openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
 
 
 
 
 
 

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import os
import subprocess
from cffi import FFI
mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
subprocess.check_call(["make", "-j4"], cwd=mpc_dir)
def _get_libmpc(mpc_id):
libmpc_fn = os.path.join(mpc_dir, "libcommampc%d.so" % mpc_id)
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[21];
double x_l[21];
double v_l[21];
double a_l[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);
""")
return (ffi, ffi.dlopen(libmpc_fn))
mpcs = [_get_libmpc(1), _get_libmpc(2)]
def get_libmpc(mpc_id):
return mpcs[mpc_id - 1]