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@ -61,8 +61,9 @@ source_list = ['long_mpc.py', |
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] |
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] |
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lenv = env.Clone() |
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lenv = env.Clone() |
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acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib")) |
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lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')] |
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lenv.Clean(generated_files, Dir(gen)) |
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lenv.Clean(generated_files, Dir(gen)) |
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generated_long = lenv.Command(generated_files, |
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generated_long = lenv.Command(generated_files, |
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source_list, |
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source_list, |
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f"cd {Dir('.').abspath} && python3 long_mpc.py") |
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f"cd {Dir('.').abspath} && python3 long_mpc.py") |
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@ -75,6 +76,7 @@ if arch != "Darwin": |
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") |
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") |
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else: |
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else: |
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lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib") |
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lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib") |
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lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}") |
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lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long", |
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lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long", |
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build_files, |
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build_files, |
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e']) |
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e']) |
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@ -86,7 +88,8 @@ 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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libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c') |
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lenv2 = envCython.Clone() |
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lenv2 = envCython.Clone() |
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lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()] |
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lenv2["LIBPATH"] += [lib_solver[0].dir.abspath] |
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lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')] |
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lenv2.Command(libacados_ocp_solver_c, |
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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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[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd], |
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f'cython' + \ |
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f'cython' + \ |
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@ -94,6 +97,6 @@ lenv2.Command(libacados_ocp_solver_c, |
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f' -I {libacados_ocp_solver_pxd.get_dir().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' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \ |
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f' {acados_ocp_solver_pyx.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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lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long']) |
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lenv2.Depends(lib_cython, lib_solver) |
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lenv2.Depends(lib_cython, lib_solver) |
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lenv2.Depends(libacados_ocp_solver_c, np_version) |
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lenv2.Depends(libacados_ocp_solver_c, np_version) |
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