ffi, ffi.dlopen(libmpc_fn))
|
|
|
|
mpcs = [_get_libmpc(1), _get_libmpc(2)]
|
|
|
|
def get_libmpc(mpc_id):
|
|
return mpcs[mpc_id - 1]
|