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longitudinal MPC: use reset() function instead of recreating the solver in (#24091)

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* scons: add acados_template as dependency for lat and long mpc

* long MPC: use acados reset instead of recreating the solver

* long MPC: print timings and reset commented

* update acados x86_64

* update acados include folder

* update acados Python interface

* update acados reference commit to latest acados/master

* update x86 libs

* update comma two

* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584

* update comma two

* update comma three

* update x86

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Jonathan Frey
2022-04-02 00:39:41 +02:00
committed by GitHub
parent b51deb97d1
commit a9bac5acf8
59 changed files with 1532 additions and 233 deletions
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selfdrive/controls/lib/lateral_mpc_lib/SConscript
+3
View File
@@ -44,11 +44,14 @@ generated_files = [
] + build_files
acados_dir = '#third_party/acados'
acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
source_list = ['lat_mpc.py',
f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
f'{acados_dir}/aarch64/lib/libacados.so',
f'{acados_dir}/x86_64/lib/libacados.so',
f'{acados_dir}/larch64/lib/libacados.so',
f'{acados_templates_dir}/acados_solver.in.c',
]
lenv = env.Clone()
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+3
View File
@@ -51,11 +51,14 @@ generated_files = [
] + build_files
acados_dir = '#third_party/acados'
acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
source_list = ['long_mpc.py',
f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
f'{acados_dir}/aarch64/lib/libacados.so',
f'{acados_dir}/x86_64/lib/libacados.so',
f'{acados_dir}/larch64/lib/libacados.so',
f'{acados_templates_dir}/acados_solver.in.c',
]
lenv = env.Clone()
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+8 -1
View File
@@ -192,11 +192,14 @@ def gen_long_ocp():
class LongitudinalMpc:
def __init__(self, e2e=False):
self.e2e = e2e
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset()
self.source = SOURCES[2]
def reset(self):
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
# self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.solver.reset()
# self.solver.options_set('print_level', 2)
self.v_solution = np.zeros(N+1)
self.a_solution = np.zeros(N+1)
self.prev_a = np.array(self.a_solution)
@@ -352,6 +355,8 @@ class LongitudinalMpc:
self.run()
def run(self):
# t0 = sec_since_boot()
# reset = 0
for i in range(N+1):
self.solver.set(i, 'p', self.params[i])
self.solver.constraints_set(0, "lbx", self.x0)
@@ -386,6 +391,8 @@ class LongitudinalMpc:
self.last_cloudlog_t = t
cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
self.reset()
# reset = 1
# print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
if __name__ == "__main__":