import os from cffi import FFI from common.ffi_wrapper import suffix mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__))) def _get_libmpc(mpc_id): libmpc_fn = os.path.join(mpc_dir, "libmpc%d%s" % (mpc_id, suffix())) ffi = FFI() ffi.cdef(""" typedef struct { double x_ego, v_ego, a_ego, x_l, v_l, a_l; } state_t; typedef struct { double x_ego[21]; double v_ego[21]; double a_ego[21]; double j_ego[20]; double x_l[21]; double v_l[21]; double a_l[21]; double t[21]; double cost; } log_t; void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost); void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l); int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0); """) return (ffi, ffi.dlopen(libmpc_fn)) mpcs = [_get_libmpc(0), _get_libmpc(1)] def get_libmpc(mpc_id): return mpcs[mpc_id]