From 48d933970bb870dd80e33f40ec47bed0a1a8b848 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 25 Aug 2023 16:51:57 -0700
Subject: [PATCH] mpc_lib: fix dependencies (#29621)

* Remove common dependency of lateral mpc

* Replace cereal dir dependency with cereal lib in long mpc

* Add missing files to generated sources

* Typo fix

* messaging_python dep
old-commit-hash: 517499294afdc16e0178526c5c65f4b29e1226c9
---
 SConstruct                                             | 3 ++-
 selfdrive/controls/lib/lateral_mpc_lib/SConscript      | 8 +++++---
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 9 ++++++---
 3 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/SConstruct b/SConstruct
index 8d98eeae39..b5c3f38a7b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -364,8 +364,9 @@ else:
   cereal = [File('#cereal/libcereal.a')]
   messaging = [File('#cereal/libmessaging.a')]
   visionipc = [File('#cereal/libvisionipc.a')]
+messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
-Export('cereal', 'messaging', 'visionipc')
+Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
 # Build rednose library and ekf models
 
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index a923baca62..49666abe69 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'common')
+Import('env', 'envCython', 'arch')
 
 gen = "c_generated_code"
 
@@ -32,7 +32,10 @@ generated_files = [
   f'{gen}/Makefile',
 
   f'{gen}/main_lat.c',
+  f'{gen}/main_sim_lat.c',
   f'{gen}/acados_solver_lat.h',
+  f'{gen}/acados_sim_solver_lat.h',
+  f'{gen}/acados_sim_solver_lat.c',
   f'{gen}/acados_solver.pxd',
 
   f'{gen}/lat_model/lat_expl_vde_adj.c',
@@ -46,7 +49,7 @@ acados_dir = '#third_party/acados'
 acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 
 source_list = ['lat_mpc.py',
-  '#/selfdrive/modeld/constants.py',
+  '#selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
@@ -57,7 +60,6 @@ lenv.Clean(generated_files, Dir(gen))
 generated_lat = lenv.Command(generated_files,
                              source_list,
                              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, "#common")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index c78be70fe3..5ce47eab1c 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'common')
+Import('env', 'envCython', 'arch', 'messaging_python')
 
 gen = "c_generated_code"
 
@@ -38,7 +38,10 @@ generated_files = [
   f'{gen}/Makefile',
 
   f'{gen}/main_long.c',
+  f'{gen}/main_sim_long.c',
   f'{gen}/acados_solver_long.h',
+  f'{gen}/acados_sim_solver_long.h',
+  f'{gen}/acados_sim_solver_long.c',
   f'{gen}/acados_solver.pxd',
 
   f'{gen}/long_model/long_expl_vde_adj.c',
@@ -52,7 +55,7 @@ acados_dir = '#third_party/acados'
 acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 
 source_list = ['long_mpc.py',
-  '#/selfdrive/modeld/constants.py',
+  '#selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
@@ -63,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, "#cereal")
+lenv.Depends(generated_long, messaging_python)
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")