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

* rebuild acado and add scons command to regenerate mpc

* update scons help
albatross
Willem Melching 2021-01-07 15:18:23 +01:00 committed by GitHub
parent 61cf81502e
commit 7c43a60bda
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GPG Key ID: 4AEE18F83AFDEB23
27 changed files with 604 additions and 584 deletions
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10
.gitattributes vendored
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@ -7,11 +7,11 @@
*.ipynb filter=nbstripout -diff *.ipynb filter=nbstripout -diff
external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
models/segnet.keras 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/x86_64/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/x86_64/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/x86_64/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/x86_64/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_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.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_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 phonelibs/acado/aarch64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text

4
SConstruct
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@ -25,6 +25,10 @@ AddOption('--compile_db',
action='store_true', action='store_true',
help='build clang compilation database') 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() real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin": if platform.system() == "Darwin":
arch = "Darwin" arch = "Darwin"

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phonelibs/acado/aarch64/lib/libacado_toolkit_s.so
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libacado_toolkit_s.so.1

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phonelibs/acado/build.sh 100755
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#!/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

16
phonelibs/acado/build.txt
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@ -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

442
phonelibs/acado/include/acado/code_generation/templates/acado_forces_generator.m.in
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@ -1,221 +1,221 @@
clear stages params outputs codeoptions clear stages params outputs codeoptions
%% Generator for a FORCES QP solver used by the ACADO OCP solver %% Generator for a FORCES QP solver used by the ACADO OCP solver
% %
% User options % User options
% %
% Number of states % Number of states
nx = @NX@; nx = @NX@;
% Number of controls % Number of controls
nu = @NU@; nu = @NU@;
% Number of discretization (shooting) nodes % Number of discretization (shooting) nodes
N = @N@; N = @N@;
% Lower and upper bounds on stage variables, for all N stages % Lower and upper bounds on stage variables, for all N stages
lbIdx = { ... lbIdx = { ...
@LB_IDX@ ... @LB_IDX@ ...
}; };
ubIdx = { ... ubIdx = { ...
@UB_IDX@ ... @UB_IDX@ ...
}; };
% Polytopic constraints (A_i*z_i <= b_i) on stage variables, for all N stages % Polytopic constraints (A_i*z_i <= b_i) on stage variables, for all N stages
AbDim = { ... AbDim = { ...
@AB_DIM@ ... @AB_DIM@ ...
}; };
% Constant Hessian % Constant Hessian
constHessian = @CONST_HESSIAN@; constHessian = @CONST_HESSIAN@;
% Diagonal Hessian % Diagonal Hessian
diagHessian = @DIAG_HESSIAN@; diagHessian = @DIAG_HESSIAN@;
diagHessianN = @DIAG_HESSIAN_N@; diagHessianN = @DIAG_HESSIAN_N@;
% Fixed initial state % Fixed initial state
fixedInitialState = @FIXED_INITIAL_STATE@; fixedInitialState = @FIXED_INITIAL_STATE@;
%% Define FORCES multistage problem %% Define FORCES multistage problem
stages = MultistageProblem( N ); stages = MultistageProblem( N );
for i = 1: N for i = 1: N
if (i == 1) if (i == 1)
% %
% Initial stage % Initial stage
% %
% Dimension % Dimension
stages(i).dims.n = nx + nu; % number of stage variables stages(i).dims.n = nx + nu; % number of stage variables
stages(i).dims.r = nx; % number of equality constraints stages(i).dims.r = nx; % number of equality constraints
stages(i).dims.l = length( lbIdx{ i } ); % number of lower bounds stages(i).dims.l = length( lbIdx{ i } ); % number of lower bounds
stages(i).dims.u = length( ubIdx{ i } ); % number of upper bounds stages(i).dims.u = length( ubIdx{ i } ); % number of upper bounds
stages(i).dims.p = AbDim{ i }; % number of polytopic constraints stages(i).dims.p = AbDim{ i }; % number of polytopic constraints
stages(i).dims.q = 0; % number of quadratic constraints stages(i).dims.q = 0; % number of quadratic constraints
% Cost % Cost
if (constHessian == 1) if (constHessian == 1)
if (diagHessian == 1) if (diagHessian == 1)
params( 1 ) = newParam('H1', 1: 1: N - 1, 'cost.H', 'diag'); params( 1 ) = newParam('H1', 1: 1: N - 1, 'cost.H', 'diag');
else else
params( 1 ) = newParam('H1', 1: 1: N - 1, 'cost.H'); params( 1 ) = newParam('H1', 1: 1: N - 1, 'cost.H');
end; end;
else else
if (diagHessian == 1) if (diagHessian == 1)
params( 1 ) = newParam('H1', 1, 'cost.H', 'diag'); params( 1 ) = newParam('H1', 1, 'cost.H', 'diag');
else else
params( 1 ) = newParam('H1', 1, 'cost.H'); params( 1 ) = newParam('H1', 1, 'cost.H');
end; end;
end; end;
params(end + 1) = newParam('f1', 1, 'cost.f'); params(end + 1) = newParam('f1', 1, 'cost.f');
% Lower bounds % Lower bounds
stages(i).ineq.b.lbidx = cell2mat( lbIdx{ i } ); stages(i).ineq.b.lbidx = cell2mat( lbIdx{ i } );
if (~isempty( lbIdx{ i } )) if (~isempty( lbIdx{ i } ))
params(end + 1) = newParam(sprintf('%s%d', 'lb', i), i, 'ineq.b.lb'); params(end + 1) = newParam(sprintf('%s%d', 'lb', i), i, 'ineq.b.lb');
end; end;
% Upper bounds % Upper bounds
stages(i).ineq.b.ubidx = cell2mat( ubIdx{ i } ); stages(i).ineq.b.ubidx = cell2mat( ubIdx{ i } );
if (~isempty( ubIdx{ i } )) if (~isempty( ubIdx{ i } ))
params(end + 1) = newParam(sprintf('%s%d', 'ub', i), i, 'ineq.b.ub'); params(end + 1) = newParam(sprintf('%s%d', 'ub', i), i, 'ineq.b.ub');
end; end;
% Polytopic constraints % Polytopic constraints
% stages(i).ineq.p.bidx = cell2mat( AbIdx{ i } ); % stages(i).ineq.p.bidx = cell2mat( AbIdx{ i } );
if (AbDim{ i } ~= 0) if (AbDim{ i } ~= 0)
params(end + 1) = newParam(sprintf('%s%d', 'Ab', i), i, 'ineq.p.b'); params(end + 1) = newParam(sprintf('%s%d', 'Ab', i), i, 'ineq.p.b');
params(end + 1) = newParam(sprintf('%s%d', 'A', i), i, 'ineq.p.A'); params(end + 1) = newParam(sprintf('%s%d', 'A', i), i, 'ineq.p.A');
end end
% equality constraints % equality constraints
params(end + 1) = newParam('C1', 1, 'eq.C'); params(end + 1) = newParam('C1', 1, 'eq.C');
params(end + 1) = newParam('d1', 1, 'eq.c'); params(end + 1) = newParam('d1', 1, 'eq.c');
if (fixedInitialState == 1) if (fixedInitialState == 1)
stages(i).eq.D = [eye(nx), zeros(nx,nu)]; stages(i).eq.D = [eye(nx), zeros(nx,nu)];
end; end;
elseif (i < N) elseif (i < N)
% %
% Stages along horizon % Stages along horizon
% %
% Dimension % Dimension
stages(i).dims.n = nx + nu; % number of stage variables stages(i).dims.n = nx + nu; % number of stage variables
stages(i).dims.r = nx; % number of equality constraints stages(i).dims.r = nx; % number of equality constraints
stages(i).dims.l = length( lbIdx{ i } ); % number of lower bounds stages(i).dims.l = length( lbIdx{ i } ); % number of lower bounds
stages(i).dims.u = length( ubIdx{ i } ); % number of upper bounds stages(i).dims.u = length( ubIdx{ i } ); % number of upper bounds
stages(i).dims.p = AbDim{ i }; % number of polytopic constraints stages(i).dims.p = AbDim{ i }; % number of polytopic constraints
stages(i).dims.q = 0; % number of quadratic constraints stages(i).dims.q = 0; % number of quadratic constraints
% Cost % Cost
if (constHessian == 0) if (constHessian == 0)
if (diagHessian == 1) if (diagHessian == 1)
params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H', 'diag'); params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H', 'diag');
else else
params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H'); params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H');
end; end;
end; end;
params(end + 1) = newParam(sprintf('%s%d', 'f', i), i, 'cost.f'); params(end + 1) = newParam(sprintf('%s%d', 'f', i), i, 'cost.f');
% Lower bounds % Lower bounds
stages(i).ineq.b.lbidx = cell2mat( lbIdx{ i } ); stages(i).ineq.b.lbidx = cell2mat( lbIdx{ i } );
if (~isempty( lbIdx{ i } )) if (~isempty( lbIdx{ i } ))
params(end + 1) = newParam(sprintf('%s%d', 'lb', i), i, 'ineq.b.lb'); params(end + 1) = newParam(sprintf('%s%d', 'lb', i), i, 'ineq.b.lb');
end; end;
% Upper bounds % Upper bounds
stages(i).ineq.b.ubidx = cell2mat( ubIdx{ i } ); stages(i).ineq.b.ubidx = cell2mat( ubIdx{ i } );
if (~isempty( ubIdx{ i } )) if (~isempty( ubIdx{ i } ))
params(end + 1) = newParam(sprintf('%s%d', 'ub', i), i, 'ineq.b.ub'); params(end + 1) = newParam(sprintf('%s%d', 'ub', i), i, 'ineq.b.ub');
end; end;
% Polytopic constraints % Polytopic constraints
% stages(i).ineq.p.bidx = cell2mat( AbIdx{ i } ); % stages(i).ineq.p.bidx = cell2mat( AbIdx{ i } );
if (AbDim{ i } ~= 0) if (AbDim{ i } ~= 0)
params(end + 1) = newParam(sprintf('%s%d', 'Ab', i), i, 'ineq.p.b'); params(end + 1) = newParam(sprintf('%s%d', 'Ab', i), i, 'ineq.p.b');
params(end + 1) = newParam(sprintf('%s%d', 'A', i), i, 'ineq.p.A'); params(end + 1) = newParam(sprintf('%s%d', 'A', i), i, 'ineq.p.A');
end end
% Equality constraints % Equality constraints
params(end + 1) = newParam(sprintf('%s%d', 'C', i), i, 'eq.C'); params(end + 1) = newParam(sprintf('%s%d', 'C', i), i, 'eq.C');
params(end + 1) = newParam(sprintf('%s%d', 'd', i), i, 'eq.c'); params(end + 1) = newParam(sprintf('%s%d', 'd', i), i, 'eq.c');
stages(i).eq.D = [-eye( nx ), zeros(nx, nu)]; stages(i).eq.D = [-eye( nx ), zeros(nx, nu)];
else else
% %
% Final stage % Final stage
% %
% Dimension % Dimension
stages(i).dims.n = nx; % number of stage variables stages(i).dims.n = nx; % number of stage variables
if (fixedInitialState == 1) if (fixedInitialState == 1)
stages(i).dims.r = nx; % number of equality constraints stages(i).dims.r = nx; % number of equality constraints
else else
stages(i).dims.r = 0; stages(i).dims.r = 0;
end; end;
stages(i).dims.l = length( lbIdx{ i } ); % number of lower bounds stages(i).dims.l = length( lbIdx{ i } ); % number of lower bounds
stages(i).dims.u = length( ubIdx{ i } ); % number of upper bounds stages(i).dims.u = length( ubIdx{ i } ); % number of upper bounds
stages(i).dims.p = AbDim{ i }; % number of polytopic constraints stages(i).dims.p = AbDim{ i }; % number of polytopic constraints
stages(i).dims.q = 0; % number of quadratic constraints stages(i).dims.q = 0; % number of quadratic constraints
% Cost % Cost
if (diagHessianN == 1) if (diagHessianN == 1)
params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H', 'diag'); params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H', 'diag');
else else
params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H'); params(end + 1) = newParam(sprintf('%s%d', 'H', i), i, 'cost.H');
end; end;
params(end + 1) = newParam(sprintf('%s%d', 'f', i), i, 'cost.f'); params(end + 1) = newParam(sprintf('%s%d', 'f', i), i, 'cost.f');
% Lower bounds % Lower bounds
stages(i).ineq.b.lbidx = cell2mat( lbIdx{ i } ); stages(i).ineq.b.lbidx = cell2mat( lbIdx{ i } );
if (~isempty( lbIdx{ i } )) if (~isempty( lbIdx{ i } ))
params(end + 1) = newParam(sprintf('%s%d', 'lb', i), i, 'ineq.b.lb'); params(end + 1) = newParam(sprintf('%s%d', 'lb', i), i, 'ineq.b.lb');
end; end;
% Upper bounds % Upper bounds
stages(i).ineq.b.ubidx = cell2mat( ubIdx{ i } ); stages(i).ineq.b.ubidx = cell2mat( ubIdx{ i } );
if (~isempty( ubIdx{ i } )) if (~isempty( ubIdx{ i } ))
params(end + 1) = newParam(sprintf('%s%d', 'ub', i), i, 'ineq.b.ub'); params(end + 1) = newParam(sprintf('%s%d', 'ub', i), i, 'ineq.b.ub');
end; end;
% Polytopic constraints % Polytopic constraints
% stages(i).ineq.p.bidx = cell2mat( AbIdx{ i } ); % stages(i).ineq.p.bidx = cell2mat( AbIdx{ i } );
if (AbDim{ i } ~= 0) if (AbDim{ i } ~= 0)
params(end + 1) = newParam(sprintf('%s%d', 'Ab', i), i, 'ineq.p.b'); params(end + 1) = newParam(sprintf('%s%d', 'Ab', i), i, 'ineq.p.b');
params(end + 1) = newParam(sprintf('%s%d', 'A', i), i, 'ineq.p.A'); params(end + 1) = newParam(sprintf('%s%d', 'A', i), i, 'ineq.p.A');
end end
% Equality constraints % Equality constraints
stages(i).eq.D = -eye(nx); stages(i).eq.D = -eye(nx);
if (fixedInitialState == 1) if (fixedInitialState == 1)
params(end + 1) = newParam(sprintf('%s%d', 'd', i), i, 'eq.c'); params(end + 1) = newParam(sprintf('%s%d', 'd', i), i, 'eq.c');
end; end;
end; end;
end; end;
%% Define outputs of the solver %% Define outputs of the solver
for i = 1: N for i = 1: N
outputs( i ) = newOutput(sprintf('%s%d', 'out', i), i, 1: 1: stages(i).dims.n); outputs( i ) = newOutput(sprintf('%s%d', 'out', i), i, 1: 1: stages(i).dims.n);
end; end;
%% Solver settings %% Solver settings
codeoptions = getOptions('@SOLVER_NAME@'); codeoptions = getOptions('@SOLVER_NAME@');
codeoptions.overwrite = 1; % Always overwrite the existing code codeoptions.overwrite = 1; % Always overwrite the existing code
codeoptions.printlevel = @PRINT_LEVEL@; codeoptions.printlevel = @PRINT_LEVEL@;
codeoptions.maxit = @MAX_ITERATIONS@; codeoptions.maxit = @MAX_ITERATIONS@;
codeoptions.parallel = @PARALLEL@; codeoptions.parallel = @PARALLEL@;
codeoptions.init = @WARM_START@; codeoptions.init = @WARM_START@;
%% Generate code %% Generate code
generateCode(stages, params, codeoptions, outputs); generateCode(stages, params, codeoptions, outputs);

154
phonelibs/acado/include/acado/code_generation/templates/qpdunes_interface.in
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@ -1,77 +1,77 @@
/******************************************************************************/ /******************************************************************************/
/* */ /* */
/* qpDUNES interface data and functions */ /* qpDUNES interface data and functions */
/* */ /* */
/******************************************************************************/ /******************************************************************************/
#include <qpDUNES.h> #include <qpDUNES.h>
qpData_t qpData; qpData_t qpData;
qpOptions_t qpOptions; qpOptions_t qpOptions;
#if @DIAG_H@ #if @DIAG_H@
#define QPDUNES_LS_HOMOTOPY_GRID_SEARCH 0 #define QPDUNES_LS_HOMOTOPY_GRID_SEARCH 0
#endif #endif
int initializeQpDunes( void ) int initializeQpDunes( void )
{ {
return_t statusFlag; return_t statusFlag;
int kk; int kk;
@QP_ND_ARRAY@ @QP_ND_ARRAY@
qpOptions = qpDUNES_setupDefaultOptions(); qpOptions = qpDUNES_setupDefaultOptions();
qpOptions.maxIter = @MAX_ITER@; qpOptions.maxIter = @MAX_ITER@;
qpOptions.printLevel = @PRINT_LEVEL@; qpOptions.printLevel = @PRINT_LEVEL@;
qpOptions.stationarityTolerance = 1.e-6; qpOptions.stationarityTolerance = 1.e-6;
qpOptions.regParam = 1.e-6; qpOptions.regParam = 1.e-6;
qpOptions.newtonHessDiagRegTolerance = 1.e-8; qpOptions.newtonHessDiagRegTolerance = 1.e-8;
qpOptions.lsType = @DIAG_H@ ? QPDUNES_LS_ACCELERATED_GRADIENT_BISECTION_LS : QPDUNES_LS_HOMOTOPY_GRID_SEARCH; qpOptions.lsType = @DIAG_H@ ? QPDUNES_LS_ACCELERATED_GRADIENT_BISECTION_LS : QPDUNES_LS_HOMOTOPY_GRID_SEARCH;
/* qpOptions.lsType = QPDUNES_LS_BACKTRACKING_LS; */ /* qpOptions.lsType = QPDUNES_LS_BACKTRACKING_LS; */
qpOptions.lineSearchReductionFactor = 0.1; qpOptions.lineSearchReductionFactor = 0.1;
qpOptions.lineSearchMaxStepSize = 1.; qpOptions.lineSearchMaxStepSize = 1.;
qpOptions.maxNumLineSearchIterations = 25; qpOptions.maxNumLineSearchIterations = 25;
qpOptions.maxNumLineSearchRefinementIterations = 25; qpOptions.maxNumLineSearchRefinementIterations = 25;
/* qpOptions.regType = QPDUNES_REG_SINGULAR_DIRECTIONS; */ /* qpOptions.regType = QPDUNES_REG_SINGULAR_DIRECTIONS; */
qpOptions.regType = QPDUNES_REG_LEVENBERG_MARQUARDT; qpOptions.regType = QPDUNES_REG_LEVENBERG_MARQUARDT;
qpDUNES_setup(&qpData, @ACADO_N@, @ACADO_NX@, @ACADO_NU@, nD, &( qpOptions )); qpDUNES_setup(&qpData, @ACADO_N@, @ACADO_NX@, @ACADO_NU@, nD, &( qpOptions ));
for (kk = 0; kk < @ACADO_N@; ++kk) for (kk = 0; kk < @ACADO_N@; ++kk)
{ {
qpData.intervals[ kk ]->H.sparsityType = @DIAG_H@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE; qpData.intervals[ kk ]->H.sparsityType = @DIAG_H@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE;
} }
qpData.intervals[ @ACADO_N@ ]->H.sparsityType = @DIAG_HN@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE; qpData.intervals[ @ACADO_N@ ]->H.sparsityType = @DIAG_HN@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE;
statusFlag = qpDUNES_init(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@); statusFlag = qpDUNES_init(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@);
return (int)statusFlag; return (int)statusFlag;
} }
void cleanupQpDunes( void ) void cleanupQpDunes( void )
{ {
qpDUNES_cleanup( &qpData ); qpDUNES_cleanup( &qpData );
} }
int solveQpDunes( void ) int solveQpDunes( void )
{ {
return_t statusFlag; return_t statusFlag;
statusFlag = qpDUNES_updateData(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@); statusFlag = qpDUNES_updateData(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@);
if (statusFlag != QPDUNES_OK) if (statusFlag != QPDUNES_OK)
return (int)statusFlag; return (int)statusFlag;
if ( @INITIAL_STATE_FIXED@ ) if ( @INITIAL_STATE_FIXED@ )
statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ 0 ], 0, 0, 0, 0, @QP_LB_0@, @QP_UB_0@, 0, 0, 0, 0); statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ 0 ], 0, 0, 0, 0, @QP_LB_0@, @QP_UB_0@, 0, 0, 0, 0);
else else
statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ @ACADO_N@ ], 0, @QP_G_N@, 0, 0, 0, 0, 0, 0, 0, 0); statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ @ACADO_N@ ], 0, @QP_G_N@, 0, 0, 0, 0, 0, 0, 0, 0);
if (statusFlag != QPDUNES_OK) if (statusFlag != QPDUNES_OK)
return (int)statusFlag; return (int)statusFlag;
statusFlag = qpDUNES_solve( &qpData ); statusFlag = qpDUNES_solve( &qpData );
qpDUNES_getPrimalSol(&qpData, @QP_PRIMAL@); qpDUNES_getPrimalSol(&qpData, @QP_PRIMAL@);
qpDUNES_getDualSol(&qpData, @QP_LAMBDA@, @QP_MU@); qpDUNES_getDualSol(&qpData, @QP_LAMBDA@, @QP_MU@);
return (int)statusFlag; return (int)statusFlag;
} }

192
phonelibs/acado/include/acado/code_generation/templates/qpdunes_split_interface.in
View File

@ -1,96 +1,96 @@
/******************************************************************************/ /******************************************************************************/
/* */ /* */
/* qpDUNES interface data and functions */ /* qpDUNES interface data and functions */
/* */ /* */
/******************************************************************************/ /******************************************************************************/
#include <qpDUNES.h> #include <qpDUNES.h>
qpData_t qpData; qpData_t qpData;
qpOptions_t qpOptions; qpOptions_t qpOptions;
#if @DIAG_H@ #if @DIAG_H@
#define QPDUNES_LS_HOMOTOPY_GRID_SEARCH 0 #define QPDUNES_LS_HOMOTOPY_GRID_SEARCH 0
#endif #endif
#include "@MODULE_NAME@_auxiliary_functions.h" #include "@MODULE_NAME@_auxiliary_functions.h"
real_t prepareQPtime, updateQPtime, solveQPtime; real_t prepareQPtime, updateQPtime, solveQPtime;
int initializeQpDunes( void ) int initializeQpDunes( void )
{ {
return_t statusFlag; return_t statusFlag;
int kk; int kk;
@QP_ND_ARRAY@ @QP_ND_ARRAY@
qpOptions = qpDUNES_setupDefaultOptions(); qpOptions = qpDUNES_setupDefaultOptions();
qpOptions.maxIter = @MAX_ITER@; qpOptions.maxIter = @MAX_ITER@;
qpOptions.printLevel = @PRINT_LEVEL@; qpOptions.printLevel = @PRINT_LEVEL@;
qpOptions.stationarityTolerance = 1.e-6; qpOptions.stationarityTolerance = 1.e-6;
qpOptions.regParam = 1.e-6; qpOptions.regParam = 1.e-6;
qpOptions.newtonHessDiagRegTolerance = 1.e-8; qpOptions.newtonHessDiagRegTolerance = 1.e-8;
qpOptions.lsType = @DIAG_H@ ? QPDUNES_LS_ACCELERATED_GRADIENT_BISECTION_LS : QPDUNES_LS_HOMOTOPY_GRID_SEARCH; qpOptions.lsType = @DIAG_H@ ? QPDUNES_LS_ACCELERATED_GRADIENT_BISECTION_LS : QPDUNES_LS_HOMOTOPY_GRID_SEARCH;
/* qpOptions.lsType = QPDUNES_LS_BACKTRACKING_LS; */ /* qpOptions.lsType = QPDUNES_LS_BACKTRACKING_LS; */
qpOptions.lineSearchReductionFactor = 0.1; qpOptions.lineSearchReductionFactor = 0.1;
qpOptions.lineSearchMaxStepSize = 1.; qpOptions.lineSearchMaxStepSize = 1.;
qpOptions.maxNumLineSearchIterations = 25; qpOptions.maxNumLineSearchIterations = 25;
qpOptions.maxNumLineSearchRefinementIterations = 25; qpOptions.maxNumLineSearchRefinementIterations = 25;
/* qpOptions.regType = QPDUNES_REG_SINGULAR_DIRECTIONS; */ /* qpOptions.regType = QPDUNES_REG_SINGULAR_DIRECTIONS; */
qpOptions.regType = QPDUNES_REG_LEVENBERG_MARQUARDT; qpOptions.regType = QPDUNES_REG_LEVENBERG_MARQUARDT;
qpDUNES_setup(&qpData, @ACADO_N@, @ACADO_NX@, @ACADO_NU@, nD, &( qpOptions )); qpDUNES_setup(&qpData, @ACADO_N@, @ACADO_NX@, @ACADO_NU@, nD, &( qpOptions ));
for (kk = 0; kk < @ACADO_N@; ++kk) for (kk = 0; kk < @ACADO_N@; ++kk)
{ {
qpData.intervals[ kk ]->H.sparsityType = @DIAG_H@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE; qpData.intervals[ kk ]->H.sparsityType = @DIAG_H@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE;
} }
qpData.intervals[ @ACADO_N@ ]->H.sparsityType = @DIAG_HN@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE; qpData.intervals[ @ACADO_N@ ]->H.sparsityType = @DIAG_HN@ ? QPDUNES_DIAGONAL : QPDUNES_DENSE;
statusFlag = qpDUNES_init(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@); statusFlag = qpDUNES_init(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@);
return (int)statusFlag; return (int)statusFlag;
} }
void cleanupQpDunes( void ) void cleanupQpDunes( void )
{ {
qpDUNES_cleanup( &qpData ); qpDUNES_cleanup( &qpData );
} }
int prepareQpDunes( void ) int prepareQpDunes( void )
{ {
return_t statusFlag; return_t statusFlag;
@MODULE_NAME@_timer tmr; @MODULE_NAME@_timer tmr;
@MODULE_NAME@_tic( &tmr ); @MODULE_NAME@_tic( &tmr );
statusFlag = qpDUNES_updateData(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@); statusFlag = qpDUNES_updateData(&qpData, @QP_H@, @QP_G@, @QP_C@, @QP_c@, @QP_LB@, @QP_UB@, @QP_D@, @QP_LBA@, @QP_UBA@);
if (statusFlag != QPDUNES_OK) if (statusFlag != QPDUNES_OK)
return (int)statusFlag; return (int)statusFlag;
prepareQPtime = @MODULE_NAME@_toc( &tmr ); prepareQPtime = @MODULE_NAME@_toc( &tmr );
return (int)statusFlag; return (int)statusFlag;
} }
int solveQpDunes( void ) int solveQpDunes( void )
{ {
return_t statusFlag; return_t statusFlag;
@MODULE_NAME@_timer tmr; @MODULE_NAME@_timer tmr;
@MODULE_NAME@_tic( &tmr ); @MODULE_NAME@_tic( &tmr );
if ( @INITIAL_STATE_FIXED@ ) if ( @INITIAL_STATE_FIXED@ )
statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ 0 ], 0, 0, 0, 0, @QP_LB_0@, @QP_UB_0@, 0, 0, 0, 0); statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ 0 ], 0, 0, 0, 0, @QP_LB_0@, @QP_UB_0@, 0, 0, 0, 0);
else else
statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ @ACADO_N@ ], 0, @QP_G_N@, 0, 0, 0, 0, 0, 0, 0, 0); statusFlag = qpDUNES_updateIntervalData(&qpData, qpData.intervals[ @ACADO_N@ ], 0, @QP_G_N@, 0, 0, 0, 0, 0, 0, 0, 0);
if (statusFlag != QPDUNES_OK) if (statusFlag != QPDUNES_OK)
return (int)statusFlag; return (int)statusFlag;
updateQPtime = @MODULE_NAME@_toc( &tmr ); updateQPtime = @MODULE_NAME@_toc( &tmr );
@MODULE_NAME@_tic( &tmr ); @MODULE_NAME@_tic( &tmr );
statusFlag = qpDUNES_solve( &qpData ); statusFlag = qpDUNES_solve( &qpData );
qpDUNES_getPrimalSol(&qpData, @QP_PRIMAL@); qpDUNES_getPrimalSol(&qpData, @QP_PRIMAL@);
qpDUNES_getDualSol(&qpData, @QP_LAMBDA@, @QP_MU@); qpDUNES_getDualSol(&qpData, @QP_LAMBDA@, @QP_MU@);
solveQPtime = @MODULE_NAME@_toc( &tmr ); solveQPtime = @MODULE_NAME@_toc( &tmr );
return (int)statusFlag; return (int)statusFlag;
} }

120
phonelibs/acado/include/acado/code_generation/templates/qpoases3_interface.c.in
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@ -1,60 +1,60 @@
#include <@ACADO_COMMON_HEADER@> #include <@ACADO_COMMON_HEADER@>
#include "qpOASES_e/@SOLVER_NAME@.h" #include "qpOASES_e/@SOLVER_NAME@.h"
#if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1 #if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1
#include "qpOASES_e/extras/SolutionAnalysis.h" #include "qpOASES_e/extras/SolutionAnalysis.h"
#endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */ #endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */
static int @MODULE_NAME@_@PREFIX@nWSR; static int @MODULE_NAME@_@PREFIX@nWSR;
@USE_NAMESPACE@ @USE_NAMESPACE@
#if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1 #if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1
static SolutionAnalysis @MODULE_NAME@_sa; static SolutionAnalysis @MODULE_NAME@_sa;
#endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */ #endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */
int @MODULE_NAME@_@PREFIX@solve( void ) int @MODULE_NAME@_@PREFIX@solve( void )
{ {
returnValue retVal; returnValue retVal;
@SOLVER_NAME@ qp; @SOLVER_NAME@ qp;
Options options; Options options;
@MODULE_NAME@_@PREFIX@nWSR = QPOASES_NWSRMAX; @MODULE_NAME@_@PREFIX@nWSR = QPOASES_NWSRMAX;
@CTOR@; @CTOR@;
Options_setToMPC( &options ); Options_setToMPC( &options );
@SOLVER_NAME@_setOptions( &qp,options ); @SOLVER_NAME@_setOptions( &qp,options );
retVal = @SOLVER_NAME@_@CALL_SOLVER@ retVal = @SOLVER_NAME@_@CALL_SOLVER@
retVal = qpOASES_getSimpleStatus( retVal,0 ); retVal = qpOASES_getSimpleStatus( retVal,0 );
/* only use solution on success, if iteration limit has been reached or if QP is infeasible! */ /* only use solution on success, if iteration limit has been reached or if QP is infeasible! */
if ( ( retVal == 0 ) || ( retVal == 1 ) || ( retVal == -2 ) ) if ( ( retVal == 0 ) || ( retVal == 1 ) || ( retVal == -2 ) )
{ {
@SOLVER_NAME@_getPrimalSolution( &qp,@PRIMAL_SOLUTION@ ); @SOLVER_NAME@_getPrimalSolution( &qp,@PRIMAL_SOLUTION@ );
@SOLVER_NAME@_getDualSolution( &qp,@DUAL_SOLUTION@ ); @SOLVER_NAME@_getDualSolution( &qp,@DUAL_SOLUTION@ );
} }
#if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1 #if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1
if (retVal != SUCCESSFUL_RETURN) if (retVal != SUCCESSFUL_RETURN)
return (int)retVal; return (int)retVal;
retVal = @MODULE_NAME@_sa.getHessianInverse( &qp,@SIGMA@ ); retVal = @MODULE_NAME@_sa.getHessianInverse( &qp,@SIGMA@ );
#endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */ #endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */
return (int)retVal; return (int)retVal;
} }
int @MODULE_NAME@_@PREFIX@getNWSR( void ) int @MODULE_NAME@_@PREFIX@getNWSR( void )
{ {
return @MODULE_NAME@_@PREFIX@nWSR; return @MODULE_NAME@_@PREFIX@nWSR;
} }
const char* @MODULE_NAME@_@PREFIX@getErrorString( int error ) const char* @MODULE_NAME@_@PREFIX@getErrorString( int error )
{ {
return MessageHandling_getErrorCodeMessage( qpOASES_getGlobalMessageHandler(),error ); return MessageHandling_getErrorCodeMessage( qpOASES_getGlobalMessageHandler(),error );
} }

2
phonelibs/acado/include/acado/code_generation/templates/templates.hpp
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@ -1,7 +1,7 @@
#ifndef ACADO_TOOLKIT_TEMPLATES_HPP #ifndef ACADO_TOOLKIT_TEMPLATES_HPP
#define 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 INTEGRATOR_MEX_TEMPLATE "integrator_mex.c.in"
#define RHS_MEX_TEMPLATE "rhs_mex.c.in" #define RHS_MEX_TEMPLATE "rhs_mex.c.in"

104
phonelibs/acado/include/acado/external_packages/eigen3/COPYING.MINPACK
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@ -1,52 +1,52 @@
Minpack Copyright Notice (1999) University of Chicago. All rights reserved Minpack Copyright Notice (1999) University of Chicago. All rights reserved
Redistribution and use in source and binary forms, with or Redistribution and use in source and binary forms, with or
without modification, are permitted provided that the without modification, are permitted provided that the
following conditions are met: following conditions are met:
1. Redistributions of source code must retain the above 1. Redistributions of source code must retain the above
copyright notice, this list of conditions and the following copyright notice, this list of conditions and the following
disclaimer. disclaimer.
2. Redistributions in binary form must reproduce the above 2. Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials disclaimer in the documentation and/or other materials
provided with the distribution. provided with the distribution.
3. The end-user documentation included with the 3. The end-user documentation included with the
redistribution, if any, must include the following redistribution, if any, must include the following
acknowledgment: acknowledgment:
"This product includes software developed by the "This product includes software developed by the
University of Chicago, as Operator of Argonne National University of Chicago, as Operator of Argonne National
Laboratory. Laboratory.
Alternately, this acknowledgment may appear in the software Alternately, this acknowledgment may appear in the software
itself, if and wherever such third-party acknowledgments itself, if and wherever such third-party acknowledgments
normally appear. normally appear.
4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS" 4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4) THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
BE CORRECTED. BE CORRECTED.
5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT 5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT, ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE, (INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
POSSIBILITY OF SUCH LOSS OR DAMAGES. POSSIBILITY OF SUCH LOSS OR DAMAGES.

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

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libacado_toolkit_s.so.1.2.2beta

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39
selfdrive/controls/lib/lateral_mpc/SConscript
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@ -7,23 +7,40 @@ cpp_path = [
"#phonelibs/qpoases/INCLUDE/EXTRAS", "#phonelibs/qpoases/INCLUDE/EXTRAS",
"#phonelibs/qpoases/SRC/", "#phonelibs/qpoases/SRC/",
"#phonelibs/qpoases", "#phonelibs/qpoases",
"lib_mpc_export" "lib_mpc_export",
] ]
mpc_files = [ generated_c = [
"lateral_mpc.c", 'lib_mpc_export/acado_auxiliary_functions.c',
Glob("lib_mpc_export/*.c"), 'lib_mpc_export/acado_qpoases_interface.cpp',
Glob("lib_mpc_export/*.cpp"), 'lib_mpc_export/acado_integrator.c',
'lib_mpc_export/acado_solver.c',
]
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') interface_dir = Dir('lib_mpc_export')
SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir']) 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) 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)

40
selfdrive/controls/lib/longitudinal_mpc/SConscript
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@ -8,25 +8,41 @@ cpp_path = [
"#phonelibs/qpoases/INCLUDE/EXTRAS", "#phonelibs/qpoases/INCLUDE/EXTRAS",
"#phonelibs/qpoases/SRC/", "#phonelibs/qpoases/SRC/",
"#phonelibs/qpoases", "#phonelibs/qpoases",
"lib_mpc_export" "lib_mpc_export",
] ]
mpc_files = [ generated_c = [
"longitudinal_mpc.c", 'lib_mpc_export/acado_auxiliary_functions.c',
Glob("lib_mpc_export/*.c"), 'lib_mpc_export/acado_qpoases_interface.cpp',
Glob("lib_mpc_export/*.cpp"), 'lib_mpc_export/acado_integrator.c',
'lib_mpc_export/acado_solver.c',
] ]
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') interface_dir = Dir('lib_mpc_export')
SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir']) 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('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) 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)