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47 lines
1.5 KiB
47 lines
1.5 KiB
Import('env', 'arch')
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cpp_path = [
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"#selfdrive",
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"#phonelibs/acado/include",
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"#phonelibs/acado/include/acado",
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"#phonelibs/qpoases/INCLUDE",
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"#phonelibs/qpoases/INCLUDE/EXTRAS",
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"#phonelibs/qpoases/SRC/",
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"#phonelibs/qpoases",
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"lib_mpc_export",
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]
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generated_c = [
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'lib_mpc_export/acado_auxiliary_functions.c',
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'lib_mpc_export/acado_qpoases_interface.cpp',
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'lib_mpc_export/acado_integrator.c',
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'lib_mpc_export/acado_solver.c',
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]
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generated_h = [
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'lib_mpc_export/acado_common.h',
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'lib_mpc_export/acado_auxiliary_functions.h',
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'lib_mpc_export/acado_qpoases_interface.hpp',
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]
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interface_dir = Dir('lib_mpc_export')
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SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
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if GetOption('mpc_generate'):
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generator_cpp = File('generator.cpp')
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acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
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File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
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File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
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generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
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CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
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cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
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env.Command(generated_c + generated_h, generator, cmd)
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mpc_files = ["lateral_mpc.c"] + generated_c
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env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
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