Compare commits
1 Commits
| Author | SHA1 | Date |
|---|---|---|
nuwandavek
|
e501c92530 |
|
|
@ -9,7 +9,7 @@ assignees: ''
|
|||
**Checklist**
|
||||
|
||||
- [ ] added to README
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] test route added to [test_routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_models.py)
|
||||
- [ ] route with openpilot:
|
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- [ ] route with stock system:
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||||
- [ ] car harness used (if comma doesn't sell it, put N/A):
|
||||
|
|
|
|||
|
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@ -22,8 +22,8 @@ Route: [a route with the bug fix]
|
|||
<!--- ***** Template: Car port *****
|
||||
|
||||
**Checklist**
|
||||
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] added to README
|
||||
- [ ] test route added to [test_routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_routes.py)
|
||||
- [ ] route with openpilot:
|
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- [ ] route with stock system:
|
||||
|
||||
|
|
|
|||
|
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@ -69,62 +69,62 @@ jobs:
|
|||
rm -rf /tmp/scons_cache/* && \
|
||||
scons -j$(nproc) --cache-populate"
|
||||
|
||||
#build_mac:
|
||||
# name: build macos
|
||||
# runs-on: macos-latest
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||||
# timeout-minutes: 60
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||||
# steps:
|
||||
# - uses: actions/checkout@v2
|
||||
# with:
|
||||
# submodules: true
|
||||
# - name: Determine pre-existing Homebrew packages
|
||||
# if: steps.dependency-cache.outputs.cache-hit != 'true'
|
||||
# run: |
|
||||
# echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
|
||||
# ls -1 /usr/local/Cellar >> $GITHUB_ENV
|
||||
# echo 'EOF' >> $GITHUB_ENV
|
||||
# - name: Cache dependencies
|
||||
# id: dependency-cache
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||||
# uses: actions/cache@v2
|
||||
# with:
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||||
# path: |
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||||
# ~/.pyenv
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||||
# ~/.local/share/virtualenvs/
|
||||
# /usr/local/Cellar
|
||||
# ~/github_brew_cache_entries.txt
|
||||
# /tmp/scons_cache
|
||||
# key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
|
||||
# restore-keys: macos-
|
||||
# - name: Brew link restored dependencies
|
||||
# run: |
|
||||
# if [ -f ~/github_brew_cache_entries.txt ]; then
|
||||
# while read pkg; do
|
||||
# brew link --force "$pkg" # `--force` for keg-only packages
|
||||
# done < ~/github_brew_cache_entries.txt
|
||||
# else
|
||||
# echo "Cache entries not found"
|
||||
# fi
|
||||
# - name: Install dependencies
|
||||
# run: ./tools/mac_setup.sh
|
||||
# - name: Build openpilot
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||||
# run: |
|
||||
# source tools/openpilot_env.sh
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||||
# pipenv run selfdrive/manager/build.py
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||||
#
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||||
# # cleanup scons cache
|
||||
# rm -rf /tmp/scons_cache/
|
||||
# pipenv run scons -j$(nproc) --cache-populate
|
||||
# - name: Remove pre-existing Homebrew packages for caching
|
||||
# if: steps.dependency-cache.outputs.cache-hit != 'true'
|
||||
# run: |
|
||||
# cd /usr/local/Cellar
|
||||
# new_cellar=$(ls -1)
|
||||
# comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
|
||||
# if [[ $pkg != "zstd" ]]; then # caching step needs zstd
|
||||
# rm -rf "$pkg"
|
||||
# fi
|
||||
# done
|
||||
# comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
|
||||
build_mac:
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||||
name: build macos
|
||||
runs-on: macos-latest
|
||||
timeout-minutes: 60
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Determine pre-existing Homebrew packages
|
||||
if: steps.dependency-cache.outputs.cache-hit != 'true'
|
||||
run: |
|
||||
echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
|
||||
ls -1 /usr/local/Cellar >> $GITHUB_ENV
|
||||
echo 'EOF' >> $GITHUB_ENV
|
||||
- name: Cache dependencies
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: |
|
||||
~/.pyenv
|
||||
~/.local/share/virtualenvs/
|
||||
/usr/local/Cellar
|
||||
~/github_brew_cache_entries.txt
|
||||
/tmp/scons_cache
|
||||
key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
|
||||
restore-keys: macos-
|
||||
- name: Brew link restored dependencies
|
||||
run: |
|
||||
if [ -f ~/github_brew_cache_entries.txt ]; then
|
||||
while read pkg; do
|
||||
brew link --force "$pkg" # `--force` for keg-only packages
|
||||
done < ~/github_brew_cache_entries.txt
|
||||
else
|
||||
echo "Cache entries not found"
|
||||
fi
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
source tools/openpilot_env.sh
|
||||
pipenv run selfdrive/manager/build.py
|
||||
|
||||
# cleanup scons cache
|
||||
rm -rf /tmp/scons_cache/
|
||||
pipenv run scons -j$(nproc) --cache-populate
|
||||
- name: Remove pre-existing Homebrew packages for caching
|
||||
if: steps.dependency-cache.outputs.cache-hit != 'true'
|
||||
run: |
|
||||
cd /usr/local/Cellar
|
||||
new_cellar=$(ls -1)
|
||||
comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
|
||||
if [[ $pkg != "zstd" ]]; then # caching step needs zstd
|
||||
rm -rf "$pkg"
|
||||
fi
|
||||
done
|
||||
comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
|
||||
|
||||
build_webcam:
|
||||
name: build webcam
|
||||
|
|
@ -244,8 +244,8 @@ jobs:
|
|||
run: eval "$BUILD"
|
||||
- name: Run unit tests
|
||||
run: |
|
||||
${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
|
||||
scons -j$(nproc) --test && \
|
||||
${{ env.RUN }} "scons -j$(nproc) --test && \
|
||||
coverage run selfdrive/test/test_fingerprints.py && \
|
||||
$UNIT_TEST common && \
|
||||
$UNIT_TEST opendbc/can && \
|
||||
$UNIT_TEST selfdrive/boardd && \
|
||||
|
|
@ -384,7 +384,7 @@ jobs:
|
|||
uses: actions/cache@v2
|
||||
with:
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||||
path: /tmp/comma_download_cache
|
||||
key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
|
||||
key: car_models-${{ hashFiles('selfdrive/test/test_models.py', 'selfdrive/test/test_routes.py') }}-${{ matrix.job }}
|
||||
- name: Cache scons
|
||||
id: scons-cache
|
||||
# TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
|
||||
|
|
@ -402,7 +402,7 @@ jobs:
|
|||
- name: Test car models
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) --test && \
|
||||
FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \
|
||||
FILEREADER_CACHE=1 coverage run -m pytest selfdrive/test/test_models.py && \
|
||||
coverage xml && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
env:
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ confidence=
|
|||
# --enable=similarities". If you want to run only the classes checker, but have
|
||||
# no Warning level messages displayed, use"--disable=all --enable=classes
|
||||
# --disable=W"
|
||||
disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
|
||||
disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
|
||||
|
||||
|
||||
# Enable the message, report, category or checker with the given id(s). You can
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
20
RELEASES.md
20
RELEASES.md
|
|
@ -1,30 +1,14 @@
|
|||
Version 0.8.14 (2022-0X-XX)
|
||||
========================
|
||||
* bigmodel!
|
||||
* Toyota Alphard Hybrid 2021 support
|
||||
* Toyota Avalon Hybrid 2022 support
|
||||
|
||||
Version 0.8.13 (2022-02-18)
|
||||
Version 0.8.13 (2022-XX-XX)
|
||||
========================
|
||||
* Improved driver monitoring
|
||||
* Retuned driver pose learner for relaxed driving positions
|
||||
* Added reliance on driving model to be more scene adaptive
|
||||
* Matched strictness between comma two and comma three
|
||||
* Improved performance in turns by compensating for the road bank angle
|
||||
* Roll compensation
|
||||
* Improved camera focus on the comma two
|
||||
* AGNOS 4
|
||||
* ADB support
|
||||
* improved cell auto configuration
|
||||
* NEOS 19
|
||||
* package updates
|
||||
* stability improvements
|
||||
* Subaru ECU firmware fingerprinting thanks to martinl!
|
||||
* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-5 2022 support thanks to Jafaral!
|
||||
* Subaru Impreza 2020 support thanks to martinl!
|
||||
* Toyota Avalon 2022 support thanks to sshane!
|
||||
* Toyota Prius v 2017 support thanks to CT921!
|
||||
* Volkswagen Caravelle 2020 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.12 (2021-12-15)
|
||||
========================
|
||||
|
|
|
|||
30
SConstruct
30
SConstruct
|
|
@ -89,6 +89,7 @@ if arch == "aarch64" or arch == "larch64":
|
|||
"/usr/local/lib",
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
|
|
@ -118,26 +119,27 @@ else:
|
|||
cxxflags = []
|
||||
cpppath = []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{yuv_dir}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/Library",
|
||||
f"{brew_prefix}/opt/openssl/lib",
|
||||
f"{brew_prefix}/Cellar",
|
||||
"/usr/local/lib",
|
||||
"/opt/homebrew/lib",
|
||||
"/usr/local/Homebrew/Library",
|
||||
"/usr/local/opt/openssl/lib",
|
||||
"/opt/homebrew/opt/openssl/lib",
|
||||
"/usr/local/Cellar",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl/include",
|
||||
"/opt/homebrew/include",
|
||||
"/usr/local/include",
|
||||
"/usr/local/opt/openssl/include",
|
||||
"/opt/homebrew/opt/openssl/include"
|
||||
]
|
||||
# Linux 86_64
|
||||
else:
|
||||
libpath = [
|
||||
"#third_party/acados/x86_64/lib",
|
||||
|
|
@ -171,8 +173,8 @@ if arch != "Darwin":
|
|||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
# Enable swaglog include in submodules
|
||||
cflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
|
||||
cxxflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
|
||||
cflags += ["-DSWAGLOG"]
|
||||
cxxflags += ["-DSWAGLOG"]
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
|
|
@ -305,11 +307,11 @@ if arch == "Darwin":
|
|||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
elif arch == "aarch64":
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_env['QTDIR'] = "/system/comma/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/qt",
|
||||
f"/system/comma/usr/include/qt",
|
||||
]
|
||||
qt_dirs += [f"/usr/include/qt/Qt{m}" for m in qt_modules]
|
||||
qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
qt_libs += ['EGL', 'GLESv3', 'c++_shared']
|
||||
|
|
|
|||
2
cereal
2
cereal
|
|
@ -1 +1 @@
|
|||
Subproject commit a818779f1a55c6bf53fa0692e31111585662b722
|
||||
Subproject commit 03860ae0b2b8128cae7768e4301d889e627c9275
|
||||
|
|
@ -1,19 +0,0 @@
|
|||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
|
|
@ -36,8 +36,8 @@ class TestSimpleKalman(unittest.TestCase):
|
|||
self.assertEqual(self.kf.x, [[1.0], [1.0]])
|
||||
|
||||
def update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
|
||||
def test_old_equal_new(self):
|
||||
for _ in range(1000):
|
||||
|
|
|
|||
|
|
@ -172,33 +172,33 @@ class SwagLogger(logging.Logger):
|
|||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
|
|
@ -11,18 +11,11 @@ class Window():
|
|||
self.double = double
|
||||
self.halve = halve
|
||||
if self.double:
|
||||
self.rw, self.rh = w*2, h*2
|
||||
self.screen = pygame.display.set_mode((w*2, h*2))
|
||||
elif self.halve:
|
||||
self.rw, self.rh = w//2, h//2
|
||||
self.screen = pygame.display.set_mode((w//2, h//2))
|
||||
else:
|
||||
self.rw, self.rh = w, h
|
||||
self.screen = pygame.display.set_mode((self.rw, self.rh))
|
||||
pygame.display.flip()
|
||||
|
||||
# hack for xmonad, it shrinks the window by 6 pixels after the display.flip
|
||||
if self.screen.get_width() != self.rw:
|
||||
self.screen = pygame.display.set_mode((self.rw+(self.rw-self.screen.get_width()), self.rh+(self.rh-self.screen.get_height())))
|
||||
pygame.display.flip()
|
||||
self.screen = pygame.display.set_mode((w, h))
|
||||
|
||||
def draw(self, out):
|
||||
pygame.event.pump()
|
||||
|
|
|
|||
392
docs/CARS.md
392
docs/CARS.md
|
|
@ -1,222 +1,184 @@
|
|||
# Supported Cars
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
|
||||
## comma.ai supported cars
|
||||
|
||||
Cars are organized into three tiers:
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | e 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Freed 2020 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019-21 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-22 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018-2019 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RC 2020 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Alphard 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-21 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius v 2017 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
- Gold - The best openpilot experience. Great highway driving and beyond.
|
||||
- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
|
||||
- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
|
||||
|
||||
How We Rate The Cars
|
||||
---
|
||||
|
||||
### openpilot Adaptive Cruise Control (ACC)
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
|
||||
|
||||
### Stop and Go
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
|
||||
|
||||
### Steer to 0
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
|
||||
|
||||
### Steering Torque
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
|
||||
|
||||
### Actively Maintained
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
|
||||
|
||||
**All supported cars can move between the tiers as support changes.**
|
||||
|
||||
## Gold Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Genesis|G70 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Palisade 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Sonata 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Sonata Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Niro Electric 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Telluride 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|ES 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|ES Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|NX 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX Hybrid 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Alphard Hybrid 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Mirai 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|
||||
## Silver Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Audi|A3 2014-19|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|Q2 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|S3 2015-17|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Genesis|G70 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Genesis|G80 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Elantra Hybrid 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Plug-In Hybrid 2020-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Kona 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Kona Electric 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe Plug-In Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Ceed 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Forte 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|K5 2021-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Optima 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Seltos 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Sorento 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Stinger 2018|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|CT Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|ES Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|NX 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|NX Hybrid 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX 2016-18|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX Hybrid 2016-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Mazda|CX-5 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|SEAT|Ateca 2018|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|SEAT|Leon 2014-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|C-HR 2017-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|C-HR Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry Hybrid 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Sienna 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf GTI 2018-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Passat 2016-18[<sup>7</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Polo 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|T-Cross 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|T-Roc 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Taos 2022[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Tiguan 2020-22[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Touran 2017|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|e-Golf 2014, 2019-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Kamiq 2021[<sup>6</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Karoq 2019|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Octavia RS 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Scala 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Superb 2015-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|
||||
## Bronze Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Acura|RDX 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#Footnotes)|ACC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chevrolet|Volt 2017-18[<sup>1</sup>](#Footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|GMC|Acadia 2018[<sup>1</sup>](#Footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Genesis|G90 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|
||||
|Honda|Accord 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Accord Hybrid 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|CR-V 2015-16|Touring|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|CR-V 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Civic 2016-18|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Civic 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Fit 2018-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Freed 2020|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|HR-V 2019-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Insight 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Inspire 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Passport 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Pilot 2016-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Ridgeline 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|e 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Niro Plug-In Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Optima 2017|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|IS 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RC 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Mazda|CX-9 2021|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|Leaf 2018-22|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|X-Trail 2017|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Ascent 2019|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Crosstrek 2018-20|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Forester 2019-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Impreza 2017-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius 2016-20|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius v 2017|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|California 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Caravelle 2020[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|
||||
|
||||
## Footnotes
|
||||
<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>5</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
|
||||
<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
|
||||
<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
## Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| --------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-19 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q3 2020-21 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | S3 2015 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Cadillac | Escalade ESV 2016<sup>1</sup> | ACC + LKAS | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G70 2020 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Elantra 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq Hybrid 2017-19 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Hybrid 2020-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq PHEV 2020-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe Plug-in Hybrid 2022 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2019-22 | All | Stock | 0mph | 0mph |
|
||||
| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Mazda | CX-5 2022 | All | Stock | 0mph | 0mph |
|
||||
| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Škoda | Kamiq 2021<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Karoq 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Arteon 2018, 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19, 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| California 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportWagen 2015 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
|
||||
<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
|
||||
remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
|
||||
in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
|
|
|||
|
|
@ -1,3 +0,0 @@
|
|||
<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
|
||||
</svg>
|
||||
|
Before Width: | Height: | Size: 457 B |
|
|
@ -1,3 +0,0 @@
|
|||
<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" fill="#F5C543" stroke="#F0A43B"/>
|
||||
</svg>
|
||||
|
Before Width: | Height: | Size: 472 B |
|
|
@ -1,5 +0,0 @@
|
|||
<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M12 2V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2Z" fill="#F5C543"/>
|
||||
<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
|
||||
<path d="M7.33226 18.9192L11 16.7055L12 16.1V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2V4.6L11 6.92203L9.8754 9.57544L4.44617 10.0361L8.57098 13.6094L7.33226 18.9192Z" fill="#F0A43B"/>
|
||||
</svg>
|
||||
|
Before Width: | Height: | Size: 727 B |
|
|
@ -56,7 +56,7 @@ myst_html_meta = {
|
|||
"property=og:locale": "en_US",
|
||||
"property=og:site_name": "docs.comma.ai",
|
||||
"property=og:url": "https://docs.comma.ai",
|
||||
"property=og:title": "openpilot Documentation",
|
||||
"property=og:title": "openpilot Docuemntation",
|
||||
"property=og:type": "website",
|
||||
"property=og:image:type": "image/jpeg",
|
||||
"property=og:image:width": "400",
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit 94066cb2b4ad5f2bcb8e33ce02fe15a73a00aace
|
||||
Subproject commit dec99a0f77328f7a9f104020d98d7227345d1288
|
||||
|
|
@ -104,7 +104,14 @@ function tici_init {
|
|||
sleep 3
|
||||
fi
|
||||
|
||||
# setup governors
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
|
||||
# TODO: move this to agnos
|
||||
# network manager config
|
||||
nmcli connection modify --temporary lte gsm.auto-config yes
|
||||
nmcli connection modify --temporary lte gsm.home-only yes
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
# set success flag for current boot slot
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
|||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="4"
|
||||
export AGNOS_VERSION="3"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
|
|
|||
|
|
@ -9,12 +9,6 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
|
|||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **wide image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **desire**
|
||||
* one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
|
||||
* **traffic convention**
|
||||
|
|
|
|||
|
|
@ -1,2 +1,2 @@
|
|||
0ff292a8-3a9c-47e7-9134-2c3b0f69a1fe
|
||||
d7c2883ee58d7b757e588bdf13ec45891caf397c
|
||||
4e19be90-bd5b-485d-b79a-2462f7f1b49e
|
||||
08f7ec37b78228cd1cb750b6ddb9c6ba1769e911
|
||||
BIN
models/dmonitoring_model.onnx (Stored with Git LFS)
BIN
models/dmonitoring_model.onnx (Stored with Git LFS)
Binary file not shown.
BIN
models/dmonitoring_model_q.dlc (Stored with Git LFS)
BIN
models/dmonitoring_model_q.dlc (Stored with Git LFS)
Binary file not shown.
BIN
models/supercombo.dlc (Stored with Git LFS)
BIN
models/supercombo.dlc (Stored with Git LFS)
Binary file not shown.
BIN
models/supercombo.onnx (Stored with Git LFS)
BIN
models/supercombo.onnx (Stored with Git LFS)
Binary file not shown.
2
opendbc
2
opendbc
|
|
@ -1 +1 @@
|
|||
Subproject commit eab58f6f8f41f255920365ab1fd9c75e312a6869
|
||||
Subproject commit 572ab7641bf88b6b156d902c625ca8ad9a9a77be
|
||||
2
panda
2
panda
|
|
@ -1 +1 @@
|
|||
Subproject commit 7104818e148494523e87fd74736748b6ffd0a7c4
|
||||
Subproject commit 2d96ef02df0e591244988739008e5d162da28cd0
|
||||
|
|
@ -5,9 +5,6 @@
|
|||
"acados_include_path": [
|
||||
"str"
|
||||
],
|
||||
"cython_include_dirs": [
|
||||
"str"
|
||||
],
|
||||
"model": {
|
||||
"name" : [
|
||||
"str"
|
||||
|
|
@ -26,15 +23,7 @@
|
|||
],
|
||||
"dyn_disc_fun" : [
|
||||
"str"
|
||||
],
|
||||
"gnsf" : {
|
||||
"nontrivial_f_LO": [
|
||||
"int"
|
||||
],
|
||||
"purely_linear": [
|
||||
"int"
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
"parameter_values": [
|
||||
"ndarray",
|
||||
|
|
@ -704,18 +693,6 @@
|
|||
"alpha_reduction": [
|
||||
"float"
|
||||
],
|
||||
"line_search_use_sufficient_descent": [
|
||||
"int"
|
||||
],
|
||||
"globalization_use_SOC": [
|
||||
"int"
|
||||
],
|
||||
"full_step_dual": [
|
||||
"int"
|
||||
],
|
||||
"eps_sufficient_descent": [
|
||||
"float"
|
||||
],
|
||||
"sim_method_num_stages": [
|
||||
"ndarray",
|
||||
[
|
||||
|
|
|
|||
|
|
@ -78,13 +78,6 @@ class AcadosModel():
|
|||
self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None`
|
||||
self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None`
|
||||
|
||||
# for GNSF models
|
||||
self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
|
||||
"""
|
||||
dictionary containing information on GNSF structure needed when rendering templates.
|
||||
Contains integers `nontrivial_f_LO`, `purely_linear`.
|
||||
"""
|
||||
|
||||
## for OCP
|
||||
# constraints
|
||||
self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
|
||||
|
|
|
|||
|
|
@ -270,28 +270,28 @@ class AcadosOcpDims:
|
|||
|
||||
@nx.setter
|
||||
def nx(self, nx):
|
||||
if isinstance(nx, int) and nx > 0:
|
||||
if type(nx) == int and nx > 0:
|
||||
self.__nx = nx
|
||||
else:
|
||||
raise Exception('Invalid nx value, expected positive integer. Exiting.')
|
||||
|
||||
@nz.setter
|
||||
def nz(self, nz):
|
||||
if isinstance(nz, int) and nz > -1:
|
||||
if type(nz) == int and nz > -1:
|
||||
self.__nz = nz
|
||||
else:
|
||||
raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nu.setter
|
||||
def nu(self, nu):
|
||||
if isinstance(nu, int) and nu > -1:
|
||||
if type(nu) == int and nu > -1:
|
||||
self.__nu = nu
|
||||
else:
|
||||
raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@np.setter
|
||||
def np(self, np):
|
||||
if isinstance(np, int) and np > -1:
|
||||
if type(np) == int and np > -1:
|
||||
self.__np = np
|
||||
else:
|
||||
raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -312,49 +312,49 @@ class AcadosOcpDims:
|
|||
|
||||
@ny_e.setter
|
||||
def ny_e(self, ny_e):
|
||||
if isinstance(ny_e, int) and ny_e > -1:
|
||||
if type(ny_e) == int and ny_e > -1:
|
||||
self.__ny_e = ny_e
|
||||
else:
|
||||
raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nr.setter
|
||||
def nr(self, nr):
|
||||
if isinstance(nr, int) and nr > -1:
|
||||
if type(nr) == int and nr > -1:
|
||||
self.__nr = nr
|
||||
else:
|
||||
raise Exception('Invalid nr value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nr_e.setter
|
||||
def nr_e(self, nr_e):
|
||||
if isinstance(nr_e, int) and nr_e > -1:
|
||||
if type(nr_e) == int and nr_e > -1:
|
||||
self.__nr_e = nr_e
|
||||
else:
|
||||
raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nh.setter
|
||||
def nh(self, nh):
|
||||
if isinstance(nh, int) and nh > -1:
|
||||
if type(nh) == int and nh > -1:
|
||||
self.__nh = nh
|
||||
else:
|
||||
raise Exception('Invalid nh value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nh_e.setter
|
||||
def nh_e(self, nh_e):
|
||||
if isinstance(nh_e, int) and nh_e > -1:
|
||||
if type(nh_e) == int and nh_e > -1:
|
||||
self.__nh_e = nh_e
|
||||
else:
|
||||
raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nphi.setter
|
||||
def nphi(self, nphi):
|
||||
if isinstance(nphi, int) and nphi > -1:
|
||||
if type(nphi) == int and nphi > -1:
|
||||
self.__nphi = nphi
|
||||
else:
|
||||
raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nphi_e.setter
|
||||
def nphi_e(self, nphi_e):
|
||||
if isinstance(nphi_e, int) and nphi_e > -1:
|
||||
if type(nphi_e) == int and nphi_e > -1:
|
||||
self.__nphi_e = nphi_e
|
||||
else:
|
||||
raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -375,42 +375,42 @@ class AcadosOcpDims:
|
|||
|
||||
@nbx_0.setter
|
||||
def nbx_0(self, nbx_0):
|
||||
if isinstance(nbx_0, int) and nbx_0 > -1:
|
||||
if type(nbx_0) == int and nbx_0 > -1:
|
||||
self.__nbx_0 = nbx_0
|
||||
else:
|
||||
raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nbx_e.setter
|
||||
def nbx_e(self, nbx_e):
|
||||
if isinstance(nbx_e, int) and nbx_e > -1:
|
||||
if type(nbx_e) == int and nbx_e > -1:
|
||||
self.__nbx_e = nbx_e
|
||||
else:
|
||||
raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nbu.setter
|
||||
def nbu(self, nbu):
|
||||
if isinstance(nbu, int) and nbu > -1:
|
||||
if type(nbu) == int and nbu > -1:
|
||||
self.__nbu = nbu
|
||||
else:
|
||||
raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nsbx.setter
|
||||
def nsbx(self, nsbx):
|
||||
if isinstance(nsbx, int) and nsbx > -1:
|
||||
if type(nsbx) == int and nsbx > -1:
|
||||
self.__nsbx = nsbx
|
||||
else:
|
||||
raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nsbx_e.setter
|
||||
def nsbx_e(self, nsbx_e):
|
||||
if isinstance(nsbx_e, int) and nsbx_e > -1:
|
||||
if type(nsbx_e) == int and nsbx_e > -1:
|
||||
self.__nsbx_e = nsbx_e
|
||||
else:
|
||||
raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nsbu.setter
|
||||
def nsbu(self, nsbu):
|
||||
if isinstance(nsbu, int) and nsbu > -1:
|
||||
if type(nsbu) == int and nsbu > -1:
|
||||
self.__nsbu = nsbu
|
||||
else:
|
||||
raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -1592,14 +1592,14 @@ class AcadosOcpConstraints:
|
|||
# initial x
|
||||
@lbx_0.setter
|
||||
def lbx_0(self, lbx_0):
|
||||
if isinstance(lbx_0, np.ndarray):
|
||||
if type(lbx_0) == np.ndarray:
|
||||
self.__lbx_0 = lbx_0
|
||||
else:
|
||||
raise Exception('Invalid lbx_0 value. Exiting.')
|
||||
|
||||
@ubx_0.setter
|
||||
def ubx_0(self, ubx_0):
|
||||
if isinstance(ubx_0, np.ndarray):
|
||||
if type(ubx_0) == np.ndarray:
|
||||
self.__ubx_0 = ubx_0
|
||||
else:
|
||||
raise Exception('Invalid ubx_0 value. Exiting.')
|
||||
|
|
@ -1613,7 +1613,7 @@ class AcadosOcpConstraints:
|
|||
|
||||
@Jbx_0.setter
|
||||
def Jbx_0(self, Jbx_0):
|
||||
if isinstance(Jbx_0, np.ndarray):
|
||||
if type(Jbx_0) == np.ndarray:
|
||||
self.__idxbx_0 = J_to_idx(Jbx_0)
|
||||
else:
|
||||
raise Exception('Invalid Jbx_0 value. Exiting.')
|
||||
|
|
@ -1639,28 +1639,28 @@ class AcadosOcpConstraints:
|
|||
# bounds on x
|
||||
@lbx.setter
|
||||
def lbx(self, lbx):
|
||||
if isinstance(lbx, np.ndarray):
|
||||
if type(lbx) == np.ndarray:
|
||||
self.__lbx = lbx
|
||||
else:
|
||||
raise Exception('Invalid lbx value. Exiting.')
|
||||
|
||||
@ubx.setter
|
||||
def ubx(self, ubx):
|
||||
if isinstance(ubx, np.ndarray):
|
||||
if type(ubx) == np.ndarray:
|
||||
self.__ubx = ubx
|
||||
else:
|
||||
raise Exception('Invalid ubx value. Exiting.')
|
||||
|
||||
@idxbx.setter
|
||||
def idxbx(self, idxbx):
|
||||
if isinstance(idxbx, np.ndarray):
|
||||
if type(idxbx) == np.ndarray:
|
||||
self.__idxbx = idxbx
|
||||
else:
|
||||
raise Exception('Invalid idxbx value. Exiting.')
|
||||
|
||||
@Jbx.setter
|
||||
def Jbx(self, Jbx):
|
||||
if isinstance(Jbx, np.ndarray):
|
||||
if type(Jbx) == np.ndarray:
|
||||
self.__idxbx = J_to_idx(Jbx)
|
||||
else:
|
||||
raise Exception('Invalid Jbx value. Exiting.')
|
||||
|
|
@ -1668,28 +1668,28 @@ class AcadosOcpConstraints:
|
|||
# bounds on u
|
||||
@lbu.setter
|
||||
def lbu(self, lbu):
|
||||
if isinstance(lbu, np.ndarray):
|
||||
if type(lbu) == np.ndarray:
|
||||
self.__lbu = lbu
|
||||
else:
|
||||
raise Exception('Invalid lbu value. Exiting.')
|
||||
|
||||
@ubu.setter
|
||||
def ubu(self, ubu):
|
||||
if isinstance(ubu, np.ndarray):
|
||||
if type(ubu) == np.ndarray:
|
||||
self.__ubu = ubu
|
||||
else:
|
||||
raise Exception('Invalid ubu value. Exiting.')
|
||||
|
||||
@idxbu.setter
|
||||
def idxbu(self, idxbu):
|
||||
if isinstance(idxbu, np.ndarray):
|
||||
if type(idxbu) == np.ndarray:
|
||||
self.__idxbu = idxbu
|
||||
else:
|
||||
raise Exception('Invalid idxbu value. Exiting.')
|
||||
|
||||
@Jbu.setter
|
||||
def Jbu(self, Jbu):
|
||||
if isinstance(Jbu, np.ndarray):
|
||||
if type(Jbu) == np.ndarray:
|
||||
self.__idxbu = J_to_idx(Jbu)
|
||||
else:
|
||||
raise Exception('Invalid Jbu value. Exiting.')
|
||||
|
|
@ -1697,28 +1697,28 @@ class AcadosOcpConstraints:
|
|||
# bounds on x at shooting node N
|
||||
@lbx_e.setter
|
||||
def lbx_e(self, lbx_e):
|
||||
if isinstance(lbx_e, np.ndarray):
|
||||
if type(lbx_e) == np.ndarray:
|
||||
self.__lbx_e = lbx_e
|
||||
else:
|
||||
raise Exception('Invalid lbx_e value. Exiting.')
|
||||
|
||||
@ubx_e.setter
|
||||
def ubx_e(self, ubx_e):
|
||||
if isinstance(ubx_e, np.ndarray):
|
||||
if type(ubx_e) == np.ndarray:
|
||||
self.__ubx_e = ubx_e
|
||||
else:
|
||||
raise Exception('Invalid ubx_e value. Exiting.')
|
||||
|
||||
@idxbx_e.setter
|
||||
def idxbx_e(self, idxbx_e):
|
||||
if isinstance(idxbx_e, np.ndarray):
|
||||
if type(idxbx_e) == np.ndarray:
|
||||
self.__idxbx_e = idxbx_e
|
||||
else:
|
||||
raise Exception('Invalid idxbx_e value. Exiting.')
|
||||
|
||||
@Jbx_e.setter
|
||||
def Jbx_e(self, Jbx_e):
|
||||
if isinstance(Jbx_e, np.ndarray):
|
||||
if type(Jbx_e) == np.ndarray:
|
||||
self.__idxbx_e = J_to_idx(Jbx_e)
|
||||
else:
|
||||
raise Exception('Invalid Jbx_e value. Exiting.')
|
||||
|
|
@ -1742,14 +1742,14 @@ class AcadosOcpConstraints:
|
|||
|
||||
@lg.setter
|
||||
def lg(self, lg):
|
||||
if isinstance(lg, np.ndarray):
|
||||
if type(lg) == np.ndarray:
|
||||
self.__lg = lg
|
||||
else:
|
||||
raise Exception('Invalid lg value. Exiting.')
|
||||
|
||||
@ug.setter
|
||||
def ug(self, ug):
|
||||
if isinstance(ug, np.ndarray):
|
||||
if type(ug) == np.ndarray:
|
||||
self.__ug = ug
|
||||
else:
|
||||
raise Exception('Invalid ug value. Exiting.')
|
||||
|
|
@ -1765,14 +1765,14 @@ class AcadosOcpConstraints:
|
|||
|
||||
@lg_e.setter
|
||||
def lg_e(self, lg_e):
|
||||
if isinstance(lg_e, np.ndarray):
|
||||
if type(lg_e) == np.ndarray:
|
||||
self.__lg_e = lg_e
|
||||
else:
|
||||
raise Exception('Invalid lg_e value. Exiting.')
|
||||
|
||||
@ug_e.setter
|
||||
def ug_e(self, ug_e):
|
||||
if isinstance(ug_e, np.ndarray):
|
||||
if type(ug_e) == np.ndarray:
|
||||
self.__ug_e = ug_e
|
||||
else:
|
||||
raise Exception('Invalid ug_e value. Exiting.')
|
||||
|
|
@ -1780,14 +1780,14 @@ class AcadosOcpConstraints:
|
|||
# nonlinear constraints
|
||||
@lh.setter
|
||||
def lh(self, lh):
|
||||
if isinstance(lh, np.ndarray):
|
||||
if type(lh) == np.ndarray:
|
||||
self.__lh = lh
|
||||
else:
|
||||
raise Exception('Invalid lh value. Exiting.')
|
||||
|
||||
@uh.setter
|
||||
def uh(self, uh):
|
||||
if isinstance(uh, np.ndarray):
|
||||
if type(uh) == np.ndarray:
|
||||
self.__uh = uh
|
||||
else:
|
||||
raise Exception('Invalid uh value. Exiting.')
|
||||
|
|
@ -1795,14 +1795,14 @@ class AcadosOcpConstraints:
|
|||
# convex-over-nonlinear constraints
|
||||
@lphi.setter
|
||||
def lphi(self, lphi):
|
||||
if isinstance(lphi, np.ndarray):
|
||||
if type(lphi) == np.ndarray:
|
||||
self.__lphi = lphi
|
||||
else:
|
||||
raise Exception('Invalid lphi value. Exiting.')
|
||||
|
||||
@uphi.setter
|
||||
def uphi(self, uphi):
|
||||
if isinstance(uphi, np.ndarray):
|
||||
if type(uphi) == np.ndarray:
|
||||
self.__uphi = uphi
|
||||
else:
|
||||
raise Exception('Invalid uphi value. Exiting.')
|
||||
|
|
@ -1810,14 +1810,14 @@ class AcadosOcpConstraints:
|
|||
# nonlinear constraints at shooting node N
|
||||
@lh_e.setter
|
||||
def lh_e(self, lh_e):
|
||||
if isinstance(lh_e, np.ndarray):
|
||||
if type(lh_e) == np.ndarray:
|
||||
self.__lh_e = lh_e
|
||||
else:
|
||||
raise Exception('Invalid lh_e value. Exiting.')
|
||||
|
||||
@uh_e.setter
|
||||
def uh_e(self, uh_e):
|
||||
if isinstance(uh_e, np.ndarray):
|
||||
if type(uh_e) == np.ndarray:
|
||||
self.__uh_e = uh_e
|
||||
else:
|
||||
raise Exception('Invalid uh_e value. Exiting.')
|
||||
|
|
@ -1825,14 +1825,14 @@ class AcadosOcpConstraints:
|
|||
# convex-over-nonlinear constraints at shooting node N
|
||||
@lphi_e.setter
|
||||
def lphi_e(self, lphi_e):
|
||||
if isinstance(lphi_e, np.ndarray):
|
||||
if type(lphi_e) == np.ndarray:
|
||||
self.__lphi_e = lphi_e
|
||||
else:
|
||||
raise Exception('Invalid lphi_e value. Exiting.')
|
||||
|
||||
@uphi_e.setter
|
||||
def uphi_e(self, uphi_e):
|
||||
if isinstance(uphi_e, np.ndarray):
|
||||
if type(uphi_e) == np.ndarray:
|
||||
self.__uphi_e = uphi_e
|
||||
else:
|
||||
raise Exception('Invalid uphi_e value. Exiting.')
|
||||
|
|
@ -1841,21 +1841,21 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on x
|
||||
@lsbx.setter
|
||||
def lsbx(self, lsbx):
|
||||
if isinstance(lsbx, np.ndarray):
|
||||
if type(lsbx) == np.ndarray:
|
||||
self.__lsbx = lsbx
|
||||
else:
|
||||
raise Exception('Invalid lsbx value. Exiting.')
|
||||
|
||||
@usbx.setter
|
||||
def usbx(self, usbx):
|
||||
if isinstance(usbx, np.ndarray):
|
||||
if type(usbx) == np.ndarray:
|
||||
self.__usbx = usbx
|
||||
else:
|
||||
raise Exception('Invalid usbx value. Exiting.')
|
||||
|
||||
@idxsbx.setter
|
||||
def idxsbx(self, idxsbx):
|
||||
if isinstance(idxsbx, np.ndarray):
|
||||
if type(idxsbx) == np.ndarray:
|
||||
self.__idxsbx = idxsbx
|
||||
else:
|
||||
raise Exception('Invalid idxsbx value. Exiting.')
|
||||
|
|
@ -1870,28 +1870,28 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on u
|
||||
@lsbu.setter
|
||||
def lsbu(self, lsbu):
|
||||
if isinstance(lsbu, np.ndarray):
|
||||
if type(lsbu) == np.ndarray:
|
||||
self.__lsbu = lsbu
|
||||
else:
|
||||
raise Exception('Invalid lsbu value. Exiting.')
|
||||
|
||||
@usbu.setter
|
||||
def usbu(self, usbu):
|
||||
if isinstance(usbu, np.ndarray):
|
||||
if type(usbu) == np.ndarray:
|
||||
self.__usbu = usbu
|
||||
else:
|
||||
raise Exception('Invalid usbu value. Exiting.')
|
||||
|
||||
@idxsbu.setter
|
||||
def idxsbu(self, idxsbu):
|
||||
if isinstance(idxsbu, np.ndarray):
|
||||
if type(idxsbu) == np.ndarray:
|
||||
self.__idxsbu = idxsbu
|
||||
else:
|
||||
raise Exception('Invalid idxsbu value. Exiting.')
|
||||
|
||||
@Jsbu.setter
|
||||
def Jsbu(self, Jsbu):
|
||||
if isinstance(Jsbu, np.ndarray):
|
||||
if type(Jsbu) == np.ndarray:
|
||||
self.__idxsbu = J_to_idx_slack(Jsbu)
|
||||
else:
|
||||
raise Exception('Invalid Jsbu value. Exiting.')
|
||||
|
|
@ -1899,28 +1899,28 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on x at shooting node N
|
||||
@lsbx_e.setter
|
||||
def lsbx_e(self, lsbx_e):
|
||||
if isinstance(lsbx_e, np.ndarray):
|
||||
if type(lsbx_e) == np.ndarray:
|
||||
self.__lsbx_e = lsbx_e
|
||||
else:
|
||||
raise Exception('Invalid lsbx_e value. Exiting.')
|
||||
|
||||
@usbx_e.setter
|
||||
def usbx_e(self, usbx_e):
|
||||
if isinstance(usbx_e, np.ndarray):
|
||||
if type(usbx_e) == np.ndarray:
|
||||
self.__usbx_e = usbx_e
|
||||
else:
|
||||
raise Exception('Invalid usbx_e value. Exiting.')
|
||||
|
||||
@idxsbx_e.setter
|
||||
def idxsbx_e(self, idxsbx_e):
|
||||
if isinstance(idxsbx_e, np.ndarray):
|
||||
if type(idxsbx_e) == np.ndarray:
|
||||
self.__idxsbx_e = idxsbx_e
|
||||
else:
|
||||
raise Exception('Invalid idxsbx_e value. Exiting.')
|
||||
|
||||
@Jsbx_e.setter
|
||||
def Jsbx_e(self, Jsbx_e):
|
||||
if isinstance(Jsbx_e, np.ndarray):
|
||||
if type(Jsbx_e) == np.ndarray:
|
||||
self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
|
||||
else:
|
||||
raise Exception('Invalid Jsbx_e value. Exiting.')
|
||||
|
|
@ -1959,21 +1959,21 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on nonlinear constraints
|
||||
@lsh.setter
|
||||
def lsh(self, lsh):
|
||||
if isinstance(lsh, np.ndarray):
|
||||
if type(lsh) == np.ndarray:
|
||||
self.__lsh = lsh
|
||||
else:
|
||||
raise Exception('Invalid lsh value. Exiting.')
|
||||
|
||||
@ush.setter
|
||||
def ush(self, ush):
|
||||
if isinstance(ush, np.ndarray):
|
||||
if type(ush) == np.ndarray:
|
||||
self.__ush = ush
|
||||
else:
|
||||
raise Exception('Invalid ush value. Exiting.')
|
||||
|
||||
@idxsh.setter
|
||||
def idxsh(self, idxsh):
|
||||
if isinstance(idxsh, np.ndarray):
|
||||
if type(idxsh) == np.ndarray:
|
||||
self.__idxsh = idxsh
|
||||
else:
|
||||
raise Exception('Invalid idxsh value. Exiting.')
|
||||
|
|
@ -1989,21 +1989,21 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on convex-over-nonlinear constraints
|
||||
@lsphi.setter
|
||||
def lsphi(self, lsphi):
|
||||
if isinstance(lsphi, np.ndarray):
|
||||
if type(lsphi) == np.ndarray:
|
||||
self.__lsphi = lsphi
|
||||
else:
|
||||
raise Exception('Invalid lsphi value. Exiting.')
|
||||
|
||||
@usphi.setter
|
||||
def usphi(self, usphi):
|
||||
if isinstance(usphi, np.ndarray):
|
||||
if type(usphi) == np.ndarray:
|
||||
self.__usphi = usphi
|
||||
else:
|
||||
raise Exception('Invalid usphi value. Exiting.')
|
||||
|
||||
@idxsphi.setter
|
||||
def idxsphi(self, idxsphi):
|
||||
if isinstance(idxsphi, np.ndarray):
|
||||
if type(idxsphi) == np.ndarray:
|
||||
self.__idxsphi = idxsphi
|
||||
else:
|
||||
raise Exception('Invalid idxsphi value. Exiting.')
|
||||
|
|
@ -2151,10 +2151,6 @@ class AcadosOcpOptions:
|
|||
self.__ext_cost_num_hess = 0
|
||||
self.__alpha_min = 0.05
|
||||
self.__alpha_reduction = 0.7
|
||||
self.__line_search_use_sufficient_descent = 0
|
||||
self.__globalization_use_SOC = 0
|
||||
self.__full_step_dual = 0
|
||||
self.__eps_sufficient_descent = 1e-4
|
||||
|
||||
|
||||
@property
|
||||
|
|
@ -2371,43 +2367,6 @@ class AcadosOcpOptions:
|
|||
"""Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
|
||||
return self.__alpha_reduction
|
||||
|
||||
@property
|
||||
def line_search_use_sufficient_descent(self):
|
||||
"""
|
||||
Determines if sufficient descent (Armijo) condition is used in line search.
|
||||
Type: int; 0 or 1;
|
||||
default: 0.
|
||||
"""
|
||||
return self.__line_search_use_sufficient_descent
|
||||
|
||||
@property
|
||||
def eps_sufficient_descent(self):
|
||||
"""
|
||||
Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
|
||||
Type: float,
|
||||
default: 1e-4.
|
||||
"""
|
||||
return self.__eps_sufficient_descent
|
||||
|
||||
@property
|
||||
def globalization_use_SOC(self):
|
||||
"""
|
||||
Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
|
||||
SOC is done if preliminary line search does not return full step.
|
||||
Type: int; 0 or 1;
|
||||
default: 0.
|
||||
"""
|
||||
return self.__globalization_use_SOC
|
||||
|
||||
@property
|
||||
def full_step_dual(self):
|
||||
"""
|
||||
Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
|
||||
Type: int; 0 or 1;
|
||||
default: 0.
|
||||
"""
|
||||
return self.__full_step_dual
|
||||
|
||||
@property
|
||||
def nlp_solver_tol_ineq(self):
|
||||
"""NLP solver inequality tolerance"""
|
||||
|
|
@ -2565,23 +2524,12 @@ class AcadosOcpOptions:
|
|||
|
||||
@time_steps.setter
|
||||
def time_steps(self, time_steps):
|
||||
if isinstance(time_steps, np.ndarray):
|
||||
if len(time_steps.shape) == 1:
|
||||
self.__time_steps = time_steps
|
||||
else:
|
||||
raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
|
||||
else:
|
||||
raise Exception('Invalid time_steps, expected np.ndarray.')
|
||||
self.__time_steps = time_steps
|
||||
|
||||
@shooting_nodes.setter
|
||||
def shooting_nodes(self, shooting_nodes):
|
||||
if isinstance(shooting_nodes, np.ndarray):
|
||||
if len(shooting_nodes.shape) == 1:
|
||||
self.__shooting_nodes = shooting_nodes
|
||||
else:
|
||||
raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
|
||||
else:
|
||||
raise Exception('Invalid shooting_nodes, expected np.ndarray.')
|
||||
self.__shooting_nodes = shooting_nodes
|
||||
|
||||
|
||||
@Tsim.setter
|
||||
def Tsim(self, Tsim):
|
||||
|
|
@ -2589,12 +2537,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@globalization.setter
|
||||
def globalization(self, globalization):
|
||||
globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
|
||||
if globalization in globalization_types:
|
||||
self.__globalization = globalization
|
||||
else:
|
||||
raise Exception('Invalid globalization value. Possible values are:\n\n' \
|
||||
+ ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\nExiting.')
|
||||
self.__globalization = globalization
|
||||
|
||||
@alpha_min.setter
|
||||
def alpha_min(self, alpha_min):
|
||||
|
|
@ -2604,38 +2547,10 @@ class AcadosOcpOptions:
|
|||
def alpha_reduction(self, alpha_reduction):
|
||||
self.__alpha_reduction = alpha_reduction
|
||||
|
||||
@line_search_use_sufficient_descent.setter
|
||||
def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
|
||||
if line_search_use_sufficient_descent in [0, 1]:
|
||||
self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
|
||||
else:
|
||||
raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
|
||||
|
||||
@globalization_use_SOC.setter
|
||||
def globalization_use_SOC(self, globalization_use_SOC):
|
||||
if globalization_use_SOC in [0, 1]:
|
||||
self.__globalization_use_SOC = globalization_use_SOC
|
||||
else:
|
||||
raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
|
||||
|
||||
@full_step_dual.setter
|
||||
def full_step_dual(self, full_step_dual):
|
||||
if full_step_dual in [0, 1]:
|
||||
self.__full_step_dual = full_step_dual
|
||||
else:
|
||||
raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
|
||||
|
||||
@eps_sufficient_descent.setter
|
||||
def eps_sufficient_descent(self, eps_sufficient_descent):
|
||||
if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
|
||||
self.__eps_sufficient_descent = eps_sufficient_descent
|
||||
else:
|
||||
raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float. Exiting')
|
||||
|
||||
@sim_method_num_stages.setter
|
||||
def sim_method_num_stages(self, sim_method_num_stages):
|
||||
|
||||
# if isinstance(sim_method_num_stages, int):
|
||||
# if type(sim_method_num_stages) == int:
|
||||
# self.__sim_method_num_stages = sim_method_num_stages
|
||||
# else:
|
||||
# raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.')
|
||||
|
|
@ -2645,7 +2560,7 @@ class AcadosOcpOptions:
|
|||
@sim_method_num_steps.setter
|
||||
def sim_method_num_steps(self, sim_method_num_steps):
|
||||
|
||||
# if isinstance(sim_method_num_steps, int):
|
||||
# if type(sim_method_num_steps) == int:
|
||||
# self.__sim_method_num_steps = sim_method_num_steps
|
||||
# else:
|
||||
# raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.')
|
||||
|
|
@ -2655,7 +2570,7 @@ class AcadosOcpOptions:
|
|||
@sim_method_newton_iter.setter
|
||||
def sim_method_newton_iter(self, sim_method_newton_iter):
|
||||
|
||||
if isinstance(sim_method_newton_iter, int):
|
||||
if type(sim_method_newton_iter) == int:
|
||||
self.__sim_method_newton_iter = sim_method_newton_iter
|
||||
else:
|
||||
raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.')
|
||||
|
|
@ -2678,7 +2593,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@nlp_solver_step_length.setter
|
||||
def nlp_solver_step_length(self, nlp_solver_step_length):
|
||||
if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
|
||||
if type(nlp_solver_step_length) == float and nlp_solver_step_length > 0:
|
||||
self.__nlp_solver_step_length = nlp_solver_step_length
|
||||
else:
|
||||
raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting')
|
||||
|
|
@ -2699,7 +2614,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@qp_solver_cond_N.setter
|
||||
def qp_solver_cond_N(self, qp_solver_cond_N):
|
||||
if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
|
||||
if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N > 0:
|
||||
self.__qp_solver_cond_N = qp_solver_cond_N
|
||||
else:
|
||||
raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting')
|
||||
|
|
@ -2790,21 +2705,21 @@ class AcadosOcpOptions:
|
|||
@nlp_solver_max_iter.setter
|
||||
def nlp_solver_max_iter(self, nlp_solver_max_iter):
|
||||
|
||||
if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
|
||||
if type(nlp_solver_max_iter) == int and nlp_solver_max_iter > 0:
|
||||
self.__nlp_solver_max_iter = nlp_solver_max_iter
|
||||
else:
|
||||
raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting')
|
||||
|
||||
@print_level.setter
|
||||
def print_level(self, print_level):
|
||||
if isinstance(print_level, int) and print_level >= 0:
|
||||
if type(print_level) == int and print_level >= 0:
|
||||
self.__print_level = print_level
|
||||
else:
|
||||
raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting')
|
||||
|
||||
@model_external_shared_lib_dir.setter
|
||||
def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
|
||||
if isinstance(model_external_shared_lib_dir, str) :
|
||||
if type(model_external_shared_lib_dir) == str :
|
||||
self.__model_external_shared_lib_dir = model_external_shared_lib_dir
|
||||
else:
|
||||
raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
|
||||
|
|
@ -2812,7 +2727,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@model_external_shared_lib_name.setter
|
||||
def model_external_shared_lib_name(self, model_external_shared_lib_name):
|
||||
if isinstance(model_external_shared_lib_name, str) :
|
||||
if type(model_external_shared_lib_name) == str :
|
||||
if model_external_shared_lib_name[-3:] == '.so' :
|
||||
raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
|
||||
+ '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
|
||||
|
|
@ -2895,9 +2810,6 @@ class AcadosOcp:
|
|||
self.acados_lib_path = f'{acados_path}/lib'
|
||||
"""Path to where acados library is located, type: string"""
|
||||
|
||||
import numpy
|
||||
self.cython_include_dirs = numpy.get_include()
|
||||
|
||||
self.__parameter_values = np.array([])
|
||||
self.__problem_class = 'OCP'
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@ import os
|
|||
import json
|
||||
import numpy as np
|
||||
from datetime import datetime
|
||||
import importlib
|
||||
import ctypes
|
||||
from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
|
||||
|
||||
from copy import deepcopy
|
||||
|
|
@ -51,9 +51,9 @@ from .generate_c_code_nls_cost import generate_c_code_nls_cost
|
|||
from .generate_c_code_external_cost import generate_c_code_external_cost
|
||||
from .acados_ocp import AcadosOcp
|
||||
from .acados_model import acados_model_strip_casadi_symbolics
|
||||
from .utils import is_column, is_empty, casadi_length, render_template,\
|
||||
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
|
||||
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
|
||||
set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path
|
||||
set_up_imported_gnsf_model, get_acados_path, get_ocp_nlp_layout, get_python_interface_path
|
||||
|
||||
|
||||
def make_ocp_dims_consistent(acados_ocp):
|
||||
|
|
@ -90,7 +90,7 @@ def make_ocp_dims_consistent(acados_ocp):
|
|||
raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
|
||||
f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
|
||||
|
||||
## cost
|
||||
# cost
|
||||
# initial stage - if not set, copy fields from path constraints
|
||||
if cost.cost_type_0 is None:
|
||||
cost.cost_type_0 = cost.cost_type
|
||||
|
|
@ -434,14 +434,18 @@ def make_ocp_dims_consistent(acados_ocp):
|
|||
if np.shape(opts.shooting_nodes)[0] != dims.N+1:
|
||||
raise Exception('inconsistent dimension N, regarding shooting_nodes.')
|
||||
|
||||
time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
|
||||
# identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
|
||||
avg_time_steps = np.average(time_steps)
|
||||
# criterion for constant time step detection: the min/max difference in values normalized by the average
|
||||
check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
|
||||
# if the criterion is small, we have a constant time_step
|
||||
if check_const_time_step < 1e-9:
|
||||
time_steps[:] = avg_time_steps # if we have a constant time_step: apply the average time_step
|
||||
# time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
|
||||
# # identify constant time-steps: due to numerical reasons the content of time_steps might vary a bit
|
||||
# delta_time_steps = time_steps[1:] - time_steps[0:-1]
|
||||
# avg_time_steps = np.average(time_steps)
|
||||
# # criterion for constant time-step detection: the min/max difference in values normalized by the average
|
||||
# check_const_time_step = np.max(delta_time_steps)-np.min(delta_time_steps) / avg_time_steps
|
||||
# # if the criterion is small, we have a constant time-step
|
||||
# if check_const_time_step < 1e-9:
|
||||
# time_steps[:] = avg_time_steps # if we have a constant time-step: apply the average time-step
|
||||
time_steps = np.zeros((dims.N,))
|
||||
for i in range(dims.N):
|
||||
time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i] # TODO use commented code above
|
||||
|
||||
opts.time_steps = time_steps
|
||||
|
||||
|
|
@ -521,7 +525,8 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n
|
|||
|
||||
# strip shooting_nodes
|
||||
ocp_nlp_dict['solver_options'].pop('shooting_nodes', None)
|
||||
dims_dict = format_class_dict(acados_ocp.dims.__dict__)
|
||||
|
||||
dims_dict = acados_class2dict(acados_ocp.dims)
|
||||
|
||||
ocp_check_against_layout(ocp_nlp_dict, dims_dict)
|
||||
|
||||
|
|
@ -777,15 +782,8 @@ class AcadosOcpSolver:
|
|||
dlclose.argtypes = [c_void_p]
|
||||
|
||||
@classmethod
|
||||
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None):
|
||||
"""
|
||||
Generates the code for an acados OCP solver, given the description in acados_ocp.
|
||||
:param acados_ocp: type AcadosOcp - description of the OCP for acados
|
||||
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
|
||||
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
|
||||
"""
|
||||
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
|
||||
model = acados_ocp.model
|
||||
acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
|
||||
|
||||
if simulink_opts is None:
|
||||
simulink_opts = get_simulink_default_opts()
|
||||
|
|
@ -809,91 +807,24 @@ class AcadosOcpSolver:
|
|||
# dump to json
|
||||
ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
|
||||
|
||||
code_export_dir = acados_ocp.code_export_directory
|
||||
# render templates
|
||||
ocp_render_templates(acados_ocp, json_file)
|
||||
acados_ocp.json_file = json_file
|
||||
|
||||
|
||||
@classmethod
|
||||
def build(cls, code_export_dir, with_cython=False):
|
||||
"""
|
||||
Builds the code for an acados OCP solver, that has been generated in code_export_dir
|
||||
:param code_export_dir: directory in which acados OCP solver has been generated, see generate()
|
||||
:param with_cython: option indicating if the cython interface is build, default: False.
|
||||
"""
|
||||
cwd=os.getcwd()
|
||||
os.chdir(code_export_dir)
|
||||
if with_cython:
|
||||
os.system('make clean_ocp_cython')
|
||||
os.system('make ocp_cython')
|
||||
else:
|
||||
os.system('make clean_ocp_shared_lib')
|
||||
os.system('make ocp_shared_lib')
|
||||
os.chdir(cwd)
|
||||
|
||||
|
||||
@classmethod
|
||||
def create_cython_solver(cls, json_file):
|
||||
"""
|
||||
Returns an `AcadosOcpSolverCython` object.
|
||||
|
||||
This is an alternative Cython based Python wrapper to the acados OCP solver in C.
|
||||
This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
|
||||
|
||||
The default wrapper `AcadosOcpSolver` is based on ctypes.
|
||||
"""
|
||||
with open(json_file, 'r') as f:
|
||||
acados_ocp_json = json.load(f)
|
||||
code_export_directory = acados_ocp_json['code_export_directory']
|
||||
|
||||
importlib.invalidate_caches()
|
||||
rel_code_export_directory = os.path.relpath(code_export_directory)
|
||||
acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
|
||||
|
||||
AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
|
||||
return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
|
||||
acados_ocp_json['solver_options']['nlp_solver_type'],
|
||||
acados_ocp_json['dims']['N'])
|
||||
|
||||
|
||||
def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True):
|
||||
|
||||
self.solver_created = False
|
||||
if generate:
|
||||
self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts)
|
||||
|
||||
# load json, store options in object
|
||||
with open(json_file, 'r') as f:
|
||||
acados_ocp_json = json.load(f)
|
||||
self.N = acados_ocp_json['dims']['N']
|
||||
self.model_name = acados_ocp_json['model']['name']
|
||||
self.solver_options = acados_ocp_json['solver_options']
|
||||
|
||||
acados_lib_path = acados_ocp_json['acados_lib_path']
|
||||
code_export_directory = acados_ocp_json['code_export_directory']
|
||||
|
||||
if build:
|
||||
self.build(code_export_directory, with_cython=False)
|
||||
## Compile solver
|
||||
cwd=os.getcwd()
|
||||
os.chdir(code_export_dir)
|
||||
os.system('make clean_ocp_shared_lib')
|
||||
os.system('make ocp_shared_lib')
|
||||
os.chdir(cwd)
|
||||
|
||||
# Load acados library to avoid unloading the library.
|
||||
# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
|
||||
# Unloading a library which uses OpenMP results in a segfault (on any platform?).
|
||||
# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
|
||||
# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
|
||||
libacados_name = 'libacados.so'
|
||||
libacados_filepath = os.path.join(acados_lib_path, libacados_name)
|
||||
self.__acados_lib = CDLL(libacados_filepath)
|
||||
# find out if acados was compiled with OpenMP
|
||||
try:
|
||||
self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
|
||||
except AttributeError as e:
|
||||
self.__acados_lib_uses_omp = False
|
||||
if self.__acados_lib_uses_omp:
|
||||
print('acados was compiled with OpenMP.')
|
||||
else:
|
||||
print('acados was compiled without OpenMP.')
|
||||
def __init__(self, model_name, N, code_export_dir):
|
||||
self.model_name = model_name
|
||||
self.N = N
|
||||
|
||||
self.shared_lib_name = f'{code_export_directory}/libacados_ocp_solver_{self.model_name}.so'
|
||||
self.solver_created = False
|
||||
self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{self.model_name}.so'
|
||||
|
||||
# get shared_lib
|
||||
self.shared_lib = CDLL(self.shared_lib_name)
|
||||
|
|
@ -911,8 +842,6 @@ class AcadosOcpSolver:
|
|||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
|
||||
self.status = 0
|
||||
|
||||
|
||||
def __get_pointers_solver(self):
|
||||
"""
|
||||
|
|
@ -935,10 +864,6 @@ class AcadosOcpSolver:
|
|||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
|
||||
self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
|
||||
self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
|
||||
self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
|
||||
|
|
@ -947,26 +872,46 @@ class AcadosOcpSolver:
|
|||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
|
||||
self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
|
||||
|
||||
# treat parameters separately
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
|
||||
self._set_param = getattr(self.shared_lib, f"{self.model_name}_acados_update_params")
|
||||
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
|
||||
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
|
||||
|
||||
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
|
||||
def solve(self):
|
||||
"""
|
||||
Solve the ocp with current input.
|
||||
"""
|
||||
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
|
||||
self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
|
||||
|
||||
return self.status
|
||||
status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
|
||||
return status
|
||||
|
||||
|
||||
def set_new_time_steps(self, new_time_steps):
|
||||
"""
|
||||
Set new time steps.
|
||||
Recreates the solver if N changes.
|
||||
Set new time steps before solving. Only reload library without code generation but with new time steps.
|
||||
|
||||
:param new_time_steps: 1 dimensional np array of new time steps for the solver
|
||||
:param new_time_steps: vector of new time steps for the solver
|
||||
|
||||
.. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
|
||||
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
|
||||
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
|
||||
do not require a new code export and compilation.
|
||||
"""
|
||||
|
|
@ -976,14 +921,15 @@ class AcadosOcpSolver:
|
|||
raise Exception('Solver was not yet created!')
|
||||
|
||||
# check if time steps really changed in value
|
||||
if np.array_equal(self.solver_options['time_steps'], new_time_steps):
|
||||
if np.array_equal(self.acados_ocp.solver_options.time_steps, new_time_steps):
|
||||
return
|
||||
|
||||
N = new_time_steps.size
|
||||
model = self.acados_ocp.model
|
||||
new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
|
||||
|
||||
# check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
|
||||
if len(self.solver_options['time_steps']) == N:
|
||||
if self.acados_ocp.solver_options.time_steps.size == N:
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
|
||||
assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
|
||||
|
|
@ -995,6 +941,11 @@ class AcadosOcpSolver:
|
|||
getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
|
||||
|
||||
# store N and new time steps
|
||||
self.N = self.acados_ocp.dims.N = N
|
||||
self.acados_ocp.solver_options.time_steps = new_time_steps
|
||||
self.acados_ocp.solver_options.Tsim = self.acados_ocp.solver_options.time_steps[0]
|
||||
|
||||
# create solver with new time steps
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
|
||||
|
|
@ -1005,75 +956,6 @@ class AcadosOcpSolver:
|
|||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
|
||||
# store time_steps, N
|
||||
self.solver_options['time_steps'] = new_time_steps
|
||||
self.N = N
|
||||
self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
|
||||
|
||||
|
||||
def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
|
||||
"""
|
||||
Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
|
||||
This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
|
||||
the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
|
||||
:param qp_solver_cond_N: new number of condensing stages for the solver
|
||||
|
||||
.. note:: This function can only be used in combination with a partial condensing QP solver.
|
||||
|
||||
.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
|
||||
necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
|
||||
`qp_solver_cond_N < N`.
|
||||
"""
|
||||
# unlikely but still possible
|
||||
if not self.solver_created:
|
||||
raise Exception('Solver was not yet created!')
|
||||
if self.N < qp_solver_cond_N:
|
||||
raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
|
||||
if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
|
||||
self.solver_created = False
|
||||
|
||||
# recreate the solver
|
||||
fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
|
||||
getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
|
||||
getattr(self.shared_lib, fun_name).restype = c_int
|
||||
assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
|
||||
|
||||
# store the new value
|
||||
self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
|
||||
self.solver_created = True
|
||||
|
||||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
|
||||
|
||||
def eval_param_sens(self, index, stage=0, field="ex"):
|
||||
"""
|
||||
Calculate the sensitivity of the curent solution with respect to the initial state component of index
|
||||
|
||||
:param index: integer corresponding to initial state index in range(nx)
|
||||
"""
|
||||
|
||||
field_ = field
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
# checks
|
||||
if not isinstance(index, int):
|
||||
raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
|
||||
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
|
||||
|
||||
if index < 0 or index > nx:
|
||||
raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
|
||||
|
||||
# actual eval_param
|
||||
self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
|
||||
self.shared_lib.ocp_nlp_eval_param_sens.restype = None
|
||||
self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
|
||||
|
||||
return
|
||||
|
||||
|
||||
def get(self, stage_, field_):
|
||||
"""
|
||||
|
|
@ -1096,30 +978,23 @@ class AcadosOcpSolver:
|
|||
|
||||
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
|
||||
# mem_fields = ['sl', 'su']
|
||||
sens_fields = ['sens_u', "sens_x"]
|
||||
all_fields = out_fields + sens_fields
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
|
||||
if (field_ not in all_fields):
|
||||
if (field_ not in out_fields):
|
||||
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(field_, all_fields))
|
||||
\n Possible values are {}. Exiting.'.format(field_, out_fields))
|
||||
|
||||
if not isinstance(stage_, int):
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
|
||||
|
||||
if stage_ < 0 or stage_ > self.N:
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_))
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
|
||||
if stage_ == self.N and field_ == 'pi':
|
||||
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
|
||||
.format(field_, stage_))
|
||||
|
||||
if field_ in sens_fields:
|
||||
field = field_.replace('sens_', '')
|
||||
|
||||
field = field.encode('utf-8')
|
||||
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
|
|
@ -1140,11 +1015,6 @@ class AcadosOcpSolver:
|
|||
# [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
# self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
|
||||
# self.nlp_dims, self.nlp_solver, stage_, field, out_data)
|
||||
elif field_ in sens_fields:
|
||||
self.shared_lib.ocp_nlp_out_get.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
|
||||
self.nlp_dims, self.sens_out, stage_, field, out_data)
|
||||
|
||||
return out
|
||||
|
||||
|
|
@ -1159,7 +1029,6 @@ class AcadosOcpSolver:
|
|||
- res_comp: residual wrt complementarity conditions
|
||||
- qp_stat: status of QP solver
|
||||
- qp_iter: number of QP iterations
|
||||
- alpha: SQP step size
|
||||
- qp_res_stat: stationarity residual of the last QP solution
|
||||
- qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
|
||||
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
|
||||
|
|
@ -1167,18 +1036,19 @@ class AcadosOcpSolver:
|
|||
"""
|
||||
stat = self.get_stats("statistics")
|
||||
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP':
|
||||
print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
|
||||
if stat.shape[0]>8:
|
||||
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
|
||||
print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter')
|
||||
if stat.shape[0]>7:
|
||||
print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
|
||||
for jj in range(stat.shape[1]):
|
||||
print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
|
||||
f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
|
||||
if stat.shape[0]>8:
|
||||
print('{:d}\t{:e}\t{:e}\t{:e}\t{:e}\t{:d}\t{:d}'.format( \
|
||||
int(stat[0][jj]), stat[1][jj], stat[2][jj], \
|
||||
stat[3][jj], stat[4][jj], int(stat[5][jj]), int(stat[6][jj])))
|
||||
if stat.shape[0]>7:
|
||||
print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
|
||||
stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
|
||||
stat[7][jj], stat[8][jj], stat[9][jj], stat[10][jj]))
|
||||
print('\n')
|
||||
elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
|
||||
print('\niter\tqp_stat\tqp_iter')
|
||||
if stat.shape[0]>3:
|
||||
print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
|
||||
|
|
@ -1238,7 +1108,6 @@ class AcadosOcpSolver:
|
|||
with open(filename, 'r') as f:
|
||||
solution = json.load(f)
|
||||
|
||||
print(f"loading iterate {filename}")
|
||||
for key in solution.keys():
|
||||
(field, stage) = key.split('_')
|
||||
self.set(int(stage), field, np.array(solution[key]))
|
||||
|
|
@ -1248,99 +1117,62 @@ class AcadosOcpSolver:
|
|||
"""
|
||||
Get the information of the last solver call.
|
||||
|
||||
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
|
||||
|
||||
Available fileds:
|
||||
- time_tot: total CPU time previous call
|
||||
- time_lin: CPU time for linearization
|
||||
- time_sim: CPU time for integrator
|
||||
- time_sim_ad: CPU time for integrator contribution of external function calls
|
||||
- time_sim_la: CPU time for integrator contribution of linear algebra
|
||||
- time_qp: CPU time qp solution
|
||||
- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
|
||||
- time_qp_xcond: time_glob: CPU time globalization
|
||||
- time_solution_sensitivities: CPU time for previous call to eval_param_sens
|
||||
- time_reg: CPU time regularization
|
||||
- sqp_iter: number of SQP iterations
|
||||
- qp_iter: vector of QP iterations for last SQP call
|
||||
- statistics: table with info about last iteration
|
||||
- stat_m: number of rows in statistics matrix
|
||||
- stat_n: number of columns in statistics matrix
|
||||
- residuals: residuals of last iterate
|
||||
- alpha: step sizes of SQP iterations
|
||||
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
|
||||
"""
|
||||
|
||||
double_fields = ['time_tot',
|
||||
'time_lin',
|
||||
'time_sim',
|
||||
'time_sim_ad',
|
||||
'time_sim_la',
|
||||
'time_qp',
|
||||
'time_qp_solver_call',
|
||||
fields = ['time_tot', # total cpu time previous call
|
||||
'time_lin', # cpu time for linearization
|
||||
'time_sim', # cpu time for integrator
|
||||
'time_sim_ad', # cpu time for integrator contribution of external function calls
|
||||
'time_sim_la', # cpu time for integrator contribution of linear algebra
|
||||
'time_qp', # cpu time qp solution
|
||||
'time_qp_solver_call', # cpu time inside qp solver (without converting the QP)
|
||||
'time_qp_xcond',
|
||||
'time_glob',
|
||||
'time_solution_sensitivities',
|
||||
'time_reg'
|
||||
]
|
||||
fields = double_fields + [
|
||||
'sqp_iter',
|
||||
'qp_iter',
|
||||
'statistics',
|
||||
'time_glob', # cpu time globalization
|
||||
'time_reg', # cpu time regularization
|
||||
'sqp_iter', # number of SQP iterations
|
||||
'qp_iter', # vector of QP iterations for last SQP call
|
||||
'statistics', # table with info about last iteration
|
||||
'stat_m',
|
||||
'stat_n',
|
||||
'residuals',
|
||||
'alpha',
|
||||
]
|
||||
field = field_.encode('utf-8')
|
||||
'stat_n',]
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
if (field_ not in fields):
|
||||
raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(fields, fields))
|
||||
|
||||
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
|
||||
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_int64))
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
return out
|
||||
|
||||
# TODO: just return double instead of np.
|
||||
elif field_ in double_fields:
|
||||
out = np.zeros((1,))
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
return out
|
||||
|
||||
elif field_ == 'statistics':
|
||||
sqp_iter = self.get_stats("sqp_iter")
|
||||
stat_m = self.get_stats("stat_m")
|
||||
stat_n = self.get_stats("stat_n")
|
||||
|
||||
min_size = min([stat_m, sqp_iter+1])
|
||||
|
||||
out = np.ascontiguousarray(
|
||||
np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
return out
|
||||
|
||||
elif field_ == 'qp_iter':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP':
|
||||
return full_stats[6, :]
|
||||
elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
return full_stats[2, :]
|
||||
|
||||
elif field_ == 'alpha':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP':
|
||||
return full_stats[7, :]
|
||||
else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
raise Exception("alpha values are not available for SQP_RTI")
|
||||
|
||||
elif field_ == 'residuals':
|
||||
return self.get_residuals()
|
||||
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
|
||||
out = full_stats[6, :]
|
||||
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
|
||||
out = full_stats[2, :]
|
||||
|
||||
else:
|
||||
raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.'
|
||||
+ f'\n Possible values are {fields}.')
|
||||
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
|
||||
if not field_ == 'qp_iter':
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
|
||||
return out
|
||||
|
||||
|
||||
def get_cost(self):
|
||||
|
|
@ -1369,7 +1201,7 @@ class AcadosOcpSolver:
|
|||
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
|
||||
"""
|
||||
# compute residuals if RTI
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
|
||||
self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
|
||||
|
||||
|
|
@ -1398,7 +1230,9 @@ class AcadosOcpSolver:
|
|||
|
||||
|
||||
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
||||
|
||||
def set(self, stage_, field_, value_):
|
||||
|
||||
"""
|
||||
Set numerical data inside the solver.
|
||||
|
||||
|
|
@ -1419,7 +1253,6 @@ class AcadosOcpSolver:
|
|||
cost_fields = ['y_ref', 'yref']
|
||||
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
|
||||
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
|
||||
mem_fields = ['xdot_guess']
|
||||
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
|
|
@ -1461,25 +1294,18 @@ class AcadosOcpSolver:
|
|||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
if field_ in constraints_fields:
|
||||
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in cost_fields:
|
||||
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in out_fields:
|
||||
self.shared_lib.ocp_nlp_out_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, stage, field, value_data_p)
|
||||
elif field_ in mem_fields:
|
||||
self.shared_lib.ocp_nlp_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_set(self.nlp_config, \
|
||||
self.nlp_solver, stage, field, value_data_p)
|
||||
# elif field_ in mem_fields:
|
||||
# self.shared_lib.ocp_nlp_set(self.nlp_config, \
|
||||
# self.nlp_solver, stage, field, value_data_p)
|
||||
|
||||
return
|
||||
|
||||
|
||||
|
|
@ -1538,8 +1364,9 @@ class AcadosOcpSolver:
|
|||
raise Exception("Unknown api: '{}'".format(api))
|
||||
|
||||
if value_shape != tuple(dims):
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
|
||||
' for field "{}" with dimension {} (you have {})'.format( \
|
||||
field_, tuple(dims), value_shape))
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
|
@ -1606,8 +1433,8 @@ class AcadosOcpSolver:
|
|||
raise Exception("Unknown api: '{}'".format(api))
|
||||
|
||||
if value_shape != tuple(dims):
|
||||
raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
|
||||
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
|
@ -1663,11 +1490,11 @@ class AcadosOcpSolver:
|
|||
"""
|
||||
Set options of the solver.
|
||||
|
||||
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC'
|
||||
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
|
||||
:param value: of type int, float
|
||||
"""
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent']
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
|
||||
string_fields = ['globalization']
|
||||
|
||||
# check field availability and type
|
||||
|
|
@ -1695,10 +1522,10 @@ class AcadosOcpSolver:
|
|||
|
||||
if field_ == 'rti_phase':
|
||||
if value_ < 0 or value_ > 2:
|
||||
raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
'take only values 0, 1, 2 for SQP-RTI-type solvers')
|
||||
if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
|
||||
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
'take only value 0 for SQP-type solvers')
|
||||
|
||||
# encode
|
||||
|
|
|
|||
|
|
@ -0,0 +1,402 @@
|
|||
import sys
|
||||
import os
|
||||
import json
|
||||
import numpy as np
|
||||
from datetime import datetime
|
||||
|
||||
from ctypes import POINTER, CDLL, c_void_p, c_int, cast, c_double, c_char_p
|
||||
|
||||
from copy import deepcopy
|
||||
|
||||
from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
|
||||
from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
|
||||
from .generate_c_code_gnsf import generate_c_code_gnsf
|
||||
from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
|
||||
from .generate_c_code_constraint import generate_c_code_constraint
|
||||
from .generate_c_code_nls_cost import generate_c_code_nls_cost
|
||||
from .generate_c_code_external_cost import generate_c_code_external_cost
|
||||
from .acados_ocp import AcadosOcp
|
||||
from .acados_model import acados_model_strip_casadi_symbolics
|
||||
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
|
||||
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
|
||||
set_up_imported_gnsf_model, get_acados_path
|
||||
|
||||
|
||||
class AcadosOcpSolverFast:
|
||||
dlclose = CDLL(None).dlclose
|
||||
dlclose.argtypes = [c_void_p]
|
||||
|
||||
def __init__(self, model_name, N, code_export_dir):
|
||||
|
||||
self.solver_created = False
|
||||
self.N = N
|
||||
self.model_name = model_name
|
||||
|
||||
self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model_name}.so'
|
||||
|
||||
# get shared_lib
|
||||
self.shared_lib = CDLL(self.shared_lib_name)
|
||||
|
||||
# create capsule
|
||||
getattr(self.shared_lib, f"{model_name}_acados_create_capsule").restype = c_void_p
|
||||
self.capsule = getattr(self.shared_lib, f"{model_name}_acados_create_capsule")()
|
||||
|
||||
# create solver
|
||||
getattr(self.shared_lib, f"{model_name}_acados_create").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_create").restype = c_int
|
||||
assert getattr(self.shared_lib, f"{model_name}_acados_create")(self.capsule)==0
|
||||
self.solver_created = True
|
||||
|
||||
# get pointers solver
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").restype = c_void_p
|
||||
self.nlp_opts = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").restype = c_void_p
|
||||
self.nlp_dims = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").restype = c_void_p
|
||||
self.nlp_config = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").restype = c_void_p
|
||||
self.nlp_out = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").restype = c_void_p
|
||||
self.nlp_in = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").restype = c_void_p
|
||||
self.nlp_solver = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver")(self.capsule)
|
||||
|
||||
|
||||
def solve(self):
|
||||
"""
|
||||
Solve the ocp with current input.
|
||||
"""
|
||||
model_name = self.model_name
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_solve").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_solve").restype = c_int
|
||||
status = getattr(self.shared_lib, f"{model_name}_acados_solve")(self.capsule)
|
||||
return status
|
||||
|
||||
def cost_set(self, start_stage_, field_, value_, api='warn'):
|
||||
self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
|
||||
return
|
||||
|
||||
def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
|
||||
"""
|
||||
Set numerical data in the cost module of the solver.
|
||||
|
||||
:param stage: integer corresponding to shooting node
|
||||
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
|
||||
:param value: of appropriate size
|
||||
"""
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
value_ = np.array([value_])
|
||||
value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
dim = np.product(value_.shape[1:])
|
||||
|
||||
start_stage = c_int(start_stage_)
|
||||
end_stage = c_int(end_stage_)
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
|
||||
dims_data = cast(dims.ctypes.data, POINTER(c_int))
|
||||
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
|
||||
|
||||
value_shape = value_.shape
|
||||
expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
|
||||
if len(value_shape) == 2:
|
||||
value_shape = (value_shape[0], value_shape[1], 0)
|
||||
|
||||
elif len(value_shape) == 3:
|
||||
if api=='old':
|
||||
pass
|
||||
elif api=='warn':
|
||||
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
|
||||
raise Exception("Ambiguity in API detected.\n"
|
||||
"Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
|
||||
"Are you seeing this error suddenly in previously running code? Read on.\n"
|
||||
" You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
|
||||
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
|
||||
" Two options to fix this error: \n" +
|
||||
" * Add api='old' to cost_set to restore old incorrect behaviour\n" +
|
||||
" * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
|
||||
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
|
||||
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
elif api=='new':
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
else:
|
||||
raise Exception("Unknown api: '{}'".format(api))
|
||||
|
||||
if value_shape != expected_shape:
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension',
|
||||
' for field "{}" with dimension {} (you have {})'.format(
|
||||
field_, expected_shape, value_shape))
|
||||
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
|
||||
self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
|
||||
return
|
||||
|
||||
def constraints_set(self, start_stage_, field_, value_, api='warn'):
|
||||
self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
|
||||
return
|
||||
|
||||
def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
|
||||
"""
|
||||
Set numerical data in the constraint module of the solver.
|
||||
|
||||
:param stage: integer corresponding to shooting node
|
||||
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi']
|
||||
:param value: of appropriate size
|
||||
"""
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
value_ = np.array([value_])
|
||||
value_ = value_.astype(float)
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
dim = np.product(value_.shape[1:])
|
||||
|
||||
start_stage = c_int(start_stage_)
|
||||
end_stage = c_int(end_stage_)
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
|
||||
dims_data = cast(dims.ctypes.data, POINTER(c_int))
|
||||
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
|
||||
|
||||
value_shape = value_.shape
|
||||
expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
|
||||
if len(value_shape) == 2:
|
||||
value_shape = (value_shape[0], value_shape[1], 0)
|
||||
elif len(value_shape) == 3:
|
||||
if api=='old':
|
||||
pass
|
||||
elif api=='warn':
|
||||
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
|
||||
raise Exception("Ambiguity in API detected.\n"
|
||||
"Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
|
||||
"Are you seeing this error suddenly in previously running code? Read on.\n"
|
||||
" You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
|
||||
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
|
||||
" Two options to fix this error: \n" +
|
||||
" * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
|
||||
" * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
|
||||
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
|
||||
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
elif api=='new':
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
else:
|
||||
raise Exception("Unknown api: '{}'".format(api))
|
||||
if value_shape != expected_shape:
|
||||
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
|
||||
' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, value_shape))
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
self.shared_lib.ocp_nlp_constraints_model_set_slice.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
|
||||
self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
|
||||
return
|
||||
|
||||
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
||||
def set(self, stage_, field_, value_):
|
||||
"""
|
||||
Set numerical data inside the solver.
|
||||
|
||||
:param stage: integer corresponding to shooting node
|
||||
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
|
||||
|
||||
.. note:: regarding lam, t: \n
|
||||
the inequalities are internally organized in the following order: \n
|
||||
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
|
||||
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
|
||||
|
||||
.. note:: pi: multipliers for dynamics equality constraints \n
|
||||
lam: multipliers for inequalities \n
|
||||
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
|
||||
sl: slack variables of soft lower inequality constraints \n
|
||||
su: slack variables of soft upper inequality constraints \n
|
||||
"""
|
||||
cost_fields = ['y_ref', 'yref']
|
||||
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
|
||||
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z']
|
||||
mem_fields = ['sl', 'su']
|
||||
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
value_ = np.array([value_])
|
||||
value_ = value_.astype(float)
|
||||
|
||||
model_name = self.model_name
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
|
||||
stage = c_int(stage_)
|
||||
|
||||
# treat parameters separately
|
||||
if field_ == 'p':
|
||||
getattr(self.shared_lib, f"{model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_update_params").restype = c_int
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
|
||||
assert getattr(self.shared_lib, f"{model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
|
||||
else:
|
||||
if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
|
||||
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
|
||||
\nPossible values are {}. Exiting.".format(field, \
|
||||
constraints_fields + cost_fields + out_fields + ['p']))
|
||||
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, stage_, field)
|
||||
|
||||
if value_.shape[0] != dims:
|
||||
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
|
||||
msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
|
||||
raise Exception(msg)
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
if field_ in constraints_fields:
|
||||
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in cost_fields:
|
||||
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in out_fields:
|
||||
self.shared_lib.ocp_nlp_out_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, stage, field, value_data_p)
|
||||
elif field_ in mem_fields:
|
||||
self.shared_lib.ocp_nlp_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_set(self.nlp_config, \
|
||||
self.nlp_solver, stage, field, value_data_p)
|
||||
return
|
||||
|
||||
|
||||
def get_slice(self, start_stage_, end_stage_, field_):
|
||||
"""
|
||||
Get the last solution of the solver:
|
||||
|
||||
:param start_stage: integer corresponding to shooting node that indicates start of slice
|
||||
:param end_stage: integer corresponding to shooting node that indicates end of slice
|
||||
:param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
|
||||
|
||||
.. note:: regarding lam, t: \n
|
||||
the inequalities are internally organized in the following order: \n
|
||||
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
|
||||
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
|
||||
|
||||
.. note:: pi: multipliers for dynamics equality constraints \n
|
||||
lam: multipliers for inequalities \n
|
||||
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
|
||||
sl: slack variables of soft lower inequality constraints \n
|
||||
su: slack variables of soft upper inequality constraints \n
|
||||
"""
|
||||
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
|
||||
mem_fields = ['sl', 'su']
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
|
||||
if (field_ not in out_fields + mem_fields):
|
||||
raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(field_, out_fields))
|
||||
|
||||
if not isinstance(start_stage_, int):
|
||||
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
|
||||
|
||||
if not isinstance(end_stage_, int):
|
||||
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
|
||||
|
||||
if start_stage_ >= end_stage_:
|
||||
raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
|
||||
|
||||
if start_stage_ < 0 or end_stage_ > self.N + 1:
|
||||
raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, start_stage_, field)
|
||||
|
||||
out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
|
||||
if (field_ in out_fields):
|
||||
self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
|
||||
elif field_ in mem_fields:
|
||||
self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
|
||||
|
||||
return out
|
||||
|
||||
def get_cost(self):
|
||||
"""
|
||||
Returns the cost value of the current solution.
|
||||
"""
|
||||
# compute cost internally
|
||||
self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
|
||||
|
||||
# create output array
|
||||
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
|
||||
# call getter
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
|
||||
field = "cost_value".encode('utf-8')
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
|
||||
return out[0]
|
||||
|
|
@ -39,19 +39,21 @@ cimport cython
|
|||
from libc cimport string
|
||||
|
||||
cimport acados_solver_common
|
||||
# TODO: make this import more clear? it is not a general solver, but problem specific.
|
||||
cimport acados_solver
|
||||
|
||||
cimport numpy as cnp
|
||||
|
||||
import os
|
||||
from datetime import datetime
|
||||
import numpy as np
|
||||
|
||||
|
||||
cdef class AcadosOcpSolverCython:
|
||||
cdef class AcadosOcpSolverFast:
|
||||
"""
|
||||
Class to interact with the acados ocp solver C object.
|
||||
|
||||
:param acados_ocp: type AcadosOcp - description of the OCP for acados
|
||||
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
|
||||
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
|
||||
"""
|
||||
|
||||
cdef acados_solver.nlp_solver_capsule *capsule
|
||||
|
|
@ -59,26 +61,19 @@ cdef class AcadosOcpSolverCython:
|
|||
cdef acados_solver_common.ocp_nlp_dims *nlp_dims
|
||||
cdef acados_solver_common.ocp_nlp_config *nlp_config
|
||||
cdef acados_solver_common.ocp_nlp_out *nlp_out
|
||||
cdef acados_solver_common.ocp_nlp_out *sens_out
|
||||
cdef acados_solver_common.ocp_nlp_in *nlp_in
|
||||
cdef acados_solver_common.ocp_nlp_solver *nlp_solver
|
||||
|
||||
cdef int status
|
||||
cdef bint solver_created
|
||||
|
||||
cdef str model_name
|
||||
cdef int N
|
||||
cdef bint solver_created
|
||||
|
||||
cdef str nlp_solver_type
|
||||
|
||||
def __cinit__(self, model_name, nlp_solver_type, N):
|
||||
def __cinit__(self, str model_name, int N, str code_export_dir):
|
||||
self.model_name = model_name
|
||||
self.N = N
|
||||
|
||||
self.solver_created = False
|
||||
|
||||
self.N = N
|
||||
self.model_name = model_name
|
||||
self.nlp_solver_type = nlp_solver_type
|
||||
|
||||
# create capsule
|
||||
self.capsule = acados_solver.acados_create_capsule()
|
||||
|
||||
|
|
@ -86,21 +81,11 @@ cdef class AcadosOcpSolverCython:
|
|||
assert acados_solver.acados_create(self.capsule) == 0
|
||||
self.solver_created = True
|
||||
|
||||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
self.status = 0
|
||||
|
||||
|
||||
def __get_pointers_solver(self):
|
||||
"""
|
||||
Private function to get the pointers for solver
|
||||
"""
|
||||
# get pointers solver
|
||||
self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
|
||||
self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
|
||||
self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
|
||||
self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
|
||||
self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
|
||||
self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
|
||||
self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
|
||||
|
||||
|
|
@ -114,112 +99,15 @@ cdef class AcadosOcpSolverCython:
|
|||
|
||||
def set_new_time_steps(self, new_time_steps):
|
||||
"""
|
||||
Set new time steps.
|
||||
Recreates the solver if N changes.
|
||||
Set new time steps before solving. Only reload library without code generation but with new time steps.
|
||||
|
||||
:param new_time_steps: 1 dimensional np array of new time steps for the solver
|
||||
:param new_time_steps: vector of new time steps for the solver
|
||||
|
||||
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
|
||||
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
|
||||
do not require a new code export and compilation.
|
||||
"""
|
||||
|
||||
raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
|
||||
# # unlikely but still possible
|
||||
# if not self.solver_created:
|
||||
# raise Exception('Solver was not yet created!')
|
||||
|
||||
# ## check if time steps really changed in value
|
||||
# # get time steps
|
||||
# cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
|
||||
# assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
|
||||
|
||||
# if np.array_equal(old_time_steps, new_time_steps):
|
||||
# return
|
||||
|
||||
# N = new_time_steps.size
|
||||
# cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
|
||||
|
||||
# # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
|
||||
# if len(old_time_steps) == N:
|
||||
# assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
|
||||
|
||||
# else: # recreate the solver with the new time steps
|
||||
# self.solver_created = False
|
||||
|
||||
# # delete old memory (analog to __del__)
|
||||
# acados_solver.acados_free(self.capsule)
|
||||
|
||||
# # create solver with new time steps
|
||||
# assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
|
||||
|
||||
# self.solver_created = True
|
||||
|
||||
# # get pointers solver
|
||||
# self.__get_pointers_solver()
|
||||
|
||||
# # store time_steps, N
|
||||
# self.time_steps = new_time_steps
|
||||
# self.N = N
|
||||
|
||||
|
||||
def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
|
||||
"""
|
||||
Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
|
||||
This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
|
||||
the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
|
||||
:param qp_solver_cond_N: new number of condensing stages for the solver
|
||||
|
||||
.. note:: This function can only be used in combination with a partial condensing QP solver.
|
||||
|
||||
.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
|
||||
necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
|
||||
`qp_solver_cond_N < N`.
|
||||
"""
|
||||
raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
|
||||
|
||||
# # unlikely but still possible
|
||||
# if not self.solver_created:
|
||||
# raise Exception('Solver was not yet created!')
|
||||
# if self.N < qp_solver_cond_N:
|
||||
# raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
|
||||
# if self.qp_solver_cond_N != qp_solver_cond_N:
|
||||
# self.solver_created = False
|
||||
|
||||
# # recreate the solver
|
||||
# acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
|
||||
|
||||
# # store the new value
|
||||
# self.qp_solver_cond_N = qp_solver_cond_N
|
||||
# self.solver_created = True
|
||||
|
||||
# # get pointers solver
|
||||
# self.__get_pointers_solver()
|
||||
|
||||
|
||||
def eval_param_sens(self, index, stage=0, field="ex"):
|
||||
"""
|
||||
Calculate the sensitivity of the curent solution with respect to the initial state component of index
|
||||
|
||||
:param index: integer corresponding to initial state index in range(nx)
|
||||
"""
|
||||
|
||||
field_ = field
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
# checks
|
||||
if not isinstance(index, int):
|
||||
raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
|
||||
|
||||
cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
|
||||
|
||||
if index < 0 or index > nx:
|
||||
raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
|
||||
|
||||
# actual eval_param
|
||||
acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
|
||||
|
||||
return
|
||||
raise NotImplementedError()
|
||||
|
||||
|
||||
def get(self, int stage, str field_):
|
||||
|
|
@ -245,14 +133,14 @@ cdef class AcadosOcpSolverCython:
|
|||
field = field_.encode('utf-8')
|
||||
|
||||
if field_ not in out_fields:
|
||||
raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
|
||||
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(field_, out_fields))
|
||||
|
||||
if stage < 0 or stage > self.N:
|
||||
raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
|
||||
if stage == self.N and field_ == 'pi':
|
||||
raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
|
||||
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
|
||||
.format(field_, stage))
|
||||
|
||||
cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
|
||||
|
|
@ -280,7 +168,7 @@ cdef class AcadosOcpSolverCython:
|
|||
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
|
||||
- qp_res_comp: residual wrt complementarity conditions of the last QP solution
|
||||
"""
|
||||
acados_solver.acados_print_stats(self.capsule)
|
||||
raise NotImplementedError()
|
||||
|
||||
|
||||
def store_iterate(self, filename='', overwrite=False):
|
||||
|
|
@ -290,50 +178,14 @@ cdef class AcadosOcpSolverCython:
|
|||
:param filename: if not set, use model_name + timestamp + '.json'
|
||||
:param overwrite: if false and filename exists add timestamp to filename
|
||||
"""
|
||||
import json
|
||||
if filename == '':
|
||||
filename += self.model_name + '_' + 'iterate' + '.json'
|
||||
|
||||
if not overwrite:
|
||||
# append timestamp
|
||||
if os.path.isfile(filename):
|
||||
filename = filename[:-5]
|
||||
filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
|
||||
|
||||
# get iterate:
|
||||
solution = dict()
|
||||
|
||||
for i in range(self.N+1):
|
||||
solution['x_'+str(i)] = self.get(i,'x')
|
||||
solution['u_'+str(i)] = self.get(i,'u')
|
||||
solution['z_'+str(i)] = self.get(i,'z')
|
||||
solution['lam_'+str(i)] = self.get(i,'lam')
|
||||
solution['t_'+str(i)] = self.get(i, 't')
|
||||
solution['sl_'+str(i)] = self.get(i, 'sl')
|
||||
solution['su_'+str(i)] = self.get(i, 'su')
|
||||
for i in range(self.N):
|
||||
solution['pi_'+str(i)] = self.get(i,'pi')
|
||||
|
||||
# save
|
||||
with open(filename, 'w') as f:
|
||||
json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
|
||||
print("stored current iterate in ", os.path.join(os.getcwd(), filename))
|
||||
raise NotImplementedError()
|
||||
|
||||
|
||||
def load_iterate(self, filename):
|
||||
"""
|
||||
Loads the iterate stored in json file with filename into the ocp solver.
|
||||
"""
|
||||
import json
|
||||
if not os.path.isfile(filename):
|
||||
raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
|
||||
|
||||
with open(filename, 'r') as f:
|
||||
solution = json.load(f)
|
||||
|
||||
for key in solution.keys():
|
||||
(field, stage) = key.split('_')
|
||||
self.set(int(stage), field, np.array(solution[key]))
|
||||
raise NotImplementedError()
|
||||
|
||||
|
||||
def get_stats(self, field_):
|
||||
|
|
@ -341,97 +193,8 @@ cdef class AcadosOcpSolverCython:
|
|||
Get the information of the last solver call.
|
||||
|
||||
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
|
||||
Available fileds:
|
||||
- time_tot: total CPU time previous call
|
||||
- time_lin: CPU time for linearization
|
||||
- time_sim: CPU time for integrator
|
||||
- time_sim_ad: CPU time for integrator contribution of external function calls
|
||||
- time_sim_la: CPU time for integrator contribution of linear algebra
|
||||
- time_qp: CPU time qp solution
|
||||
- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
|
||||
- time_qp_xcond: time_glob: CPU time globalization
|
||||
- time_solution_sensitivities: CPU time for previous call to eval_param_sens
|
||||
- time_reg: CPU time regularization
|
||||
- sqp_iter: number of SQP iterations
|
||||
- qp_iter: vector of QP iterations for last SQP call
|
||||
- statistics: table with info about last iteration
|
||||
- stat_m: number of rows in statistics matrix
|
||||
- stat_n: number of columns in statistics matrix
|
||||
- residuals: residuals of last iterate
|
||||
- alpha: step sizes of SQP iterations
|
||||
"""
|
||||
|
||||
double_fields = ['time_tot',
|
||||
'time_lin',
|
||||
'time_sim',
|
||||
'time_sim_ad',
|
||||
'time_sim_la',
|
||||
'time_qp',
|
||||
'time_qp_solver_call',
|
||||
'time_qp_xcond',
|
||||
'time_glob',
|
||||
'time_solution_sensitivities',
|
||||
'time_reg'
|
||||
]
|
||||
fields = double_fields + [
|
||||
'sqp_iter',
|
||||
'qp_iter',
|
||||
'statistics',
|
||||
'stat_m',
|
||||
'stat_n',
|
||||
'residuals',
|
||||
'alpha',
|
||||
]
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
|
||||
return self.__get_stat_int(field)
|
||||
|
||||
elif field_ in double_fields:
|
||||
return self.__get_stat_double(field)
|
||||
|
||||
elif field_ == 'statistics':
|
||||
sqp_iter = self.get_stats("sqp_iter")
|
||||
stat_m = self.get_stats("stat_m")
|
||||
stat_n = self.get_stats("stat_n")
|
||||
min_size = min([stat_m, sqp_iter+1])
|
||||
return self.__get_stat_matrix(field, stat_n+1, min_size)
|
||||
|
||||
elif field_ == 'qp_iter':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.nlp_solver_type == 'SQP':
|
||||
return full_stats[6, :]
|
||||
elif self.nlp_solver_type == 'SQP_RTI':
|
||||
return full_stats[2, :]
|
||||
|
||||
elif field_ == 'alpha':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.nlp_solver_type == 'SQP':
|
||||
return full_stats[7, :]
|
||||
else: # self.nlp_solver_type == 'SQP_RTI':
|
||||
raise Exception("alpha values are not available for SQP_RTI")
|
||||
|
||||
elif field_ == 'residuals':
|
||||
return self.get_residuals()
|
||||
|
||||
else:
|
||||
raise NotImplementedError("TODO!")
|
||||
|
||||
|
||||
def __get_stat_int(self, field):
|
||||
cdef int out
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
|
||||
return out
|
||||
|
||||
def __get_stat_double(self, field):
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
|
||||
return out
|
||||
|
||||
def __get_stat_matrix(self, field, n, m):
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
|
||||
return out_mat
|
||||
raise NotImplementedError()
|
||||
|
||||
|
||||
def get_cost(self):
|
||||
|
|
@ -454,31 +217,7 @@ cdef class AcadosOcpSolverCython:
|
|||
"""
|
||||
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
|
||||
"""
|
||||
# compute residuals if RTI
|
||||
if self.nlp_solver_type == 'SQP_RTI':
|
||||
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
|
||||
|
||||
# create output array
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
|
||||
cdef double double_value
|
||||
|
||||
field = "res_stat".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[0] = double_value
|
||||
|
||||
field = "res_eq".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[1] = double_value
|
||||
|
||||
field = "res_ineq".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[2] = double_value
|
||||
|
||||
field = "res_comp".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[3] = double_value
|
||||
|
||||
return out
|
||||
raise NotImplementedError()
|
||||
|
||||
|
||||
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
||||
|
|
@ -504,18 +243,18 @@ cdef class AcadosOcpSolverCython:
|
|||
cost_fields = ['y_ref', 'yref']
|
||||
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
|
||||
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
|
||||
mem_fields = ['xdot_guess']
|
||||
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
|
||||
cdef double[::1] value
|
||||
|
||||
# treat parameters separately
|
||||
if field_ == 'p':
|
||||
assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
|
||||
value = np.ascontiguousarray(value_, dtype=np.double)
|
||||
assert acados_solver.acados_update_params(self.capsule, stage, <double *> &value[0], value.shape[0]) == 0
|
||||
else:
|
||||
if field_ not in constraints_fields + cost_fields + out_fields:
|
||||
raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
|
||||
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
|
||||
\nPossible values are {}. Exiting.".format(field, \
|
||||
constraints_fields + cost_fields + out_fields + ['p']))
|
||||
|
||||
|
|
@ -523,22 +262,20 @@ cdef class AcadosOcpSolverCython:
|
|||
self.nlp_dims, self.nlp_out, stage, field)
|
||||
|
||||
if value_.shape[0] != dims:
|
||||
msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
|
||||
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
|
||||
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
|
||||
raise Exception(msg)
|
||||
|
||||
value = np.ascontiguousarray(value_, dtype=np.double)
|
||||
if field_ in constraints_fields:
|
||||
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
|
||||
elif field_ in cost_fields:
|
||||
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
|
||||
elif field_ in out_fields:
|
||||
acados_solver_common.ocp_nlp_out_set(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
|
||||
elif field_ in mem_fields:
|
||||
acados_solver_common.ocp_nlp_set(self.nlp_config, \
|
||||
self.nlp_solver, stage, field, <void *> value.data)
|
||||
self.nlp_dims, self.nlp_out, stage, field, <void *> &value[0])
|
||||
|
||||
|
||||
def cost_set(self, int stage, str field_, value_):
|
||||
|
|
@ -567,8 +304,9 @@ cdef class AcadosOcpSolverCython:
|
|||
value = np.asfortranarray(value_)
|
||||
|
||||
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
|
||||
raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
|
||||
' for field "{}" with dimension {} (you have {})'.format( \
|
||||
field_, tuple(dims), value_shape))
|
||||
|
||||
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
|
||||
|
|
@ -600,8 +338,8 @@ cdef class AcadosOcpSolverCython:
|
|||
value = np.asfortranarray(value_)
|
||||
|
||||
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
|
||||
raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
|
||||
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
|
||||
|
||||
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
|
||||
|
|
@ -623,7 +361,7 @@ cdef class AcadosOcpSolverCython:
|
|||
acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
|
||||
|
||||
# create output data
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
|
||||
out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
|
||||
|
||||
# call getter
|
||||
acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
|
||||
|
|
@ -638,8 +376,8 @@ cdef class AcadosOcpSolverCython:
|
|||
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
|
||||
:param value: of type int, float
|
||||
"""
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent']
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
|
||||
string_fields = ['globalization']
|
||||
|
||||
# encode
|
||||
|
|
@ -656,10 +394,10 @@ cdef class AcadosOcpSolverCython:
|
|||
|
||||
if field_ == 'rti_phase':
|
||||
if value_ < 0 or value_ > 2:
|
||||
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
'take only values 0, 1, 2 for SQP-RTI-type solvers')
|
||||
if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
|
||||
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
'take only value 0 for SQP-type solvers')
|
||||
|
||||
int_value = value_
|
||||
|
|
@ -680,7 +418,7 @@ cdef class AcadosOcpSolverCython:
|
|||
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
|
||||
|
||||
else:
|
||||
raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
|
||||
raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
|
||||
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -70,28 +70,28 @@ class AcadosSimDims:
|
|||
|
||||
@nx.setter
|
||||
def nx(self, nx):
|
||||
if isinstance(nx, int) and nx > 0:
|
||||
if type(nx) == int and nx > 0:
|
||||
self.__nx = nx
|
||||
else:
|
||||
raise Exception('Invalid nx value, expected positive integer. Exiting.')
|
||||
|
||||
@nz.setter
|
||||
def nz(self, nz):
|
||||
if isinstance(nz, int) and nz > -1:
|
||||
if type(nz) == int and nz > -1:
|
||||
self.__nz = nz
|
||||
else:
|
||||
raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nu.setter
|
||||
def nu(self, nu):
|
||||
if isinstance(nu, int) and nu > -1:
|
||||
if type(nu) == int and nu > -1:
|
||||
self.__nu = nu
|
||||
else:
|
||||
raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@np.setter
|
||||
def np(self, np):
|
||||
if isinstance(np, int) and np > -1:
|
||||
if type(np) == int and np > -1:
|
||||
self.__np = np
|
||||
else:
|
||||
raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -302,7 +302,6 @@ class AcadosSim:
|
|||
self.code_export_directory = 'c_generated_code'
|
||||
"""Path to where code will be exported. Default: `c_generated_code`."""
|
||||
|
||||
self.cython_include_dirs = ''
|
||||
self.__parameter_values = np.array([])
|
||||
|
||||
@property
|
||||
|
|
|
|||
|
|
@ -215,24 +215,6 @@ class AcadosSimSolver:
|
|||
model_name = self.sim_struct.model.name
|
||||
self.model_name = model_name
|
||||
|
||||
# Load acados library to avoid unloading the library.
|
||||
# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
|
||||
# Unloading a library which uses OpenMP results in a segfault (on any platform?).
|
||||
# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
|
||||
# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
|
||||
libacados_name = 'libacados.so'
|
||||
libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
|
||||
self.__acados_lib = CDLL(libacados_filepath)
|
||||
# find out if acados was compiled with OpenMP
|
||||
try:
|
||||
self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
|
||||
except AttributeError as e:
|
||||
self.__acados_lib_uses_omp = False
|
||||
if self.__acados_lib_uses_omp:
|
||||
print('acados was compiled with OpenMP.')
|
||||
else:
|
||||
print('acados was compiled without OpenMP.')
|
||||
|
||||
# Ctypes
|
||||
shared_lib = f'{code_export_dir}/libacados_sim_solver_{model_name}.so'
|
||||
self.shared_lib = CDLL(shared_lib)
|
||||
|
|
|
|||
|
|
@ -95,7 +95,6 @@ cdef extern from "acados_c/ocp_nlp_interface.h":
|
|||
|
||||
# solver
|
||||
void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
|
||||
void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
|
||||
void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
|
||||
|
||||
# get/set
|
||||
|
|
|
|||
|
|
@ -125,134 +125,134 @@
|
|||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
# define sources and use make's implicit rules to generate object files (*.o)
|
||||
|
||||
# model
|
||||
MODEL_SRC=
|
||||
{%- if solver_options.integrator_type == "ERK" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "IRK" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" %}
|
||||
{%- if model.dyn_ext_fun_type == "casadi" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
|
||||
{%- endif %}
|
||||
{%- else %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
|
||||
{%- endif %}
|
||||
{# acados flags #}
|
||||
ACADOS_FLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
ACADOS_FLAGS += -DACADOS_WITH_QPOASES
|
||||
{%- endif %}
|
||||
MODEL_OBJ := $(MODEL_SRC:.c=.o)
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
|
||||
ACADOS_FLAGS += -DACADOS_WITH_OSQP
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
|
||||
ACADOS_FLAGS += -DACADOS_WITH_QPDUNES
|
||||
{%- endif %}
|
||||
# # Debugging
|
||||
# ACADOS_FLAGS += -g3
|
||||
|
||||
# optimal control problem - mostly CasADi exports
|
||||
OCP_SRC=
|
||||
MODEL_OBJ=
|
||||
{%- if solver_options.integrator_type == "ERK" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.o
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "IRK" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.o
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" %}
|
||||
{%- if model.dyn_ext_fun_type == "casadi" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.o
|
||||
{%- endif %}
|
||||
{%- else %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
|
||||
OCP_OBJ=
|
||||
{%- if constr_type == "BGP" and dims_nphi > 0 %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.o
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.o
|
||||
{%- endif %}
|
||||
|
||||
{%- if constr_type == "BGH" and dims_nh > 0 %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.o
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.o
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.o
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.o
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{%- if cost_type_0 == "NONLINEAR_LS" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
|
||||
{%- elif cost_type_0 == "EXTERNAL" %}
|
||||
{%- if cost.cost_ext_fun_type_0 == "casadi" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
|
||||
{%- else %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
|
||||
{%- endif %}
|
||||
{% if cost.cost_ext_fun_type_0 == "casadi" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
|
||||
{% else %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
|
||||
{% endif %}
|
||||
{%- endif %}
|
||||
{%- if cost_type == "NONLINEAR_LS" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
|
||||
{%- elif cost_type == "EXTERNAL" %}
|
||||
{%- if cost.cost_ext_fun_type == "casadi" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
|
||||
{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
|
||||
{%- endif %}
|
||||
{% if cost.cost_ext_fun_type == "casadi" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
|
||||
{% elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
|
||||
{% endif %}
|
||||
{%- endif %}
|
||||
{%- if cost_type_e == "NONLINEAR_LS" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
|
||||
{%- elif cost_type_e == "EXTERNAL" %}
|
||||
{%- if cost.cost_ext_fun_type_e == "casadi" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
|
||||
{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
|
||||
{%- endif %}
|
||||
{% if cost.cost_ext_fun_type_e == "casadi" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
|
||||
{% elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
|
||||
{% endif %}
|
||||
{%- endif %}
|
||||
OCP_SRC+= acados_solver_{{ model.name }}.c
|
||||
OCP_OBJ := $(OCP_SRC:.c=.o)
|
||||
OCP_OBJ+= acados_solver_{{ model.name }}.o
|
||||
|
||||
# for sim solver
|
||||
SIM_SRC= acados_sim_solver_{{ model.name }}.c
|
||||
SIM_OBJ := $(SIM_SRC:.c=.o)
|
||||
|
||||
# for target example
|
||||
EX_SRC= main_{{ model.name }}.c
|
||||
EX_OBJ := $(EX_SRC:.c=.o)
|
||||
EX_EXE := $(EX_SRC:.c=)
|
||||
SIM_OBJ=
|
||||
SIM_OBJ+= acados_sim_solver_{{ model.name }}.o
|
||||
|
||||
# for target example_sim
|
||||
EX_SIM_SRC= main_sim_{{ model.name }}.c
|
||||
EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
|
||||
EX_SIM_EXE := $(EX_SIM_SRC:.c=)
|
||||
EX_OBJ=
|
||||
EX_OBJ+= main_{{ model.name }}.o
|
||||
|
||||
EX_SIM_OBJ=
|
||||
EX_SIM_OBJ+= main_sim_{{ model.name }}.o
|
||||
|
||||
# combine model, sim and ocp object files
|
||||
OBJ=
|
||||
OBJ+= $(MODEL_OBJ)
|
||||
{%- if solver_options.integrator_type != "DISCRETE" %}
|
||||
|
|
@ -271,103 +271,233 @@ EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
|
|||
INCLUDE_PATH = {{ acados_include_path }}
|
||||
LIB_PATH = {{ acados_lib_path }}
|
||||
|
||||
# preprocessor flags for make's implicit rules
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
CPPFLAGS += -DACADOS_WITH_QPOASES
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
|
||||
CPPFLAGS += -DACADOS_WITH_OSQP
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
|
||||
CPPFLAGS += -DACADOS_WITH_QPDUNES
|
||||
{%- endif %}
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/acados
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
{# c-compiler flags #}
|
||||
# define the c-compiler flags for make's implicit rules
|
||||
CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
|
||||
# # Debugging
|
||||
# CFLAGS += -g3
|
||||
|
||||
# linker flags
|
||||
LDFLAGS+= -L$(LIB_PATH)
|
||||
|
||||
# link to libraries
|
||||
LDLIBS+= -lacados
|
||||
LDLIBS+= -lhpipm
|
||||
LDLIBS+= -lblasfeo
|
||||
LDLIBS+= -lm
|
||||
LDLIBS+= {{ link_libs }}
|
||||
|
||||
# libraries
|
||||
LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so
|
||||
LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so
|
||||
LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
|
||||
|
||||
# virtual targets
|
||||
.PHONY : all clean
|
||||
|
||||
#all: clean example_sim example shared_lib
|
||||
{% if solver_options.integrator_type == "DISCRETE" -%}
|
||||
all: clean example
|
||||
{%- if solver_options.integrator_type == "DISCRETE" %}
|
||||
all: clean casadi_fun example
|
||||
shared_lib: ocp_shared_lib
|
||||
{%- else %}
|
||||
all: clean example_sim example
|
||||
all: clean casadi_fun example_sim example
|
||||
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
|
||||
{%- endif %}
|
||||
|
||||
# some linker targets
|
||||
example: $(EX_OBJ) $(OBJ)
|
||||
$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
|
||||
$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
{% if solver_options.integrator_type != "DISCRETE" -%}
|
||||
bundled_shared_lib: $(OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
|
||||
CASADI_MODEL_SOURCE=
|
||||
{%- if solver_options.integrator_type == "ERK" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "IRK" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
|
||||
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
|
||||
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_jac_y_uhat.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_get_matrices_fun.c
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" and model.dyn_ext_fun_type == "casadi" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGP" and dims_nphi > 0 %}
|
||||
CASADI_CON_PHI_SOURCE=
|
||||
CASADI_CON_PHI_SOURCE+= {{ model.name }}_phi_constraint.c
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
|
||||
CASADI_CON_PHI_E_SOURCE=
|
||||
CASADI_CON_PHI_E_SOURCE+= {{ model.name }}_phi_e_constraint.c
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGH" and dims_nh > 0 %}
|
||||
CASADI_CON_H_SOURCE=
|
||||
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt.c
|
||||
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
|
||||
{%- if dims_nh_e > 0 %}
|
||||
CASADI_CON_H_E_SOURCE=
|
||||
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
|
||||
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
|
||||
{%- if cost_type == "NONLINEAR_LS" %}
|
||||
CASADI_COST_Y_SOURCE=
|
||||
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun.c
|
||||
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun_jac_ut_xt.c
|
||||
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_hess.c
|
||||
{%- endif %}
|
||||
{%- if cost_type_e == "NONLINEAR_LS" %}
|
||||
CASADI_COST_Y_E_SOURCE=
|
||||
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun.c
|
||||
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun_jac_ut_xt.c
|
||||
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_hess.c
|
||||
{%- endif %}
|
||||
{%- if cost_type_0 == "NONLINEAR_LS" %}
|
||||
CASADI_COST_Y_0_SOURCE=
|
||||
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun.c
|
||||
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun_jac_ut_xt.c
|
||||
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_hess.c
|
||||
{%- endif %}
|
||||
|
||||
casadi_fun:
|
||||
{%- if model.dyn_ext_fun_type == "casadi" %}
|
||||
( cd {{ model.name }}_model {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_MODEL_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGP" and dims_nphi > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_E_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGH" and dims_nh > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_E_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if cost_type == "NONLINEAR_LS" %}
|
||||
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if cost_type_e == "NONLINEAR_LS" %}
|
||||
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_E_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if cost_type_0 == "NONLINEAR_LS" %}
|
||||
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_0_SOURCE))
|
||||
{%- endif %}
|
||||
|
||||
main:
|
||||
gcc $(ACADOS_FLAGS) -c main_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
main_sim:
|
||||
gcc $(ACADOS_FLAGS) -c main_sim_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/
|
||||
|
||||
ocp_solver:
|
||||
gcc $(ACADOS_FLAGS) -c acados_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
sim_solver:
|
||||
gcc $(ACADOS_FLAGS) -c acados_sim_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
example: ocp_solver main
|
||||
gcc $(ACADOS_FLAGS) -o main_{{ model.name }} $(EX_OBJ) $(OBJ) -L $(LIB_PATH) \
|
||||
-lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
|
||||
# Cython targets
|
||||
example_sim: sim_solver main_sim
|
||||
gcc $(ACADOS_FLAGS) -o main_sim_{{ model.name }} $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) -L $(LIB_PATH) \
|
||||
-lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/acados/ \
|
||||
|
||||
{%- if solver_options.integrator_type != "DISCRETE" %}
|
||||
|
||||
bundled_shared_lib: casadi_fun ocp_solver sim_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_solver_{{ model.name }}.so $(OBJ) \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-L $(LIB_PATH) \
|
||||
-lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
ocp_shared_lib: casadi_fun ocp_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
{%- else %}
|
||||
|
||||
ocp_shared_lib: casadi_fun ocp_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
{%- endif %}
|
||||
|
||||
ocp_cython_c: ocp_shared_lib
|
||||
cython \
|
||||
-o acados_ocp_solver_pyx.c \
|
||||
-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
|
||||
$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
|
||||
-I {{ code_export_directory }} \
|
||||
|
||||
ocp_cython_o: ocp_cython_c
|
||||
$(CC) $(ACADOS_FLAGS) -c -O2 \
|
||||
-fPIC \
|
||||
clang $(ACADOS_FLAGS) -c -O2 \
|
||||
-o acados_ocp_solver_pyx.o \
|
||||
-I /usr/include/python3.8 \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-I {{ cython_include_dirs }} \
|
||||
acados_ocp_solver_pyx.c \
|
||||
|
||||
ocp_cython: ocp_cython_o
|
||||
$(CC) $(ACADOS_FLAGS) -shared \
|
||||
clang $(ACADOS_FLAGS) -shared \
|
||||
-o acados_ocp_solver_pyx.so \
|
||||
-Wl,-rpath=$(LIB_PATH) \
|
||||
acados_ocp_solver_pyx.o \
|
||||
$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
|
||||
$(LDFLAGS) $(LDLIBS)
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo -lqpOASES_e \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
sim_shared_lib: casadi_fun sim_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
{%- if os and os == "pc" %}
|
||||
|
||||
|
|
@ -380,27 +510,15 @@ clean_ocp_shared_lib:
|
|||
del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
|
||||
del \Q acados_solver_{{ model.name }}.o 2>nul
|
||||
|
||||
clean_ocp_cython:
|
||||
del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
|
||||
del \Q acados_solver_{{ model.name }}.o 2>nul
|
||||
del \Q acados_ocp_solver_pyx.so 2>nul
|
||||
del \Q acados_ocp_solver_pyx.o 2>nul
|
||||
|
||||
{%- else %}
|
||||
|
||||
clean:
|
||||
$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
|
||||
$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
|
||||
$(RM) $(EX_EXE) $(EX_SIM_EXE)
|
||||
rm -f *.o
|
||||
rm -f *.so
|
||||
rm -f main_{{ model.name }}
|
||||
|
||||
clean_ocp_shared_lib:
|
||||
$(RM) $(LIBACADOS_OCP_SOLVER)
|
||||
$(RM) $(OCP_OBJ)
|
||||
|
||||
clean_ocp_cython:
|
||||
$(RM) libacados_ocp_solver_{{ model.name }}.so
|
||||
$(RM) acados_solver_{{ model.name }}.o
|
||||
$(RM) acados_ocp_solver_pyx.so
|
||||
$(RM) acados_ocp_solver_pyx.o
|
||||
rm -f libacados_ocp_solver_{{ model.name }}.so
|
||||
rm -f acados_solver_{{ model.name }}.o
|
||||
|
||||
{%- endif %}
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
mexPrintf("{{ model.name }}_acados_create() -> success!\n");
|
||||
|
||||
// get pointers to nlp solver related objects
|
||||
ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
|
||||
ocp_nlp_plan *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
|
||||
ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
|
||||
ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
|
||||
ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
|
||||
|
|
@ -238,18 +238,14 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
|
||||
{%- endif %}
|
||||
{% elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
l_ptr = mxGetData(gnsf_phi_fun_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
|
||||
l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
|
||||
l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
|
||||
{% elif solver_options.integrator_type == "DISCRETE" %}
|
||||
|
|
|
|||
|
|
@ -69,7 +69,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
|
||||
// plan
|
||||
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
|
||||
ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
|
||||
ocp_nlp_plan *plan = (ocp_nlp_plan *) ptr[0];
|
||||
// config
|
||||
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
|
||||
ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
|
||||
|
|
@ -404,7 +404,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
}
|
||||
else if (!strcmp(field, "init_z"))
|
||||
{
|
||||
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_t type = sim_plan.sim_solver;
|
||||
if (type == IRK)
|
||||
{
|
||||
|
|
@ -426,7 +426,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
}
|
||||
else if (!strcmp(field, "init_xdot"))
|
||||
{
|
||||
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_t type = sim_plan.sim_solver;
|
||||
if (type == IRK)
|
||||
{
|
||||
|
|
@ -448,7 +448,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
}
|
||||
else if (!strcmp(field, "init_gnsf_phi"))
|
||||
{
|
||||
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_t type = sim_plan.sim_solver;
|
||||
if (type == GNSF)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -164,17 +164,12 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
{%- endif %}
|
||||
|
||||
{% elif solver_options.integrator_type == "GNSF" -%}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
|
||||
capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
|
||||
capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
|
||||
|
|
@ -199,7 +194,6 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
|
||||
external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
|
||||
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
|
||||
|
|
@ -207,8 +201,6 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
|
||||
external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
|
||||
capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
|
||||
|
|
@ -220,7 +212,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
{% endif %}
|
||||
|
||||
// sim plan & config
|
||||
sim_solver_plan_t plan;
|
||||
sim_solver_plan plan;
|
||||
plan.sim_solver = {{ solver_options.integrator_type }};
|
||||
|
||||
// create correct config based on plan
|
||||
|
|
@ -315,18 +307,14 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
"expl_ode_hess", capsule->sim_expl_ode_hess);
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"phi_fun", capsule->sim_gnsf_phi_fun);
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
|
||||
{%- endif %}
|
||||
|
|
@ -421,14 +409,10 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
|
|||
external_function_param_casadi_free(capsule->sim_expl_ode_hess);
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_phi_fun);
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y);
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun);
|
||||
{% endif %}
|
||||
|
||||
|
|
@ -461,14 +445,10 @@ int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, doubl
|
|||
capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
|
||||
capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
|
||||
capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
|
||||
{% endif %}
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@
|
|||
#define MDL_START
|
||||
|
||||
// acados
|
||||
// #include "acados/utils/print.h"
|
||||
#include "acados/utils/print.h"
|
||||
#include "acados_c/ocp_nlp_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -78,10 +78,9 @@ typedef struct {{ model.name }}_solver_capsule
|
|||
// acados objects
|
||||
ocp_nlp_in *nlp_in;
|
||||
ocp_nlp_out *nlp_out;
|
||||
ocp_nlp_out *sens_out;
|
||||
ocp_nlp_solver *nlp_solver;
|
||||
void *nlp_opts;
|
||||
ocp_nlp_plan_t *nlp_solver_plan;
|
||||
ocp_nlp_plan *nlp_solver_plan;
|
||||
ocp_nlp_config *nlp_config;
|
||||
ocp_nlp_dims *nlp_dims;
|
||||
|
||||
|
|
@ -187,10 +186,6 @@ int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_c
|
|||
* nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
|
||||
*/
|
||||
int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
|
||||
/**
|
||||
* This function is used for updating an already initialized solver with a different number of qp_cond_N.
|
||||
*/
|
||||
int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
|
||||
int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
|
||||
int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
|
||||
int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
|
||||
|
|
@ -198,12 +193,11 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsu
|
|||
|
||||
ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
|
||||
void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
|
|
|
|||
|
|
@ -1,36 +1,3 @@
|
|||
#
|
||||
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
||||
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
||||
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
||||
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
||||
#
|
||||
# This file is part of acados.
|
||||
#
|
||||
# The 2-Clause BSD License
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright notice,
|
||||
# this list of conditions and the following disclaimer.
|
||||
#
|
||||
# 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
# this list of conditions and the following disclaimer in the documentation
|
||||
# and/or other materials provided with the distribution.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.;
|
||||
#
|
||||
|
||||
cimport acados_solver_common
|
||||
|
||||
cdef extern from "acados_solver_{{ model.name }}.h":
|
||||
|
|
@ -41,11 +8,6 @@ cdef extern from "acados_solver_{{ model.name }}.h":
|
|||
int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
|
||||
|
||||
int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
|
||||
|
||||
int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
|
||||
int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
|
||||
int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
|
||||
|
||||
int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
|
||||
int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
|
||||
int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
|
||||
|
|
@ -53,7 +15,6 @@ cdef extern from "acados_solver_{{ model.name }}.h":
|
|||
|
||||
acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
|
||||
void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@
|
|||
#define MDL_START
|
||||
|
||||
// acados
|
||||
// #include "acados/utils/print.h"
|
||||
#include "acados/utils/print.h"
|
||||
#include "acados_c/sim_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -156,12 +156,11 @@ int main()
|
|||
for (int ii = 0; ii < NTIMINGS; ii++)
|
||||
{
|
||||
// initialize solution
|
||||
for (int i = 0; i < N; i++)
|
||||
for (int i = 0; i <= nlp_dims->N; i++)
|
||||
{
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
|
||||
}
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
|
||||
ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
|
||||
status = {{ model.name }}_acados_solve(acados_ocp_capsule);
|
||||
ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
|
||||
|
|
|
|||
|
|
@ -46,14 +46,10 @@ SOURCES = { ...
|
|||
'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" %}
|
||||
'{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
|
||||
|
|
|
|||
|
|
@ -47,14 +47,10 @@ SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
|
|||
'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c '
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c '
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c '
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c '
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c '
|
||||
{%- endif %}
|
||||
];
|
||||
|
|
|
|||
|
|
@ -125,15 +125,15 @@ classdef {{ model.name }}_mex_solver < handle
|
|||
if strcmp(field, 'stat')
|
||||
stat = obj.get('stat');
|
||||
{%- if solver_options.nlp_solver_type == "SQP" %}
|
||||
fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
|
||||
if size(stat,2)>8
|
||||
fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter');
|
||||
if size(stat,2)>7
|
||||
fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
|
||||
end
|
||||
fprintf('\n');
|
||||
for jj=1:size(stat,1)
|
||||
fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
|
||||
if size(stat,2)>8
|
||||
fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
|
||||
fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
|
||||
if size(stat,2)>7
|
||||
fprintf('\t%e\t%e\t%e\t%e', stat(jj,8), stat(jj,9), stat(jj,10), stat(jj,11));
|
||||
end
|
||||
fprintf('\n');
|
||||
end
|
||||
|
|
|
|||
|
|
@ -90,7 +90,14 @@ int {{ model.name }}_impl_dae_hess_n_out(void);
|
|||
|
||||
{% elif solver_options.integrator_type == "GNSF" %}
|
||||
/* GNSF Functions */
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
// used to import model matrices
|
||||
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
|
||||
|
||||
// phi_fun
|
||||
int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
|
||||
|
|
@ -114,7 +121,7 @@ const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
|
|||
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
|
||||
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
|
||||
// f_lo_fun_jac_x1k1uz
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
|
||||
|
|
@ -122,15 +129,6 @@ const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
|
|||
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
// used to import model matrices
|
||||
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
|
||||
|
||||
{% elif solver_options.integrator_type == "ERK" %}
|
||||
/* explicit ODE */
|
||||
|
|
|
|||
|
|
@ -254,6 +254,22 @@ def format_class_dict(d):
|
|||
return out
|
||||
|
||||
|
||||
def acados_class2dict(class_instance):
|
||||
"""
|
||||
removes the __ artifact from class to dict conversion
|
||||
"""
|
||||
|
||||
d = dict(class_instance.__dict__)
|
||||
out = {}
|
||||
for k, v in d.items():
|
||||
if isinstance(v, dict):
|
||||
v = format_class_dict(v)
|
||||
|
||||
out_key = k.split('__', 1)[-1]
|
||||
out[k.replace(k, out_key)] = v
|
||||
return out
|
||||
|
||||
|
||||
def get_ocp_nlp_layout():
|
||||
python_interface_path = get_python_interface_path()
|
||||
abs_path = os.path.join(python_interface_path, 'acados_layout.json')
|
||||
|
|
@ -417,13 +433,6 @@ def set_up_imported_gnsf_model(acados_formulation):
|
|||
acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat
|
||||
acados_formulation.model.get_matrices_fun = get_matrices_fun
|
||||
|
||||
# get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
|
||||
# {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
|
||||
# nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
|
||||
get_matrices_out = get_matrices_fun(0)
|
||||
acados_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
|
||||
acados_formulation.model.gnsf['purely_linear'] = int(get_matrices_out[13])
|
||||
|
||||
if "f_lo_fun_jac_x1k1uz" in gnsf:
|
||||
f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
|
||||
acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586
|
||||
Subproject commit 5b526a8e00bdc1c3922be470af1602cf9dc72dde
|
||||
|
|
@ -17,7 +17,6 @@ site_scons/site_tools/cython.py
|
|||
|
||||
common/.gitignore
|
||||
common/__init__.py
|
||||
common/conversions.py
|
||||
common/gpio.py
|
||||
common/realtime.py
|
||||
common/clock.pyx
|
||||
|
|
@ -70,10 +69,12 @@ installer/updater/updater
|
|||
selfdrive/version.py
|
||||
|
||||
selfdrive/__init__.py
|
||||
selfdrive/config.py
|
||||
selfdrive/sentry.py
|
||||
selfdrive/swaglog.py
|
||||
selfdrive/logmessaged.py
|
||||
selfdrive/tombstoned.py
|
||||
selfdrive/pandad.py
|
||||
selfdrive/updated.py
|
||||
selfdrive/rtshield.py
|
||||
selfdrive/statsd.py
|
||||
|
|
@ -97,10 +98,8 @@ selfdrive/boardd/panda.h
|
|||
selfdrive/boardd/pigeon.cc
|
||||
selfdrive/boardd/pigeon.h
|
||||
selfdrive/boardd/set_time.py
|
||||
selfdrive/boardd/pandad.py
|
||||
|
||||
selfdrive/car/__init__.py
|
||||
selfdrive/car/docs_definitions.py
|
||||
selfdrive/car/car_helpers.py
|
||||
selfdrive/car/fingerprints.py
|
||||
selfdrive/car/interfaces.py
|
||||
|
|
@ -337,11 +336,11 @@ selfdrive/sensord/sensord
|
|||
|
||||
selfdrive/thermald/thermald.py
|
||||
selfdrive/thermald/power_monitoring.py
|
||||
selfdrive/thermald/fan_controller.py
|
||||
|
||||
selfdrive/test/__init__.py
|
||||
selfdrive/test/helpers.py
|
||||
selfdrive/test/setup_device_ci.sh
|
||||
selfdrive/test/test_fingerprints.py
|
||||
selfdrive/test/test_onroad.py
|
||||
|
||||
selfdrive/ui/.gitignore
|
||||
|
|
@ -424,13 +423,10 @@ selfdrive/modeld/transforms/transform.cc
|
|||
selfdrive/modeld/transforms/transform.h
|
||||
selfdrive/modeld/transforms/transform.cl
|
||||
|
||||
selfdrive/modeld/thneed/*.py
|
||||
selfdrive/modeld/thneed/thneed.*
|
||||
selfdrive/modeld/thneed/serialize.cc
|
||||
selfdrive/modeld/thneed/compile.cc
|
||||
selfdrive/modeld/thneed/optimizer.cc
|
||||
selfdrive/modeld/thneed/include/*
|
||||
selfdrive/modeld/thneed/kernels/*.cl
|
||||
|
||||
selfdrive/modeld/runners/snpemodel.cc
|
||||
selfdrive/modeld/runners/snpemodel.h
|
||||
|
|
@ -573,10 +569,12 @@ opendbc/acura_rdx_2018_can_generated.dbc
|
|||
opendbc/acura_rdx_2020_can_generated.dbc
|
||||
opendbc/honda_civic_touring_2016_can_generated.dbc
|
||||
opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
|
||||
opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
|
||||
opendbc/honda_crv_touring_2016_can_generated.dbc
|
||||
opendbc/honda_crv_ex_2017_can_generated.dbc
|
||||
opendbc/honda_crv_ex_2017_body_generated.dbc
|
||||
opendbc/honda_crv_executive_2016_can_generated.dbc
|
||||
opendbc/honda_crv_hybrid_2019_can_generated.dbc
|
||||
opendbc/honda_fit_ex_2018_can_generated.dbc
|
||||
opendbc/honda_odyssey_exl_2018_generated.dbc
|
||||
opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
|
||||
|
|
|
|||
|
|
@ -1,13 +1,15 @@
|
|||
#!/usr/bin/env python3
|
||||
import os
|
||||
from collections import Counter
|
||||
from pprint import pprint
|
||||
|
||||
from selfdrive.car.docs import get_tier_car_info
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
if __name__ == "__main__":
|
||||
tiers = get_tier_car_info()
|
||||
cars = [car for tier_cars in tiers.values() for car in tier_cars]
|
||||
with open(os.path.join(BASEDIR, "docs/CARS.md")) as f:
|
||||
lines = f.readlines()
|
||||
cars = [l for l in lines if l.strip().startswith("|") and l.strip().endswith("|") and
|
||||
"Make" not in l and any(c.isalpha() for c in l)]
|
||||
|
||||
make_count = Counter(l.make for l in cars)
|
||||
print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
|
||||
make_count = Counter(l.split('|')[1].split('|')[0].strip() for l in cars)
|
||||
print("\n", "*"*20, len(cars), "total", "*"*20, "\n")
|
||||
pprint(make_count)
|
||||
|
|
|
|||
|
|
@ -1,5 +0,0 @@
|
|||
#!/usr/bin/env python3
|
||||
from selfdrive.hardware import HARDWARE
|
||||
|
||||
if __name__ == "__main__":
|
||||
HARDWARE.set_power_save(False)
|
||||
|
|
@ -2,6 +2,3 @@
|
|||
|
||||
echo "compressing training guide images"
|
||||
optipng -o7 -strip all training/* training_wide/*
|
||||
|
||||
# This can sometimes provide smaller images
|
||||
# mogrify -quality 100 -format jpg training_wide/* training/*
|
||||
|
|
|
|||
Binary file not shown.
|
Before Width: | Height: | Size: 1.4 MiB After Width: | Height: | Size: 1.5 MiB |
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|
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|
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|
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|
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|
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|
Before Width: | Height: | Size: 1.5 MiB After Width: | Height: | Size: 1.1 MiB |
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|
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|
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|
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|
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|
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|
Before Width: | Height: | Size: 793 KiB After Width: | Height: | Size: 720 KiB |
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|
Before Width: | Height: | Size: 1.0 MiB After Width: | Height: | Size: 894 KiB |
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|
Before Width: | Height: | Size: 33 KiB After Width: | Height: | Size: 39 KiB |
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|
Before Width: | Height: | Size: 1.1 MiB After Width: | Height: | Size: 1.0 MiB |
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|
Before Width: | Height: | Size: 818 KiB After Width: | Height: | Size: 718 KiB |
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|
Before Width: | Height: | Size: 707 KiB After Width: | Height: | Size: 612 KiB |
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|
Before Width: | Height: | Size: 871 KiB After Width: | Height: | Size: 821 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 1.5 MiB After Width: | Height: | Size: 1.7 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 51 KiB After Width: | Height: | Size: 48 KiB |
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|
Before Width: | Height: | Size: 1010 KiB After Width: | Height: | Size: 897 KiB |
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|
Before Width: | Height: | Size: 52 KiB After Width: | Height: | Size: 51 KiB |
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|
Before Width: | Height: | Size: 1.0 MiB After Width: | Height: | Size: 792 KiB |
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|
Before Width: | Height: | Size: 36 KiB After Width: | Height: | Size: 34 KiB |
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|
Before Width: | Height: | Size: 1.8 MiB After Width: | Height: | Size: 1.6 MiB |
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|
Before Width: | Height: | Size: 1.1 MiB After Width: | Height: | Size: 949 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 35 KiB After Width: | Height: | Size: 34 KiB |
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|
Before Width: | Height: | Size: 42 KiB After Width: | Height: | Size: 41 KiB |
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|
Before Width: | Height: | Size: 1.6 MiB After Width: | Height: | Size: 2.1 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 36 KiB After Width: | Height: | Size: 34 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 944 KiB After Width: | Height: | Size: 821 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 1.2 MiB After Width: | Height: | Size: 1.0 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 41 KiB After Width: | Height: | Size: 40 KiB |
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|
Before Width: | Height: | Size: 1.2 MiB After Width: | Height: | Size: 1.0 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 915 KiB After Width: | Height: | Size: 794 KiB |
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|
Before Width: | Height: | Size: 854 KiB After Width: | Height: | Size: 738 KiB |
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|
Before Width: | Height: | Size: 1001 KiB After Width: | Height: | Size: 852 KiB |
|
|
@ -4,39 +4,36 @@ import hashlib
|
|||
import io
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
import queue
|
||||
import random
|
||||
import select
|
||||
import socket
|
||||
import subprocess
|
||||
import sys
|
||||
import tempfile
|
||||
import threading
|
||||
import time
|
||||
import tempfile
|
||||
import subprocess
|
||||
from collections import namedtuple
|
||||
from datetime import datetime
|
||||
from functools import partial
|
||||
from typing import Any, Dict
|
||||
|
||||
import requests
|
||||
from jsonrpc import JSONRPCResponseManager, dispatcher
|
||||
from websocket import (ABNF, WebSocketException, WebSocketTimeoutException,
|
||||
create_connection)
|
||||
from websocket import ABNF, WebSocketTimeoutException, WebSocketException, create_connection
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
from common.api import Api
|
||||
from common.basedir import PERSIST
|
||||
from common.file_helpers import CallbackReader
|
||||
from common.basedir import PERSIST
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.hardware import HARDWARE, PC, TICI
|
||||
from selfdrive.loggerd.config import ROOT
|
||||
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
|
||||
from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
|
||||
from selfdrive.version import get_version, get_origin, get_short_branch, get_commit
|
||||
from selfdrive.statsd import STATS_DIR
|
||||
from selfdrive.swaglog import SWAGLOG_DIR, cloudlog
|
||||
from selfdrive.version import get_commit, get_origin, get_short_branch, get_version
|
||||
|
||||
ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
|
||||
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
|
||||
|
|
@ -48,11 +45,8 @@ RECONNECT_TIMEOUT_S = 70
|
|||
|
||||
RETRY_DELAY = 10 # seconds
|
||||
MAX_RETRY_COUNT = 30 # Try for at most 5 minutes if upload fails immediately
|
||||
MAX_AGE = 31 * 24 * 3600 # seconds
|
||||
WS_FRAME_SIZE = 4096
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
dispatcher["echo"] = lambda s: s
|
||||
recv_queue: Any = queue.Queue()
|
||||
send_queue: Any = queue.Queue()
|
||||
|
|
@ -60,13 +54,10 @@ upload_queue: Any = queue.Queue()
|
|||
low_priority_send_queue: Any = queue.Queue()
|
||||
log_recv_queue: Any = queue.Queue()
|
||||
cancelled_uploads: Any = set()
|
||||
UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False))
|
||||
UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress'], defaults=(0, False, 0))
|
||||
|
||||
cur_upload_items: Dict[int, Any] = {}
|
||||
|
||||
class AbortTransferException(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class UploadQueueCache():
|
||||
params = Params()
|
||||
|
|
@ -138,13 +129,11 @@ def jsonrpc_handler(end_event):
|
|||
send_queue.put_nowait(json.dumps({"error": str(e)}))
|
||||
|
||||
|
||||
def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
|
||||
def retry_upload(tid: int, end_event: threading.Event) -> None:
|
||||
if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
|
||||
item = cur_upload_items[tid]
|
||||
new_retry_count = item.retry_count + 1 if increase_count else item.retry_count
|
||||
|
||||
item = item._replace(
|
||||
retry_count=new_retry_count,
|
||||
retry_count=item.retry_count + 1,
|
||||
progress=0,
|
||||
current=False
|
||||
)
|
||||
|
|
@ -160,7 +149,6 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
|
|||
|
||||
|
||||
def upload_handler(end_event: threading.Event) -> None:
|
||||
sm = messaging.SubMaster(['deviceState'])
|
||||
tid = threading.get_ident()
|
||||
|
||||
while not end_event.is_set():
|
||||
|
|
@ -173,52 +161,19 @@ def upload_handler(end_event: threading.Event) -> None:
|
|||
cancelled_uploads.remove(cur_upload_items[tid].id)
|
||||
continue
|
||||
|
||||
# Remove item if too old
|
||||
age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000)
|
||||
if age.total_seconds() > MAX_AGE:
|
||||
cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True)
|
||||
continue
|
||||
|
||||
# Check if uploading over metered connection is allowed
|
||||
sm.update(0)
|
||||
metered = sm['deviceState'].networkMetered
|
||||
network_type = sm['deviceState'].networkType.raw
|
||||
if metered and (not cur_upload_items[tid].allow_cellular):
|
||||
retry_upload(tid, end_event, False)
|
||||
continue
|
||||
|
||||
try:
|
||||
def cb(sz, cur):
|
||||
# Abort transfer if connection changed to metered after starting upload
|
||||
sm.update(0)
|
||||
metered = sm['deviceState'].networkMetered
|
||||
if metered and (not cur_upload_items[tid].allow_cellular):
|
||||
raise AbortTransferException
|
||||
|
||||
cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
|
||||
|
||||
fn = cur_upload_items[tid].path
|
||||
try:
|
||||
sz = os.path.getsize(fn)
|
||||
except OSError:
|
||||
sz = -1
|
||||
|
||||
cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
response = _do_upload(cur_upload_items[tid], cb)
|
||||
|
||||
if response.status_code not in (200, 201, 403, 412):
|
||||
cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
cloudlog.warning(f"athena.upload_handler.retry {response.status_code} {cur_upload_items[tid]}")
|
||||
retry_upload(tid, end_event)
|
||||
else:
|
||||
cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
|
||||
UploadQueueCache.cache(upload_queue)
|
||||
except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError):
|
||||
cloudlog.event("athena.upload_handler.timeout", fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError) as e:
|
||||
cloudlog.warning(f"athena.upload_handler.retry {e} {cur_upload_items[tid]}")
|
||||
|
||||
retry_upload(tid, end_event)
|
||||
except AbortTransferException:
|
||||
cloudlog.event("athena.upload_handler.abort", fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
retry_upload(tid, end_event, False)
|
||||
|
||||
except queue.Empty:
|
||||
pass
|
||||
|
|
@ -319,20 +274,15 @@ def reboot():
|
|||
|
||||
@dispatcher.add_method
|
||||
def uploadFileToUrl(fn, url, headers):
|
||||
return uploadFilesToUrls([{
|
||||
"fn": fn,
|
||||
"url": url,
|
||||
"headers": headers,
|
||||
}])
|
||||
return uploadFilesToUrls([[fn, url, headers]])
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def uploadFilesToUrls(files_data):
|
||||
items = []
|
||||
failed = []
|
||||
for file in files_data:
|
||||
fn = file.get('fn', '')
|
||||
if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
|
||||
for fn, url, headers in files_data:
|
||||
if len(fn) == 0 or fn[0] == '/' or '..' in fn:
|
||||
failed.append(fn)
|
||||
continue
|
||||
path = os.path.join(ROOT, fn)
|
||||
|
|
@ -340,14 +290,7 @@ def uploadFilesToUrls(files_data):
|
|||
failed.append(fn)
|
||||
continue
|
||||
|
||||
item = UploadItem(
|
||||
path=path,
|
||||
url=file['url'],
|
||||
headers=file.get('headers', {}),
|
||||
created_at=int(time.time() * 1000),
|
||||
id=None,
|
||||
allow_cellular=file.get('allow_cellular', False),
|
||||
)
|
||||
item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None)
|
||||
upload_id = hashlib.sha1(str(item).encode()).hexdigest()
|
||||
item = item._replace(id=upload_id)
|
||||
upload_queue.put_nowait(item)
|
||||
|
|
@ -388,12 +331,12 @@ def primeActivated(activated):
|
|||
|
||||
|
||||
@dispatcher.add_method
|
||||
def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
|
||||
def setUploadLimit(speed_kbps):
|
||||
if not TICI:
|
||||
return {"success": 0, "error": "only supported on comma three"}
|
||||
|
||||
try:
|
||||
HARDWARE.set_bandwidth_limit(upload_speed_kbps, download_speed_kbps)
|
||||
HARDWARE.set_upload_limit(speed_kbps)
|
||||
return {"success": 1}
|
||||
except subprocess.CalledProcessError as e:
|
||||
return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr}
|
||||
|
|
@ -456,12 +399,6 @@ def getNetworkType():
|
|||
return HARDWARE.get_network_type()
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getNetworkMetered():
|
||||
network_type = HARDWARE.get_network_type()
|
||||
return HARDWARE.get_network_metered(network_type)
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getNetworks():
|
||||
return HARDWARE.get_networks()
|
||||
|
|
@ -469,7 +406,7 @@ def getNetworks():
|
|||
|
||||
@dispatcher.add_method
|
||||
def takeSnapshot():
|
||||
from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot
|
||||
from selfdrive.camerad.snapshot.snapshot import snapshot, jpeg_write
|
||||
ret = snapshot()
|
||||
if ret is not None:
|
||||
def b64jpeg(x):
|
||||
|
|
|
|||
|
|
@ -53,8 +53,7 @@ class MockParams():
|
|||
default_params = {
|
||||
"DongleId": b"0000000000000000",
|
||||
"GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
|
||||
"AthenadUploadQueue": '[]',
|
||||
"CellularUnmetered": False,
|
||||
"AthenadUploadQueue": '[]'
|
||||
}
|
||||
params = default_params.copy()
|
||||
|
||||
|
|
@ -62,9 +61,6 @@ class MockParams():
|
|||
def restore_defaults():
|
||||
MockParams.params = MockParams.default_params.copy()
|
||||
|
||||
def get_bool(self, k):
|
||||
return bool(MockParams.params.get(k))
|
||||
|
||||
def get(self, k, encoding=None):
|
||||
ret = MockParams.params.get(k)
|
||||
if ret is not None and encoding is not None:
|
||||
|
|
|
|||
|
|
@ -8,7 +8,6 @@ import time
|
|||
import threading
|
||||
import queue
|
||||
import unittest
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
from multiprocessing import Process
|
||||
from pathlib import Path
|
||||
|
|
@ -151,7 +150,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
def test_upload_handler(self, host):
|
||||
fn = os.path.join(athenad.ROOT, 'qlog.bz2')
|
||||
Path(fn).touch()
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
|
||||
|
||||
end_event = threading.Event()
|
||||
thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
|
||||
|
|
@ -174,7 +173,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
mock_put.return_value.status_code = status
|
||||
fn = os.path.join(athenad.ROOT, 'qlog.bz2')
|
||||
Path(fn).touch()
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
|
||||
|
||||
end_event = threading.Event()
|
||||
thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
|
||||
|
|
@ -188,7 +187,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0)
|
||||
finally:
|
||||
end_event.set()
|
||||
|
||||
|
||||
if retry:
|
||||
self.assertEqual(athenad.upload_queue.get().retry_count, 1)
|
||||
|
||||
|
|
@ -196,7 +195,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
"""When an upload times out or fails to connect it should be placed back in the queue"""
|
||||
fn = os.path.join(athenad.ROOT, 'qlog.bz2')
|
||||
Path(fn).touch()
|
||||
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
|
||||
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
|
||||
item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)
|
||||
|
||||
end_event = threading.Event()
|
||||
|
|
@ -223,7 +222,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
end_event.set()
|
||||
|
||||
def test_cancelUpload(self):
|
||||
item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
|
||||
item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id')
|
||||
athenad.upload_queue.put_nowait(item)
|
||||
dispatcher["cancelUpload"](item.id)
|
||||
|
||||
|
|
@ -241,28 +240,6 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
finally:
|
||||
end_event.set()
|
||||
|
||||
def test_cancelExpiry(self):
|
||||
t_future = datetime.now() - timedelta(days=40)
|
||||
ts = int(t_future.strftime("%s")) * 1000
|
||||
|
||||
# Item that would time out if actually uploaded
|
||||
fn = os.path.join(athenad.ROOT, 'qlog.bz2')
|
||||
Path(fn).touch()
|
||||
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)
|
||||
|
||||
|
||||
end_event = threading.Event()
|
||||
thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
|
||||
thread.start()
|
||||
try:
|
||||
athenad.upload_queue.put_nowait(item)
|
||||
self.wait_for_upload()
|
||||
time.sleep(0.1)
|
||||
|
||||
self.assertEqual(athenad.upload_queue.qsize(), 0)
|
||||
finally:
|
||||
end_event.set()
|
||||
|
||||
def test_listUploadQueueEmpty(self):
|
||||
items = dispatcher["listUploadQueue"]()
|
||||
self.assertEqual(len(items), 0)
|
||||
|
|
@ -271,7 +248,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
def test_listUploadQueueCurrent(self, host):
|
||||
fn = os.path.join(athenad.ROOT, 'qlog.bz2')
|
||||
Path(fn).touch()
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
|
||||
|
||||
end_event = threading.Event()
|
||||
thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
|
||||
|
|
@ -289,7 +266,7 @@ class TestAthenadMethods(unittest.TestCase):
|
|||
end_event.set()
|
||||
|
||||
def test_listUploadQueue(self):
|
||||
item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
|
||||
item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id')
|
||||
athenad.upload_queue.put_nowait(item)
|
||||
|
||||
items = dispatcher["listUploadQueue"]()
|
||||
|
|
|
|||
|
|
@ -161,7 +161,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
|
|||
int safety_param;
|
||||
|
||||
auto safety_configs = car_params.getSafetyConfigs();
|
||||
uint16_t alternative_experience = car_params.getAlternativeExperience();
|
||||
uint16_t unsafe_mode = car_params.getUnsafeMode();
|
||||
for (uint32_t i = 0; i < pandas.size(); i++) {
|
||||
auto panda = pandas[i];
|
||||
|
||||
|
|
@ -174,8 +174,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
|
|||
safety_param = 0;
|
||||
}
|
||||
|
||||
LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
|
||||
panda->set_alternative_experience(alternative_experience);
|
||||
LOGW("panda %d: setting safety model: %d, param: %d, unsafe mode: %d", i, (int)safety_model, safety_param, unsafe_mode);
|
||||
panda->set_unsafe_mode(unsafe_mode);
|
||||
panda->set_safety_model(safety_model, safety_param);
|
||||
}
|
||||
|
||||
|
|
@ -294,7 +294,7 @@ void send_empty_panda_state(PubMaster *pm) {
|
|||
pm->send("pandaStates", msg);
|
||||
}
|
||||
|
||||
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
|
||||
bool send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
|
||||
bool ignition_local = false;
|
||||
|
||||
// build msg
|
||||
|
|
@ -304,12 +304,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
|||
|
||||
std::vector<health_t> pandaStates;
|
||||
for (const auto& panda : pandas){
|
||||
auto health_opt = panda->get_state();
|
||||
if (!health_opt) {
|
||||
return std::nullopt;
|
||||
}
|
||||
|
||||
health_t health = *health_opt;
|
||||
health_t health = panda->get_state();
|
||||
|
||||
if (spoofing_started) {
|
||||
health.ignition_line_pkt = 1;
|
||||
|
|
@ -362,7 +357,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
|||
ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
|
||||
ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
|
||||
ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
|
||||
ps.setAlternativeExperience(health.alternative_experience_pkt);
|
||||
ps.setUnsafeMode(health.unsafe_mode_pkt);
|
||||
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
|
||||
|
||||
// Convert faults bitset to capnp list
|
||||
|
|
@ -371,7 +366,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
|||
|
||||
size_t j = 0;
|
||||
for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
|
||||
f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_EXTI); f++) {
|
||||
f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_TICK); f++) {
|
||||
if (fault_bits.test(f)) {
|
||||
faults.set(j, cereal::PandaState::FaultType(f));
|
||||
j++;
|
||||
|
|
@ -384,12 +379,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
|||
}
|
||||
|
||||
void send_peripheral_state(PubMaster *pm, Panda *panda) {
|
||||
auto pandaState_opt = panda->get_state();
|
||||
if (!pandaState_opt) {
|
||||
return;
|
||||
}
|
||||
|
||||
health_t pandaState = *pandaState_opt;
|
||||
health_t pandaState = panda->get_state();
|
||||
|
||||
// build msg
|
||||
MessageBuilder msg;
|
||||
|
|
@ -437,13 +427,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
|
|||
|
||||
// send out peripheralState
|
||||
send_peripheral_state(pm, peripheral_panda);
|
||||
auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
|
||||
|
||||
if (!ignition_opt) {
|
||||
continue;
|
||||
}
|
||||
|
||||
ignition = *ignition_opt;
|
||||
ignition = send_panda_states(pm, pandas, spoofing_started);
|
||||
|
||||
// TODO: make this check fast, currently takes 16ms
|
||||
// check if we have new pandas and are offroad
|
||||
|
|
@ -610,20 +594,11 @@ void pigeon_thread(Panda *panda) {
|
|||
}
|
||||
|
||||
void boardd_main_thread(std::vector<std::string> serials) {
|
||||
if (serials.size() == 0) serials.push_back("");
|
||||
|
||||
PubMaster pm({"pandaStates", "peripheralState"});
|
||||
LOGW("attempting to connect");
|
||||
|
||||
if (serials.size() == 0) {
|
||||
// connect to all
|
||||
serials = Panda::list();
|
||||
|
||||
// exit if no pandas are connected
|
||||
if (serials.size() == 0) {
|
||||
LOGW("no pandas found, exiting");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// connect to all provided serials
|
||||
std::vector<Panda *> pandas;
|
||||
for (int i = 0; i < serials.size() && !do_exit; /**/) {
|
||||
|
|
|
|||
|
|
@ -251,8 +251,8 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
|
|||
usb_write(0xdc, (uint16_t)safety_model, safety_param);
|
||||
}
|
||||
|
||||
void Panda::set_alternative_experience(uint16_t alternative_experience) {
|
||||
usb_write(0xdf, alternative_experience, 0);
|
||||
void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
|
||||
usb_write(0xdf, unsafe_mode, 0);
|
||||
}
|
||||
|
||||
cereal::PandaState::PandaType Panda::get_hw_type() {
|
||||
|
|
@ -311,10 +311,10 @@ void Panda::set_ir_pwr(uint16_t ir_pwr) {
|
|||
usb_write(0xb0, ir_pwr, 0);
|
||||
}
|
||||
|
||||
std::optional<health_t> Panda::get_state() {
|
||||
health_t Panda::get_state() {
|
||||
health_t health {0};
|
||||
int err = usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
|
||||
return err >= 0 ? std::make_optional(health) : std::nullopt;
|
||||
usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
|
||||
return health;
|
||||
}
|
||||
|
||||
void Panda::set_loopback(bool loopback) {
|
||||
|
|
@ -338,10 +338,6 @@ void Panda::set_power_saving(bool power_saving) {
|
|||
usb_write(0xe7, power_saving, 0);
|
||||
}
|
||||
|
||||
void Panda::enable_deepsleep() {
|
||||
usb_write(0xfb, 0, 0);
|
||||
}
|
||||
|
||||
void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) {
|
||||
usb_write(0xe6, (uint16_t)power_mode, 0);
|
||||
}
|
||||
|
|
|
|||
Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue