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sconscript cleanup

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pull/22784/head
Joost Wooning 4 years ago
parent a882dcafef
commit 2308df15ce
2 changed files with 20 additions and 22 deletions
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  1. 21
      selfdrive/controls/lib/lateral_mpc_lib/SConscript
  2. 21
      selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

21
selfdrive/controls/lib/lateral_mpc_lib/SConscript
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@ -60,19 +60,18 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
# generate cython stuff # generate cython stuff
acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx") 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') acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
libacados_ocp_solver_lat_pxd = File('#selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd') libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_lat_c = File('#selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c') libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone() lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [libacados_ocp_solver_lat.get_labspath()] lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2.Command(libacados_ocp_solver_lat_c, lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, libacados_ocp_solver_lat_pxd], # TODO fix [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \ f'cython' + \
f' -o {libacados_ocp_solver_lat_c.get_labspath()}' + \ f' -o {libacados_ocp_solver_c.get_labspath()}' + \
f' -I {libacados_ocp_solver_lat_pxd.get_dir().get_labspath()}' + \ f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_pyx.get_dir().get_labspath()}' + \ f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.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', lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
[libacados_ocp_solver_lat_c])
lenv2.Depends(lib_cython, lib_solver) lenv2.Depends(lib_cython, lib_solver)

21
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
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@ -70,19 +70,18 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
# generate cython stuff # generate cython stuff
acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx") 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') acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
libacados_ocp_solver_long_pxd = File('#selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd') libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_long_c = File('#selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c') libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone() lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [libacados_ocp_solver_long.get_labspath()] lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2.Command(libacados_ocp_solver_long_c, lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, libacados_ocp_solver_long_pxd], # TODO fix [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \ f'cython' + \
f' -o {libacados_ocp_solver_long_c.get_labspath()}' + \ f' -o {libacados_ocp_solver_c.get_labspath()}' + \
f' -I {libacados_ocp_solver_long_pxd.get_dir().get_labspath()}' + \ f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_pyx.get_dir().get_labspath()}' + \ f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.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', lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
[libacados_ocp_solver_long_c])
lenv2.Depends(lib_cython, lib_solver) lenv2.Depends(lib_cython, lib_solver)

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