From 2308df15ce206f61db9c8e72c1ba4ca4ec304e08 Mon Sep 17 00:00:00 2001 From: Joost Wooning Date: Fri, 5 Nov 2021 14:40:03 +0100 Subject: [PATCH] sconscript cleanup --- .../controls/lib/lateral_mpc_lib/SConscript | 21 +++++++++---------- .../lib/longitudinal_mpc_lib/SConscript | 21 +++++++++---------- 2 files changed, 20 insertions(+), 22 deletions(-) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 53b55cf612..148e4e123d 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -60,19 +60,18 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat", # generate cython stuff acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx") -libacados_ocp_solver_lat = File('#selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so') -libacados_ocp_solver_lat_pxd = File('#selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd') -libacados_ocp_solver_lat_c = File('#selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c') +acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd") +libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd') +libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c') lenv2 = envCython.Clone() -lenv2["LINKFLAGS"] += [libacados_ocp_solver_lat.get_labspath()] -lenv2.Command(libacados_ocp_solver_lat_c, - [acados_ocp_solver_pyx, libacados_ocp_solver_lat_pxd], # TODO fix +lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()] +lenv2.Command(libacados_ocp_solver_c, + [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd], f'cython' + \ - f' -o {libacados_ocp_solver_lat_c.get_labspath()}' + \ - f' -I {libacados_ocp_solver_lat_pxd.get_dir().get_labspath()}' + \ - f' -I {acados_ocp_solver_pyx.get_dir().get_labspath()}' + \ + f' -o {libacados_ocp_solver_c.get_labspath()}' + \ + f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \ + f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \ f' {acados_ocp_solver_pyx.get_labspath()}') -lib_cython = lenv2.Program(f'{libacados_ocp_solver_lat_c.get_dir().get_labspath()}/acados_ocp_solver_pyx.so', - [libacados_ocp_solver_lat_c]) +lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c]) lenv2.Depends(lib_cython, lib_solver) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index c24e0485db..4abe90f8f8 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -70,19 +70,18 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long", # generate cython stuff acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx") -libacados_ocp_solver_long = File('#selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so') -libacados_ocp_solver_long_pxd = File('#selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd') -libacados_ocp_solver_long_c = File('#selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c') +acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd") +libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd') +libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c') lenv2 = envCython.Clone() -lenv2["LINKFLAGS"] += [libacados_ocp_solver_long.get_labspath()] -lenv2.Command(libacados_ocp_solver_long_c, - [acados_ocp_solver_pyx, libacados_ocp_solver_long_pxd], # TODO fix +lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()] +lenv2.Command(libacados_ocp_solver_c, + [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd], f'cython' + \ - f' -o {libacados_ocp_solver_long_c.get_labspath()}' + \ - f' -I {libacados_ocp_solver_long_pxd.get_dir().get_labspath()}' + \ - f' -I {acados_ocp_solver_pyx.get_dir().get_labspath()}' + \ + f' -o {libacados_ocp_solver_c.get_labspath()}' + \ + f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \ + f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \ f' {acados_ocp_solver_pyx.get_labspath()}') -lib_cython = lenv2.Program(f'{libacados_ocp_solver_long_c.get_dir().get_labspath()}/acados_ocp_solver_pyx.so', - [libacados_ocp_solver_long_c]) +lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c]) lenv2.Depends(lib_cython, lib_solver)