Rebuild acado and add scons command to regenerate mpc (#19685)

* rebuild acado and add scons command to regenerate mpc

* update scons help

.gitattributes

@@ -7,11 +7,11 @@
 *.ipynb filter=nbstripout -diff
 external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
 models/segnet.keras filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/aarch64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/aarch64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text

SConstruct

@@ -25,6 +25,10 @@ AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
 
+AddOption('--mpc-generate',
+          action='store_true',
+          help='regenerates the mpc sources')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"

phonelibs/acado/aarch64/lib/libacado_casadi.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:02c9bdd43a4c5692c16cb437ab000e74efc908d4dcefb39144f7a0eb0e5b67ab
-size 33782

phonelibs/acado/aarch64/lib/libacado_csparse.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9a6bd05cc21d157f8705575df0ef69d02974375bc800edd353d504635ca090bd
-size 92090

phonelibs/acado/aarch64/lib/libacado_qpoases.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:be4f11bcff1de30751fbf8fb014d0e14d7334c17fac3dfd4cb2f445391a08946
-size 634068

phonelibs/acado/aarch64/lib/libacado_toolkit.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:80a5b92a8162edd22507d2d9e9abf794ebd4aa4b5affa398443a01f6ab71fde3
-size 23341704

phonelibs/acado/aarch64/lib/libacado_toolkit_s.so

@@ -1 +0,0 @@
-libacado_toolkit_s.so.1

phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b21d9a8c8b68715062830ed91420bad10622ae157f8daecca98adb7082c7de43
-size 8813880

phonelibs/acado/build.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env sh
+set -e
+
+rm -rf acado
+git clone https://github.com/acado/acado.git
+cd acado
+git reset --hard 5adb8cbcff5a5464706a48eaf073218ac87c9044
+
+# Clang 8 fixes
+git apply ../01.patch
+sed -i '100d' cmake/CompilerOptions.cmake
+sed -i '100d' cmake/CompilerOptions.cmake
+
+mkdir build
+cd build
+cmake -DACADO_WITH_EXAMPLES=OFF -DACADO_BUILD_STATIC=ON -DCMAKE_INSTALL_PREFIX="$HOME/openpilot/phonelibs/acado" ..
+make -j$(nproc)
+make install
+
+cd ..
+cd ..
+
+rm -r x86_64
+mkdir x86_64
+mv lib x86_64/lib
+cp acado/build/lib/* x86_64/lib/
+
+rm -rf acado
+rm -r share

phonelibs/acado/build.txt

@@ -1,16 +0,0 @@
-git clone https://github.com/acado/acado.git
-cd acado
-git reset --hard 5adb8cbcff5a5464706a48eaf073218ac87c9044
-
-
-# Clang 8 fixes
-# git apply 01.patch
-# sed -i '100d' cmake/CompilerOptions.cmake
-# sed -i '100d' cmake/CompilerOptions.cmake
-
-
-mkdir build
-cd build
-cmake -DACADO_WITH_EXAMPLES=OFF -DACADO_BUILD_STATIC=ON -DCMAKE_INSTALL_PREFIX="$HOME/one/phonelibs/acado" ..
-make -j4
-make install

phonelibs/acado/include/acado/code_generation/templates/templates.hpp

@@ -1,7 +1,7 @@
 #ifndef ACADO_TOOLKIT_TEMPLATES_HPP
 #define ACADO_TOOLKIT_TEMPLATES_HPP
 
-#define TEMPLATE_PATHS "/home/batman/tmpbld/acado/acado/code_generation/templates;/home/batman/one/phonelibs/acado/include/acado/code_generation/templates;/data/data/com.termux/files/home/one/phonelibs/acado/include/acado/code_generation/templates"
+#define TEMPLATE_PATHS "/home/batman/openpilot/phonelibs/acado/acado/acado/code_generation/templates;/home/batman/openpilot/phonelibs/acado/include/acado/code_generation/templates"
  
 #define INTEGRATOR_MEX_TEMPLATE "integrator_mex.c.in"
 #define RHS_MEX_TEMPLATE "rhs_mex.c.in"

phonelibs/acado/x64/lib/libacado_casadi.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9b4709c7fd3a4e6bdddfaee0d4482087ba1ea1a90c71d4a16652f1b363e010e8
-size 49744

phonelibs/acado/x64/lib/libacado_csparse.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ebe06e3c6876190aae26d48b1dfbfb5a50d1887e5d6e6482669e48caabc1a80e
-size 141978

phonelibs/acado/x64/lib/libacado_qpoases.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4cf01f68ba2dca1054334af49c77b443267b33551efe188f3176ac176b93fd7e
-size 754948

phonelibs/acado/x64/lib/libacado_toolkit.a

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:469251cfd2abb76655132f3de1da86f91fe1f581701fe1780cb1c77074d7fa3b
-size 26405540

phonelibs/acado/x64/lib/libacado_toolkit_s.so

@@ -1 +0,0 @@
-libacado_toolkit_s.so.1

phonelibs/acado/x64/lib/libacado_toolkit_s.so.1

@@ -1 +0,0 @@
-libacado_toolkit_s.so.1.2.2beta

phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:72239a2333dadef2e351e0a627c68e43fef7d8d6c9ea674f07b6c81d91f4db5e
-size 10249488

phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178937c40ec3326eab01c62f3239a885cbfb1308af65436d831dd4fa6a7d619e
+size 10304768

selfdrive/controls/lib/lateral_mpc/SConscript

@@ -7,23 +7,40 @@ cpp_path = [
     "#phonelibs/qpoases/INCLUDE/EXTRAS",
     "#phonelibs/qpoases/SRC/",
     "#phonelibs/qpoases",
-    "lib_mpc_export"
+    "lib_mpc_export",
+]
 
+generated_c = [
+    'lib_mpc_export/acado_auxiliary_functions.c',
+    'lib_mpc_export/acado_qpoases_interface.cpp',
+    'lib_mpc_export/acado_integrator.c',
+    'lib_mpc_export/acado_solver.c',
 ]
 
-mpc_files = [
-    "lateral_mpc.c",
-    Glob("lib_mpc_export/*.c"),
-    Glob("lib_mpc_export/*.cpp"),
+generated_h = [
+    'lib_mpc_export/acado_common.h',
+    'lib_mpc_export/acado_auxiliary_functions.h',
+    'lib_mpc_export/acado_qpoases_interface.hpp',
 ]
 
 interface_dir = Dir('lib_mpc_export')
 
 SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
 
+if GetOption('mpc_generate'):
+    generator_cpp = File('generator.cpp')
+
+    acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
+
+    generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
+                            CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
+
+    cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
+    env.Command(generated_c + generated_h, generator, cmd)
+
+
+
+mpc_files = ["lateral_mpc.c"] + generated_c
 env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-# if arch != "aarch64":
-#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
-#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)

selfdrive/controls/lib/longitudinal_mpc/SConscript

@@ -8,25 +8,41 @@ cpp_path = [
     "#phonelibs/qpoases/INCLUDE/EXTRAS",
     "#phonelibs/qpoases/SRC/",
     "#phonelibs/qpoases",
-    "lib_mpc_export"
+    "lib_mpc_export",
+]
 
+generated_c = [
+    'lib_mpc_export/acado_auxiliary_functions.c',
+    'lib_mpc_export/acado_qpoases_interface.cpp',
+    'lib_mpc_export/acado_integrator.c',
+    'lib_mpc_export/acado_solver.c',
 ]
 
-mpc_files = [
-    "longitudinal_mpc.c",
-    Glob("lib_mpc_export/*.c"),
-    Glob("lib_mpc_export/*.cpp"),
+generated_h = [
+    'lib_mpc_export/acado_common.h',
+    'lib_mpc_export/acado_auxiliary_functions.h',
+    'lib_mpc_export/acado_qpoases_interface.hpp',
 ]
 
+
 interface_dir = Dir('lib_mpc_export')
 
 SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
 
+if GetOption('mpc_generate'):
+    generator_cpp = File('generator.cpp')
+
+    acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
+
+    generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
+                            CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
+
+    cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
+    env.Command(generated_c + generated_h, generator, cmd)
+
+
+mpc_files = ["longitudinal_mpc.c"] + generated_c
 env.SharedLibrary('mpc1', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
 env.SharedLibrary('mpc2', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-
-# if arch != "aarch64":
-#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
-#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)