mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
fe983a7b8c
* rebased * cleaner, seems to drive better? * more stable * wrong import * new way of thinking * reports look nice * start move back * works at leas * good timestamps * step by step * somewhat work * tests pass * ALL CARS STOPPED * should work * fake a cruise obstacle * cleaner costs * pretty good except cruise braking * works pretty well now! * cleanup * add source * add source * that is needed for unit tests * nan recovery * little cleaner * stop wasting arrays * unreasonable without unfair init * this isnt needed without the exponential * that works too * unused * uses less * new ref * long enough * e2e long api * DONT PUT IN A VIEW INTO ACADOS * new ref for outside weights * remove debug prints
69 lines
2.0 KiB
Python
69 lines
2.0 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}/long_model/long_expl_ode_fun.c',
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f'{gen}/long_model/long_expl_vde_forw.c',
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]
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casadi_cost_y = [
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f'{gen}/long_cost/long_cost_y_fun.c',
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f'{gen}/long_cost/long_cost_y_fun_jac_ut_xt.c',
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f'{gen}/long_cost/long_cost_y_hess.c',
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]
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casadi_cost_e = [
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f'{gen}/long_cost/long_cost_y_e_fun.c',
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f'{gen}/long_cost/long_cost_y_e_fun_jac_ut_xt.c',
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f'{gen}/long_cost/long_cost_y_e_hess.c',
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]
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casadi_cost_0 = [
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f'{gen}/long_cost/long_cost_y_0_fun.c',
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f'{gen}/long_cost/long_cost_y_0_fun_jac_ut_xt.c',
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f'{gen}/long_cost/long_cost_y_0_hess.c',
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]
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casadi_constraints = [
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f'{gen}/long_constraints/long_constr_h_fun.c',
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f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c',
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f'{gen}/long_constraints/long_constr_h_e_fun.c',
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f'{gen}/long_constraints/long_constr_h_e_fun_jac_uxt_zt.c',
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]
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build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e + \
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casadi_cost_0 + casadi_constraints
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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_long.c',
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f'{gen}/acados_solver_long.h',
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f'{gen}/long_model/long_expl_vde_adj.c',
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f'{gen}/long_model/long_model.h',
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f'{gen}/long_constraints/long_h_constraint.h',
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f'{gen}/long_constraints/long_h_e_constraint.h',
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f'{gen}/long_cost/long_cost_y_fun.h',
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f'{gen}/long_cost/long_cost_y_e_fun.h',
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f'{gen}/long_cost/long_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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["long_mpc.py"],
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f"cd {Dir('.').abspath} && python long_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_long",
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build_files,
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
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