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77 lines
2.5 KiB
77 lines
2.5 KiB
Import('env', 'envCython', 'arch', 'common')
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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}/acados_solver.pxd',
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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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lib_solver = 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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# generate cython stuff
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acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
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acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
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libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
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libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
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lenv2 = envCython.Clone()
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lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
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lenv2.Command(libacados_ocp_solver_c,
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[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
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f'cython' + \
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f' -o {libacados_ocp_solver_c.get_labspath()}' + \
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f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
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f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
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f' {acados_ocp_solver_pyx.get_labspath()}')
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lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
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lenv2.Depends(lib_cython, lib_solver)
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