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Port lateral planning to ACADOS (#22080)

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* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7081ab4fb7473a5be424db4b63e6bdaacf62157f
This commit is contained in:
HaraldSchafer
2021-09-13 19:06:54 -07:00
committed by GitHub
parent 335089db07
commit c422cce205
11 changed files with 301 additions and 125 deletions
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SConstruct
+21 -15
View File
@@ -67,10 +67,17 @@ USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
lenv = {
"PATH": os.environ['PATH'],
"LD_LIBRARY_PATH": [Dir(f"#phonelibs/acados/{arch}/lib").abspath],
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
"ACADOS_SOURCE_DIR": Dir("#phonelibs/acados/acados").abspath,
"TERA_PATH": Dir("#").abspath + f"/phonelibs/acados/{arch}/t_renderer",
}
rpath = lenv["LD_LIBRARY_PATH"].copy()
if arch == "aarch64" or arch == "larch64":
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
if arch == "aarch64":
# android
@@ -87,6 +94,7 @@ if arch == "aarch64" or arch == "larch64":
"/system/vendor/lib64",
"/system/comma/usr/lib",
"#phonelibs/nanovg",
f"#phonelibs/acados/{arch}/lib",
]
if arch == "larch64":
@@ -100,8 +108,9 @@ if arch == "aarch64" or arch == "larch64":
]
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
rpath = ["/usr/local/lib"]
rpath += ["/usr/local/lib"]
else:
rpath = []
libpath += [
"#phonelibs/snpe/aarch64",
"#phonelibs/libyuv/lib",
@@ -109,7 +118,6 @@ if arch == "aarch64" or arch == "larch64":
]
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
rpath = []
else:
cflags = []
cxxflags = []
@@ -134,6 +142,7 @@ else:
]
else:
libpath = [
"#phonelibs/acados/x86_64/lib",
"#phonelibs/snpe/x86_64-linux-clang",
"#phonelibs/libyuv/x64/lib",
"#phonelibs/mapbox-gl-native-qt/x86_64",
@@ -143,15 +152,12 @@ else:
"/usr/local/lib",
]
rpath = [
"phonelibs/snpe/x86_64-linux-clang",
"cereal",
"selfdrive/common"
rpath += [
Dir("#phonelibs/snpe/x86_64-linux-clang").abspath,
Dir("#cereal").abspath,
Dir("#selfdrive/common").abspath
]
# allows shared libraries to work globally
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
if GetOption('asan'):
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags = ["-fsanitize=address"]
@@ -164,15 +170,12 @@ else:
# no --as-needed on mac linker
if arch != "Darwin":
ldflags += ["-Wl,--as-needed"]
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
# Enable swaglog include in submodules
cflags += ["-DSWAGLOG"]
cxxflags += ["-DSWAGLOG"]
# change pythonpath to this
lenv["PYTHONPATH"] = Dir("#").path
env = Environment(
ENV=lenv,
CCFLAGS=[
@@ -191,6 +194,9 @@ env = Environment(
CPPPATH=cpppath + [
"#",
"#phonelibs/acados/include",
"#phonelibs/acados/include/blasfeo/include",
"#phonelibs/acados/include/hpipm/include",
"#phonelibs/catch2/include",
"#phonelibs/bzip2",
"#phonelibs/libyuv/include",
@@ -410,7 +416,7 @@ SConscript(['selfdrive/camerad/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])