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51 lines
1.2 KiB
51 lines
1.2 KiB
import os
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import platform
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import subprocess
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from cffi import FFI
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mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
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if platform.machine() == "x86_64":
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try:
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FFI().dlopen(os.path.join(mpc_dir, "libmpc1.so"))
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except OSError:
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# libmpc1.so is likely built for aarch64. cleaning...
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subprocess.check_call(["make", "clean"], cwd=mpc_dir)
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subprocess.check_call(["make", "-j4"], cwd=mpc_dir)
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def _get_libmpc(mpc_id):
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libmpc_fn = os.path.join(mpc_dir, "libmpc%d.so" % mpc_id)
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ffi = FFI()
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ffi.cdef("""
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typedef struct {
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double x_ego, v_ego, a_ego, x_l, v_l, a_l;
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} state_t;
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typedef struct {
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double x_ego[21];
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double v_ego[21];
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double a_ego[21];
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double j_ego[20];
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double x_l[21];
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double v_l[21];
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double a_l[21];
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double t[21];
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double cost;
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} log_t;
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void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
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void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
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int run_mpc(state_t * x0, log_t * solution,
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double l, double a_l_0);
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""")
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return (ffi, ffi.dlopen(libmpc_fn))
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mpcs = [_get_libmpc(1), _get_libmpc(2)]
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def get_libmpc(mpc_id):
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return mpcs[mpc_id - 1]
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