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97 lines
3.5 KiB
97 lines
3.5 KiB
Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
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gen = "c_generated_code"
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casadi_model = [
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f'{gen}/lat_model/lat_expl_ode_fun.c',
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f'{gen}/lat_model/lat_expl_vde_forw.c',
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]
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casadi_cost_y = [
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f'{gen}/lat_cost/lat_cost_y_fun.c',
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f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
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f'{gen}/lat_cost/lat_cost_y_hess.c',
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]
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casadi_cost_e = [
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f'{gen}/lat_cost/lat_cost_y_e_fun.c',
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f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
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f'{gen}/lat_cost/lat_cost_y_e_hess.c',
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]
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casadi_cost_0 = [
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f'{gen}/lat_cost/lat_cost_y_0_fun.c',
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f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
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f'{gen}/lat_cost/lat_cost_y_0_hess.c',
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]
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build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
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# extra generated files used to trigger a rebuild
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generated_files = [
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f'{gen}/Makefile',
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f'{gen}/main_lat.c',
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f'{gen}/main_sim_lat.c',
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f'{gen}/acados_solver_lat.h',
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f'{gen}/acados_sim_solver_lat.h',
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f'{gen}/acados_sim_solver_lat.c',
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f'{gen}/acados_solver.pxd',
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f'{gen}/lat_model/lat_expl_vde_adj.c',
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f'{gen}/lat_model/lat_model.h',
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f'{gen}/lat_constraints/lat_constraints.h',
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f'{gen}/lat_cost/lat_cost.h',
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] + build_files
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acados_dir = '#third_party/acados'
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acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
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source_list = ['lat_mpc.py',
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'#selfdrive/modeld/constants.py',
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f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
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f'{acados_templates_dir}/acados_solver.in.c',
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]
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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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generated_lat = lenv.Command(generated_files,
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source_list,
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f"cd {Dir('.').abspath} && python3 lat_mpc.py")
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lenv.Depends(generated_lat, [msgq_python, common_python])
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lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
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lenv["CCFLAGS"].append("-Wno-unused")
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if arch != "Darwin":
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lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
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else:
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lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_lat.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_lat",
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build_files,
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LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
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# generate cython stuff
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acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
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acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
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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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lenv2 = envCython.Clone()
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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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[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
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f'cython' + \
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f' -o {libacados_ocp_solver_c.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' {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], LIBS=['acados_ocp_solver_lat'])
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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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