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Merge branch 'devel' of https://github.com/commaai/openpilot into devel-lexus-ish-ave30r

Browse Source
This commit is contained in:
Rick Lan
2018-09-26 10:15:33 +10:00
parent 854f9cf59e 71f1af62c2
commit 7b4cd6dd2d
132 changed files with 1372 additions and 429 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/boardd/Makefile
+2 -2
View File
@@ -13,8 +13,8 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
-Werror=return-type \
-Werror=format-extra-args
CFLAGS = -std=gnu11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
CXXFLAGS = -std=c++11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
selfdrive/car/gm/carcontroller.py
+21 -18
View File
@@ -4,14 +4,14 @@ from selfdrive.config import Conversions as CV
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import CAR, DBC
from selfdrive.car.gm.values import CAR, DBC, AccState
from selfdrive.can.packer import CANPacker
class CarControllerParams():
def __init__(self, car_fingerprint):
if car_fingerprint == CAR.VOLT:
self.STEER_MAX = 255
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
@@ -29,11 +29,11 @@ class CarControllerParams():
self.ADAS_KEEPALIVE_STEP = 10
# pedal lookups, only for Volt
MAX_GAS = 3072 # Only a safety limit
ZERO_GAS = 2048
self.ZERO_GAS = 2048
MAX_BRAKE = 350 # Should be around 3.5m/s^2, including regen
self.MAX_ACC_REGEN = 1404 # ACC Regen braking is slightly less powerful than max regen paddle
self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
self.BRAKE_LOOKUP_BP = [-1., -0.25]
self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
@@ -83,7 +83,6 @@ class CarController(object):
return
P = self.params
# Send CAN commands.
can_sends = []
canbus = self.canbus
@@ -91,14 +90,11 @@ class CarController(object):
### STEER ###
if (frame % P.STEER_STEP) == 0:
final_steer = actuators.steer if enabled else 0.
apply_steer = final_steer * P.STEER_MAX
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
if not lkas_enabled:
if lkas_enabled:
apply_steer = actuators.steer * P.STEER_MAX
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
else:
apply_steer = 0
self.apply_steer_last = apply_steer
@@ -115,7 +111,7 @@ class CarController(object):
if self.car_fingerprint == CAR.VOLT:
# no output if not enabled, but keep sending keepalive messages
# threat pedals as one
# treat pedals as one
final_pedal = actuators.gas - actuators.brake
# *** apply pedal hysteresis ***
@@ -123,7 +119,8 @@ class CarController(object):
final_pedal, self.pedal_steady)
if not enabled:
apply_gas = P.MAX_ACC_REGEN # TODO: do we really need to send max regen when not enabled?
# Stock ECU sends max regen when not enabled.
apply_gas = P.MAX_ACC_REGEN
apply_brake = 0
else:
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
@@ -133,12 +130,18 @@ class CarController(object):
if (frame % 4) == 0:
idx = (frame / 4) % 4
at_full_stop = enabled and CS.standstill
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
car_stopping = apply_gas < P.ZERO_GAS
standstill = CS.pcm_acc_status == AccState.STANDSTILL
at_full_stop = enabled and standstill and car_stopping
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
at_full_stop = enabled and CS.standstill
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
# Auto-resume from full stop by resetting ACC control
acc_enabled = enabled
if standstill and not car_stopping:
acc_enabled = False
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))
# Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0:
selfdrive/car/gm/gmcan.py
+7 -9
View File
@@ -60,17 +60,15 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
if apply_brake == 0:
mode = 0x1
else:
mode = 0x1
if apply_brake > 0:
mode = 0xa
if at_full_stop:
mode = 0xd
# TODO: this is to have GM bringing the car to complete stop,
# but currently it conflicts with OP controls, so turned off.
#elif near_stop:
# mode = 0xb
if near_stop:
mode = 0xb
if at_full_stop:
mode = 0xd
brake = (0x1000 - apply_brake) & 0xfff
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
selfdrive/car/gm/interface.py
+4 -10
View File
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.gm.values import DBC, CAR
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
try:
@@ -28,10 +28,6 @@ class CanBus(object):
self.chassis = 2
self.sw_gmlan = 3
# 384 = "ASCMLKASteeringCmd"
# 715 = "ASCMGasRegenCmd"
CONTROL_MSGS = [384, 715]
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
@@ -74,7 +70,7 @@ class CarInterface(object):
# Presence of a camera on the object bus is ok.
# Have to go passive if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in CONTROL_MSGS if x in fingerprint)
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
std_cargo = 136
@@ -197,7 +193,7 @@ class CarInterface(object):
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != 0
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
ret.cruiseState.standstill = False
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
@@ -280,8 +276,6 @@ class CarInterface(object):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
# handle button presses
for b in ret.buttonEvents:
@@ -298,7 +292,7 @@ class CarInterface(object):
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
selfdrive/car/gm/values.py
+12
View File
@@ -12,6 +12,12 @@ class CruiseButtons:
MAIN = 5
CANCEL = 6
class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint == CAR.VOLT:
@@ -49,6 +55,12 @@ FINGERPRINTS = {
STEER_THRESHOLD = 1.0
STOCK_CONTROL_MSGS = {
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
}
DBC = {
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
selfdrive/car/hyundai/carstate.py
+1 -1
View File
@@ -17,7 +17,7 @@ def get_can_parser(CP):
("YAW_RATE", "ESP12", 0),
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
("CF_Gway_TSigLHSw", "CGW1", 0),
("CF_Gway_TurnSigLh", "CGW1", 0),
selfdrive/car/hyundai/interface.py
+6 -2
View File
@@ -70,13 +70,18 @@ class CarInterface(object):
tireStiffnessRear_civic = 202500
ret.steerActuatorDelay = 0.1 # Default delay
tire_stiffness_factor = 1.
if candidate == CAR.SANTA_FE:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.766
ret.steerRatio = 13.8 * 1.15 # 15% higher at the center seems reasonable
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
ret.minSteerSpeed = 0.
@@ -122,7 +127,6 @@ class CarInterface(object):
ret.longitudinalKpV = [0.]
ret.longitudinalKiBP = [0.]
ret.longitudinalKiV = [0.]
tire_stiffness_factor = 1.
ret.centerToFront = ret.wheelbase * 0.4
selfdrive/car/toyota/carcontroller.py
+6 -3
View File
@@ -145,6 +145,9 @@ class CarController(object):
# only cut torque when steer state is a known fault
if not enabled or CS.steer_state in [9, 25]:
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
self.steer_angle_enabled, self.ipas_reset_counter = \
ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
@@ -192,12 +195,12 @@ class CarController(object):
# on consecutive messages
if ECU.CAM in self.fake_ecus:
if self.angle_control:
can_sends.append(create_steer_command(self.packer, 0., frame))
can_sends.append(create_steer_command(self.packer, 0., 0, frame))
else:
can_sends.append(create_steer_command(self.packer, apply_steer, frame))
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
ECU.APGS in self.fake_ecus))
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
selfdrive/car/toyota/toyotacan.py
+2 -2
View File
@@ -52,11 +52,11 @@ def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
def create_steer_command(packer, steer, raw_cnt):
def create_steer_command(packer, steer, steer_req, raw_cnt):
"""Creates a CAN message for the Toyota Steer Command."""
values = {
"STEER_REQUEST": abs(steer) > 0.001,
"STEER_REQUEST": steer_req,
"STEER_TORQUE_CMD": steer,
"COUNTER": raw_cnt,
"SET_ME_1": 1,
selfdrive/car/toyota/values.py
+4
View File
@@ -124,6 +124,10 @@ FINGERPRINTS = {
#XLE and LE
{
36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
#XSE and SE
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.CAMRYH: [
#LE
selfdrive/common/ipc.c
+119
View File
@@ -0,0 +1,119 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <unistd.h>
#include <assert.h>
#include <errno.h>
#include <sys/mman.h>
#include <sys/socket.h>
#include <sys/un.h>
#include "ipc.h"
int ipc_connect(const char* socket_path) {
int err;
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
assert(sock >= 0);
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
};
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
if (err != 0) {
close(sock);
return -1;
}
return sock;
}
int ipc_bind(const char* socket_path) {
int err;
unlink(socket_path);
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
};
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
assert(err == 0);
err = listen(sock, 3);
assert(err == 0);
return sock;
}
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
int *out_num_fds) {
int err;
char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
struct iovec iov = {
.iov_base = buf,
.iov_len = buf_size,
};
struct msghdr msg = {
.msg_iov = &iov,
.msg_iovlen = 1,
};
if (num_fds > 0) {
assert(fds);
msg.msg_control = control_buf;
msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
}
if (send) {
if (num_fds) {
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
assert(cmsg);
cmsg->cmsg_level = SOL_SOCKET;
cmsg->cmsg_type = SCM_RIGHTS;
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
}
return sendmsg(fd, &msg, 0);
} else {
int r = recvmsg(fd, &msg, 0);
if (r < 0) return r;
int recv_fds = 0;
if (msg.msg_controllen > 0) {
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
assert(cmsg);
assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
recv_fds /= sizeof(int);
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
assert(fds && recv_fds <= num_fds);
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
}
if (msg.msg_flags) {
for (int i=0; i<recv_fds; i++) {
close(fds[i]);
}
return -1;
}
if (fds) {
assert(out_num_fds);
*out_num_fds = recv_fds;
}
return r;
}
}
selfdrive/common/ipc.h
+19
View File
@@ -0,0 +1,19 @@
#ifndef IPC_H
#define IPC_H
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
int ipc_connect(const char* socket_path);
int ipc_bind(const char* socket_path);
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
int *out_num_fds);
#ifdef __cplusplus
} // extern "C"
#endif
#endif
selfdrive/common/params.cc
+3 -3
View File
@@ -1,4 +1,4 @@
#include "selfdrive/common/params.h"
#include "common/params.h"
#ifndef _GNU_SOURCE
#define _GNU_SOURCE
@@ -13,8 +13,8 @@
#include <map>
#include <string>
#include "selfdrive/common/util.h"
#include "selfdrive/common/utilpp.h"
#include "common/util.h"
#include "common/utilpp.h"
namespace {
selfdrive/common/utilpp.h
+7 -11
View File
@@ -9,10 +9,6 @@
#include <sstream>
#include <fstream>
#ifdef __x86_64
#include <linux/limits.h>
#endif
namespace util {
inline bool starts_with(std::string s, std::string prefix) {
@@ -56,13 +52,13 @@ inline std::string dir_name(std::string const & path) {
}
inline std::string readlink(std::string path) {
char buff[PATH_MAX];
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
if (len != -1) {
buff[len] = '\0';
return std::string(buff);
}
return "";
char buff[4096];
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
if (len != -1) {
buff[len] = '\0';
return std::string(buff);
}
return "";
}
}
selfdrive/common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "0.5.3-release"
#define COMMA_VERSION "0.5.4-release"
selfdrive/common/visionimg.cc
+8 -5
View File
@@ -36,14 +36,17 @@ extern "C" void compute_aligned_width_and_height(int width,
int *aligned_h);
#endif
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
int aligned_w = 0, aligned_h = 0;
void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
#ifdef QCOM
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, &aligned_w, &aligned_h);
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
#else
aligned_w = width; aligned_h = height;
*aligned_w = width; *aligned_h = height;
#endif
}
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
int aligned_w = 0, aligned_h = 0;
visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
int stride = aligned_w * 3;
size_t size = aligned_w * aligned_h * 3;
selfdrive/common/visionimg.h
+1
View File
@@ -23,6 +23,7 @@ typedef struct VisionImg {
size_t size;
} VisionImg;
void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);
#ifdef QCOM
selfdrive/common/visionipc.c
+5 -84
View File
@@ -10,6 +10,8 @@
#include <sys/socket.h>
#include <sys/un.h>
#include "ipc.h"
#include "visionipc.h"
typedef struct VisionPacketWire {
@@ -18,95 +20,14 @@ typedef struct VisionPacketWire {
} VisionPacketWire;
int vipc_connect() {
int err;
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
assert(sock >= 0);
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
.sun_path = VIPC_SOCKET_PATH,
};
err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
if (err != 0) {
close(sock);
return -1;
}
return sock;
return ipc_connect(VIPC_SOCKET_PATH);
}
static int sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
int *out_num_fds) {
int err;
char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
struct iovec iov = {
.iov_base = buf,
.iov_len = buf_size,
};
struct msghdr msg = {
.msg_iov = &iov,
.msg_iovlen = 1,
};
if (num_fds > 0) {
assert(fds);
msg.msg_control = control_buf;
msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
}
if (send) {
if (num_fds) {
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
assert(cmsg);
cmsg->cmsg_level = SOL_SOCKET;
cmsg->cmsg_type = SCM_RIGHTS;
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
}
return sendmsg(fd, &msg, 0);
} else {
int r = recvmsg(fd, &msg, 0);
if (r < 0) return r;
int recv_fds = 0;
if (msg.msg_controllen > 0) {
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
assert(cmsg);
assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
recv_fds /= sizeof(int);
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
assert(fds && recv_fds <= num_fds);
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
}
if (msg.msg_flags) {
for (int i=0; i<recv_fds; i++) {
close(fds[i]);
}
return -1;
}
if (fds) {
assert(out_num_fds);
*out_num_fds = recv_fds;
}
return r;
}
}
int vipc_recv(int fd, VisionPacket *out_p) {
VisionPacketWire p = {0};
VisionPacket p2 = {0};
int ret = sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
int ret = ipc_sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
if (ret < 0) {
printf("vipc_recv err: %s\n", strerror(errno));
} else {
@@ -124,7 +45,7 @@ int vipc_send(int fd, const VisionPacket *p2) {
.type = p2->type,
.d = p2->d,
};
return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
return ipc_sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
}
void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
selfdrive/controls/controlsd.py
+25 -13
View File
@@ -46,8 +46,8 @@ def isEnabled(state):
def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
poller, cal_status, overtemp, free_space, driver_status, geofence,
state, mismatch_counter, params):
poller, cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, geofence, state, mismatch_counter, params):
# *** read can and compute car states ***
CS = CI.update(CC)
@@ -80,6 +80,12 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
# under 15% of space free no enable allowed
free_space = td.thermal.freeSpace < 0.15
# at zero percent battery, OP should not be allowed
low_battery = td.thermal.batteryPercent < 1
if low_battery:
events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if overtemp:
events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -89,10 +95,11 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
# *** read calibration status ***
if cal is not None:
cal_status = cal.liveCalibration.calStatus
cal_perc = cal.liveCalibration.calPerc
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
events.append(create_event('calibrationInProgress', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
else:
events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -117,7 +124,7 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
if geofence is not None and not geofence.in_geofence:
events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))
return CS, events, cal_status, overtemp, free_space, mismatch_counter
return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter
def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
@@ -224,7 +231,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric):
driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
# Given the state, this function returns the actuators
# reset actuators to zero
@@ -258,13 +265,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
# parse warnings from car specific interface
for e in get_events(events, [ET.WARNING]):
extra_text = ''
extra_text = ""
if e == "belowSteerSpeed":
if is_metric:
extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
else:
extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
AM.add(e, enabled, extra_text=extra_text)
AM.add(e, enabled, extra_text_2=extra_text)
# *** angle offset learning ***
@@ -289,10 +296,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
# parse permanent warnings to display constantly
for e in get_events(events, [ET.PERMANENT]):
AM.add(str(e) + "Permanent", enabled)
extra_text_1, extra_text_2 = "", ""
if e == "calibrationIncomplete":
extra_text_1 = str(cal_perc) + "%"
extra_text_2 = "35 kph" if is_metric else "15 mph"
AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
# *** process alerts ***
AM.process_alerts(sec_since_boot())
return actuators, v_cruise_kph, driver_status, angle_offset
@@ -475,8 +485,10 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.UNCALIBRATED
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
rk = Ratekeeper(rate, print_delay_threshold=2./1000)
@@ -497,8 +509,8 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
prof.checkpoint("Ratekeeper", ignore=True)
# sample data and compute car events
CS, events, cal_status, overtemp, free_space, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
driver_monitor, gps_location, poller, cal_status, overtemp, free_space, driver_status, geofence, state, mismatch_counter, params)
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
prof.checkpoint("Sample")
# define plan
@@ -513,7 +525,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
# compute actuators
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric)
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
prof.checkpoint("State Control")
# publish data
selfdrive/controls/lib/alertmanager.py
+39 -19
View File
@@ -6,11 +6,12 @@ import copy
# Priority
class Priority:
HIGHEST = 4
HIGH = 3
MID = 2
LOW = 1
LOWEST = 0
LOW_LOWEST = 1
LOW = 2
MID = 3
HIGH = 4
HIGHEST = 5
AlertSize = log.Live100Data.AlertSize
AlertStatus = log.Live100Data.AlertStatus
@@ -155,7 +156,7 @@ class AlertManager(object):
"Be ready to take over at any time",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, None, None, 0., 0., 15.),
Priority.LOW_LOWEST, None, None, 0., 0., 15.),
"ethicalDilemma": Alert(
"TAKE CONTROL IMMEDIATELY",
@@ -242,6 +243,12 @@ class AlertManager(object):
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
"lowBatteryNoEntry": Alert(
"openpilot Unavailable",
"Low Battery",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
# Cancellation alerts causing soft disabling
"overheat": Alert(
"TAKE CONTROL IMMEDIATELY",
@@ -261,7 +268,7 @@ class AlertManager(object):
AlertStatus.critical, AlertSize.full,
Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
"calibrationInProgress": Alert(
"calibrationIncomplete": Alert(
"TAKE CONTROL IMMEDIATELY",
"Calibration in Progress",
AlertStatus.critical, AlertSize.full,
@@ -285,6 +292,12 @@ class AlertManager(object):
AlertStatus.critical, AlertSize.full,
Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
"lowBattery": Alert(
"TAKE CONTROL IMMEDIATELY",
"Low Battery",
AlertStatus.critical, AlertSize.full,
Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
# Cancellation alerts causing immediate disabling
"radarCommIssue": Alert(
"TAKE CONTROL IMMEDIATELY",
@@ -324,13 +337,13 @@ class AlertManager(object):
"steerUnavailable": Alert(
"TAKE CONTROL IMMEDIATELY",
"Steer Fault: Restart the Car",
"LKAS Fault: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"brakeUnavailable": Alert(
"TAKE CONTROL IMMEDIATELY",
"Brake Fault: Restart the Car",
"Cruise Fault: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
@@ -390,7 +403,7 @@ class AlertManager(object):
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
"calibrationInProgressNoEntry": Alert(
"calibrationIncompleteNoEntry": Alert(
"openpilot Unavailable",
"Calibration in Progress",
AlertStatus.normal, AlertSize.mid,
@@ -452,13 +465,13 @@ class AlertManager(object):
"steerUnavailableNoEntry": Alert(
"openpilot Unavailable",
"Steer Fault: Restart the Car",
"LKAS Fault: Restart the Car",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
"brakeUnavailableNoEntry": Alert(
"openpilot Unavailable",
"Brake Fault: Restart the Car",
"Cruise Fault: Restart the Car",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
@@ -492,23 +505,29 @@ class AlertManager(object):
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
# permanent alerts to display on small UI upper box
# permanent alerts
"steerUnavailablePermanent": Alert(
"STEER FAULT: Restart the car to engage",
"LKAS Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, None, None, 0., 0., .2),
Priority.LOW_LOWEST, None, None, 0., 0., .2),
"brakeUnavailablePermanent": Alert(
"BRAKE FAULT: Restart the car to engage",
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, None, None, 0., 0., .2),
Priority.LOW_LOWEST, None, None, 0., 0., .2),
"lowSpeedLockoutPermanent": Alert(
"CRUISE FAULT: Restart the car to engage",
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW_LOWEST, None, None, 0., 0., .2),
"calibrationIncompletePermanent": Alert(
"Calibration in Progress: ",
"Drive Above ",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, None, None, 0., 0., .2),
}
@@ -518,10 +537,11 @@ class AlertManager(object):
def alertPresent(self):
return len(self.activealerts) > 0
def add(self, alert_type, enabled=True, extra_text=''):
def add(self, alert_type, enabled=True, extra_text_1='', extra_text_2=''):
alert_type = str(alert_type)
added_alert = copy.copy(self.alerts[alert_type])
added_alert.alert_text_2 += extra_text
added_alert.alert_text_1 += extra_text_1
added_alert.alert_text_2 += extra_text_2
added_alert.start_time = sec_since_boot()
# if new alert is higher priority, log it
selfdrive/controls/lib/driver_monitor.py
+19 -22
View File
@@ -1,12 +1,14 @@
import numpy as np
from common.realtime import sec_since_boot
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from common.filter_simple import FirstOrderFilter
_DT = 0.01 # update runs at 100Hz
_DTM = 0.1 # DM runs at 10Hz
_AWARENESS_TIME = 180 # 3 minutes limit without user touching steering wheels make the car enter a terminal status
_AWARENESS_PRE_TIME = 20. # a first alert is issued 20s before expiration
_AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
_DISTRACTED_TIME = 8.
_DISTRACTED_TIME = 7.
_DISTRACTED_PRE_TIME = 4.
_DISTRACTED_PROMPT_TIME = 2.
# measured 1 rad in x FOV. 1152x864 is original image, 160x320 is a right crop for model
@@ -18,13 +20,10 @@ _CAMERA_X_CONV = 0.375 # 160*864/320/1152
_PITCH_WEIGHT = 1.5 # pitch matters a lot more
_METRIC_THRESHOLD = 0.4
_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
_DTM = 0.1 # driver monitor runs at 10Hz
_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
_STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid
_DISTRACTED_FILTER_F = 0.6 # 0.6Hz, 0.25s ts
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
_VARIANCE_FILTER_F = 0.008 # 0.008Hz, 20s ts
_VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
_VARIANCE_FILTER_TS = 20. # 0.008Hz
class _DriverPose():
@@ -47,15 +46,15 @@ class DriverStatus():
self.monitor_valid = True # variance needs to be low
self.awareness = 1.
self.driver_distracted = False
self.driver_distraction_level = 0.
self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, _DTM)
self.variance_high = False
self.variance_level = 0.
self.variance_filter = FirstOrderFilter(0., _VARIANCE_FILTER_TS, _DTM)
self.ts_last_check = 0.
self._set_timers()
def _reset_filters(self):
self.driver_distraction_level = 0.
self.variance_level = 0.
self.driver_distraction_filter.x = 0.
self.variance_filter.x = 0.
self.monitor_valid = True
def _set_timers(self):
@@ -90,11 +89,9 @@ class DriverStatus():
self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y # positive y is down
self.driver_distracted = self._is_driver_distracted(self.pose)
# first order filters
self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
_DISTRACTED_FILTER_K * self.driver_distracted
self.driver_distraction_filter.update(self.driver_distracted)
self.variance_high = driver_monitoring.std > _STD_THRESHOLD
self.variance_level = (1. - _VARIANCE_FILTER_K) * self.variance_level + \
_VARIANCE_FILTER_K * self.variance_high
self.variance_filter.update(self.variance_high)
monitor_param_on_prev = self.monitor_param_on
monitor_valid_prev = self.monitor_valid
@@ -105,7 +102,7 @@ class DriverStatus():
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
self.ts_last_check = ts
self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
self.monitor_valid = _monitor_hysteresys(self.variance_filter.x, monitor_valid_prev)
self.monitor_on = self.monitor_valid and self.monitor_param_on
if monitor_param_on_prev != self.monitor_param_on:
self._reset_filters()
@@ -114,13 +111,13 @@ class DriverStatus():
def update(self, events, driver_engaged, ctrl_active, standstill):
driver_engaged |= (self.driver_distraction_level < 0.37 and self.monitor_on)
driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
# always reset if driver is in control (unless we are in red alert state) or op isn't active
self.awareness = 1.
if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
@@ -142,11 +139,11 @@ class DriverStatus():
if __name__ == "__main__":
ds = DriverStatus(True)
ds.driver_distraction_level = 1.
ds.driver_distraction_filter.x = 0.
ds.driver_distracted = 1
for i in range(1000):
ds.update([], False, True, True)
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
for i in range(10):
ds.update([], False, True, False)
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
ds.update([], True, True, False)
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
selfdrive/controls/lib/lateral_mpc/Makefile
+23 -32
View File
@@ -20,58 +20,49 @@ ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_ca
endif
OBJS = \
qp/Bounds.o \
qp/Constraints.o \
qp/CyclingManager.o \
qp/Indexlist.o \
qp/MessageHandling.o \
qp/QProblem.o \
qp/QProblemB.o \
qp/SubjectTo.o \
qp/Utils.o \
qp/EXTRAS/SolutionAnalysis.o \
mpc_export/acado_qpoases_interface.o \
mpc_export/acado_integrator.o \
mpc_export/acado_solver.o \
mpc_export/acado_auxiliary_functions.o \
mpc.o
lib_qp/Bounds.o \
lib_qp/Constraints.o \
lib_qp/CyclingManager.o \
lib_qp/Indexlist.o \
lib_qp/MessageHandling.o \
lib_qp/QProblem.o \
lib_qp/QProblemB.o \
lib_qp/SubjectTo.o \
lib_qp/Utils.o \
lib_qp/EXTRAS/SolutionAnalysis.o \
lib_mpc_export/acado_qpoases_interface.o \
lib_mpc_export/acado_integrator.o \
lib_mpc_export/acado_solver.o \
lib_mpc_export/acado_auxiliary_functions.o \
lateral_mpc.o
DEPS := $(OBJS:.o=.d)
.PHONY: all
all: libcommampc.so
all: libmpc.so
libcommampc.so: $(OBJS)
libmpc.so: $(OBJS)
$(CXX) -shared -o '$@' $^ -lm
qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
@echo "[ CXX ] $@"
mkdir -p qp
mkdir -p lib_qp/EXTRAS
$(CXX) $(CXXFLAGS) -MMD \
-I mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
@echo "[ CXX ] $@"
mkdir -p qp/EXTRAS
$(CXX) $(CXXFLAGS) -MMD \
-I mpc_export/ \
-I lib_mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
%.o: %.cpp
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) -MMD \
-I mpc_export/ \
-I lib_mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
%.o: %.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -MMD \
-I mpc_export/ \
-I lib_mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
@@ -88,6 +79,6 @@ generate: generator
.PHONY: clean
clean:
rm -f libcommampc.so generator $(OBJS) $(DEPS)
rm -f *.so generator $(OBJS) $(DEPS)
-include $(DEPS)
selfdrive/controls/lib/lateral_mpc/generator.cpp
+1 -1
View File
@@ -141,7 +141,7 @@ int main( )
mpc.set( GENERATE_MATLAB_INTERFACE, NO );
mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
exit( EXIT_FAILURE );
mpc.printDimensionsQP( );
selfdrive/controls/lib/lateral_mpc/mpc.c → selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
View File
selfdrive/controls/lib/lateral_mpc/lateral_mpc.d
+3
View File
@@ -0,0 +1,3 @@
lateral_mpc.o: lateral_mpc.c lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp \
lib_mpc_export/acado_auxiliary_functions.h
selfdrive/controls/lib/lateral_mpc/lateral_mpc.o
BIN
View File
Binary file not shown.
selfdrive/controls/lib/lateral_mpc/mpc_export/acado_auxiliary_functions.c → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
View File
selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.d
+5
View File
@@ -0,0 +1,5 @@
lib_mpc_export/acado_auxiliary_functions.o: \
lib_mpc_export/acado_auxiliary_functions.c \
lib_mpc_export/acado_auxiliary_functions.h \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp
selfdrive/controls/lib/lateral_mpc/mpc_export/acado_auxiliary_functions.h → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
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selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.o
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selfdrive/controls/lib/lateral_mpc/mpc_export/acado_common.h → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
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selfdrive/controls/lib/lateral_mpc/mpc_export/acado_integrator.c → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
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selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.d
+3
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@@ -0,0 +1,3 @@
lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp
selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.o
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selfdrive/controls/lib/lateral_mpc/mpc_export/acado_qpoases_interface.cpp → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
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selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.d
+24
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@@ -0,0 +1,24 @@
lib_mpc_export/acado_qpoases_interface.o: \
lib_mpc_export/acado_qpoases_interface.cpp \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
../../../../phonelibs/qpoases/SRC/QProblem.ipp
selfdrive/controls/lib/lateral_mpc/mpc_export/acado_qpoases_interface.hpp → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
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selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.o
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selfdrive/controls/lib/lateral_mpc/mpc_export/acado_solver.c → selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
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selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.d
+3
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@@ -0,0 +1,3 @@
lib_mpc_export/acado_solver.o: lib_mpc_export/acado_solver.c \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp
selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.d
+14
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@@ -0,0 +1,14 @@
lib_qp/Bounds.o: ../../../../phonelibs/qpoases/SRC/Bounds.cpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.d
+14
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@@ -0,0 +1,14 @@
lib_qp/Constraints.o: ../../../../phonelibs/qpoases/SRC/Constraints.cpp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.d
+11
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@@ -0,0 +1,11 @@
lib_qp/CyclingManager.o: \
../../../../phonelibs/qpoases/SRC/CyclingManager.cpp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
+24
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@@ -0,0 +1,24 @@
lib_qp/EXTRAS/SolutionAnalysis.o: \
../../../../phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp \
../../../../phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
../../../../phonelibs/qpoases/SRC/QProblem.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.d
+10
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@@ -0,0 +1,10 @@
lib_qp/Indexlist.o: ../../../../phonelibs/qpoases/SRC/Indexlist.cpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.d
+9
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@@ -0,0 +1,9 @@
lib_qp/MessageHandling.o: \
../../../../phonelibs/qpoases/SRC/MessageHandling.cpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/SRC/Utils.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.d
+22
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@@ -0,0 +1,22 @@
lib_qp/QProblem.o: ../../../../phonelibs/qpoases/SRC/QProblem.cpp \
../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
../../../../phonelibs/qpoases/SRC/QProblem.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.d
+16
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@@ -0,0 +1,16 @@
lib_qp/QProblemB.o: ../../../../phonelibs/qpoases/SRC/QProblemB.cpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.d
+12
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@@ -0,0 +1,12 @@
lib_qp/SubjectTo.o: ../../../../phonelibs/qpoases/SRC/SubjectTo.cpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.o
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selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.d
+8
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@@ -0,0 +1,8 @@
lib_qp/Utils.o: ../../../../phonelibs/qpoases/SRC/Utils.cpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp
selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.o
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selfdrive/controls/lib/lateral_mpc/libmpc.so
Executable
BIN
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selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+1 -1
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@@ -4,7 +4,7 @@ import subprocess
from cffi import FFI
mpc_dir = os.path.dirname(os.path.abspath(__file__))
libmpc_fn = os.path.join(mpc_dir, "libcommampc.so")
libmpc_fn = os.path.join(mpc_dir, "libmpc.so")
subprocess.check_call(["make", "-j4"], cwd=mpc_dir)
ffi = FFI()
selfdrive/controls/lib/longitudinal_mpc/Makefile
+25 -33
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@@ -19,60 +19,52 @@ ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_ca
endif
OBJS = \
qp/Bounds.o \
qp/Constraints.o \
qp/CyclingManager.o \
qp/Indexlist.o \
qp/MessageHandling.o \
qp/QProblem.o \
qp/QProblemB.o \
qp/SubjectTo.o \
qp/Utils.o \
qp/EXTRAS/SolutionAnalysis.o \
mpc_export/acado_qpoases_interface.o \
mpc_export/acado_integrator.o \
mpc_export/acado_solver.o \
mpc_export/acado_auxiliary_functions.o \
mpc.o
lib_qp/Bounds.o \
lib_qp/Constraints.o \
lib_qp/CyclingManager.o \
lib_qp/Indexlist.o \
lib_qp/MessageHandling.o \
lib_qp/QProblem.o \
lib_qp/QProblemB.o \
lib_qp/SubjectTo.o \
lib_qp/Utils.o \
lib_qp/EXTRAS/SolutionAnalysis.o \
lib_mpc_export/acado_qpoases_interface.o \
lib_mpc_export/acado_integrator.o \
lib_mpc_export/acado_solver.o \
lib_mpc_export/acado_auxiliary_functions.o \
longitudinal_mpc.o
DEPS := $(OBJS:.o=.d)
.PHONY: all
all: libcommampc1.so libcommampc2.so
all: libmpc1.so libmpc2.so
libcommampc1.so: $(OBJS)
libmpc1.so: $(OBJS)
$(CXX) -shared -o '$@' $^ -lm
libcommampc2.so: libcommampc1.so
cp libcommampc1.so libcommampc2.so
libmpc2.so: libmpc1.so
cp libmpc1.so libmpc2.so
qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
@echo "[ CXX ] $@"
mkdir -p qp
mkdir -p lib_qp/EXTRAS
$(CXX) $(CXXFLAGS) -MMD \
-I mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
@echo "[ CXX ] $@"
mkdir -p qp/EXTRAS
$(CXX) $(CXXFLAGS) -MMD \
-I mpc_export/ \
-I lib_mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
%.o: %.cpp
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) -MMD \
-I mpc_export/ \
-I lib_mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
%.o: %.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -MMD \
-I mpc_export/ \
-I lib_mpc_export/ \
$(QPOASES_FLAGS) \
-c -o '$@' '$<'
@@ -89,6 +81,6 @@ generate: generator
.PHONY: clean
clean:
rm -f libcommampc1.so libcommampc2.so generator $(OBJS) $(DEPS)
rm -f *.so generator $(OBJS) $(DEPS)
-include $(DEPS)
selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+8 -5
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@@ -18,15 +18,18 @@ int main( )
DifferentialEquation f;
DifferentialState x_ego, v_ego, a_ego;
DifferentialState x_l, v_l, a_l;
DifferentialState x_l, v_l, t;
OnlineData lambda;
OnlineData lambda, a_l_0;
Control j_ego;
auto desired = 4.0 + RW(v_ego, v_l);
auto d_l = x_l - x_ego;
// Directly calculate a_l to prevent instabilites due to discretization
auto a_l = a_l_0 * exp(-lambda * t * t / 2);
// Equations of motion
f << dot(x_ego) == v_ego;
f << dot(v_ego) == a_ego;
@@ -34,7 +37,7 @@ int main( )
f << dot(x_l) == v_l;
f << dot(v_l) == a_l;
f << dot(a_l) == -lambda * a_l;
f << dot(t) == 1;
// Running cost
Function h;
@@ -76,7 +79,7 @@ int main( )
ocp.minimizeLSQEndTerm(QN, hN);
ocp.subjectTo( 0.0 <= v_ego);
ocp.setNOD(1);
ocp.setNOD(2);
OCPexport mpc(ocp);
mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
@@ -94,7 +97,7 @@ int main( )
mpc.set( GENERATE_MATLAB_INTERFACE, NO );
mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
exit( EXIT_FAILURE );
mpc.printDimensionsQP( );
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_auxiliary_functions.c → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
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selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.d
+5
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@@ -0,0 +1,5 @@
lib_mpc_export/acado_auxiliary_functions.o: \
lib_mpc_export/acado_auxiliary_functions.c \
lib_mpc_export/acado_auxiliary_functions.h \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_auxiliary_functions.h → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
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selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
+12 -9
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@@ -64,7 +64,7 @@ extern "C"
/** Number of control/estimation intervals. */
#define ACADO_N 20
/** Number of online data values. */
#define ACADO_NOD 1
#define ACADO_NOD 2
/** Number of path constraints. */
#define ACADO_NPAC 0
/** Number of control variables. */
@@ -114,11 +114,11 @@ real_t x[ 126 ];
*/
real_t u[ 20 ];
/** Column vector of size: 21
/** Matrix of size: 21 x 2 (row major format)
*
* Matrix containing 21 online data vectors.
*/
real_t od[ 21 ];
real_t od[ 42 ];
/** Column vector of size: 80
*
@@ -155,16 +155,19 @@ real_t x0[ 6 ];
*/
typedef struct ACADOworkspace_
{
/** Column vector of size: 10 */
real_t rhs_aux[ 10 ];
real_t rk_ttt;
/** Row vector of size: 50 */
real_t rk_xxx[ 50 ];
/** Row vector of size: 51 */
real_t rk_xxx[ 51 ];
/** Matrix of size: 4 x 48 (row major format) */
real_t rk_kkk[ 192 ];
/** Row vector of size: 50 */
real_t state[ 50 ];
/** Row vector of size: 51 */
real_t state[ 51 ];
/** Column vector of size: 120 */
real_t d[ 120 ];
@@ -184,8 +187,8 @@ real_t evGu[ 120 ];
/** Column vector of size: 30 */
real_t objAuxVar[ 30 ];
/** Row vector of size: 8 */
real_t objValueIn[ 8 ];
/** Row vector of size: 9 */
real_t objValueIn[ 9 ];
/** Row vector of size: 32 */
real_t objValueOut[ 32 ];
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_integrator.c → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
+31 -16
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@@ -25,14 +25,28 @@ void acado_rhs_forw(const real_t* in, real_t* out)
const real_t* xd = in;
const real_t* u = in + 48;
const real_t* od = in + 49;
/* Vector of auxiliary variables; number of elements: 10. */
real_t* a = acadoWorkspace.rhs_aux;
/* Compute intermediate quantities: */
a[0] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
a[1] = ((real_t)(1.0000000000000000e+00)/(real_t)(2.0000000000000000e+00));
a[2] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
a[3] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[36])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[36]))*a[1])*a[2]);
a[4] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[37])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[37]))*a[1])*a[2]);
a[5] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[38])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[38]))*a[1])*a[2]);
a[6] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[39])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[39]))*a[1])*a[2]);
a[7] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[40])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[40]))*a[1])*a[2]);
a[8] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[41])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[41]))*a[1])*a[2]);
a[9] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[47])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[47]))*a[1])*a[2]);
/* Compute outputs: */
out[0] = xd[1];
out[1] = xd[2];
out[2] = u[0];
out[3] = xd[4];
out[4] = xd[5];
out[5] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[5]);
out[4] = (od[1]*a[0]);
out[5] = (real_t)(1.0000000000000000e+00);
out[6] = xd[12];
out[7] = xd[13];
out[8] = xd[14];
@@ -57,24 +71,24 @@ out[26] = xd[32];
out[27] = xd[33];
out[28] = xd[34];
out[29] = xd[35];
out[30] = xd[36];
out[31] = xd[37];
out[32] = xd[38];
out[33] = xd[39];
out[34] = xd[40];
out[35] = xd[41];
out[36] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[36]);
out[37] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[37]);
out[38] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[38]);
out[39] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[39]);
out[40] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[40]);
out[41] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[41]);
out[30] = (od[1]*a[3]);
out[31] = (od[1]*a[4]);
out[32] = (od[1]*a[5]);
out[33] = (od[1]*a[6]);
out[34] = (od[1]*a[7]);
out[35] = (od[1]*a[8]);
out[36] = (real_t)(0.0000000000000000e+00);
out[37] = (real_t)(0.0000000000000000e+00);
out[38] = (real_t)(0.0000000000000000e+00);
out[39] = (real_t)(0.0000000000000000e+00);
out[40] = (real_t)(0.0000000000000000e+00);
out[41] = (real_t)(0.0000000000000000e+00);
out[42] = xd[43];
out[43] = xd[44];
out[44] = (real_t)(1.0000000000000000e+00);
out[45] = xd[46];
out[46] = xd[47];
out[47] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[47]);
out[46] = (od[1]*a[9]);
out[47] = (real_t)(0.0000000000000000e+00);
}
/* Fixed step size:0.2 */
@@ -130,6 +144,7 @@ rk_eta[46] = 0.0000000000000000e+00;
rk_eta[47] = 0.0000000000000000e+00;
acadoWorkspace.rk_xxx[48] = rk_eta[48];
acadoWorkspace.rk_xxx[49] = rk_eta[49];
acadoWorkspace.rk_xxx[50] = rk_eta[50];
for (run1 = 0; run1 < 1; ++run1)
{
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.d
+3
View File
@@ -0,0 +1,3 @@
lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o
BIN
View File
Binary file not shown.
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_qpoases_interface.cpp → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp
View File
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.d
+24
View File
@@ -0,0 +1,24 @@
lib_mpc_export/acado_qpoases_interface.o: \
lib_mpc_export/acado_qpoases_interface.cpp \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
../../../../phonelibs/qpoases/SRC/QProblem.ipp
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_qpoases_interface.hpp → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp
View File
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o
BIN
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Binary file not shown.
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c → selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
+14 -7
View File
@@ -45,7 +45,8 @@ acadoWorkspace.state[4] = acadoVariables.x[lRun1 * 6 + 4];
acadoWorkspace.state[5] = acadoVariables.x[lRun1 * 6 + 5];
acadoWorkspace.state[48] = acadoVariables.u[lRun1];
acadoWorkspace.state[49] = acadoVariables.od[lRun1];
acadoWorkspace.state[49] = acadoVariables.od[lRun1 * 2];
acadoWorkspace.state[50] = acadoVariables.od[lRun1 * 2 + 1];
ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
@@ -382,7 +383,8 @@ acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 6 + 3];
acadoWorkspace.objValueIn[4] = acadoVariables.x[runObj * 6 + 4];
acadoWorkspace.objValueIn[5] = acadoVariables.x[runObj * 6 + 5];
acadoWorkspace.objValueIn[6] = acadoVariables.u[runObj];
acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj];
acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 2];
acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 2 + 1];
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.Dy[runObj * 4] = acadoWorkspace.objValueOut[0];
@@ -401,7 +403,8 @@ acadoWorkspace.objValueIn[2] = acadoVariables.x[122];
acadoWorkspace.objValueIn[3] = acadoVariables.x[123];
acadoWorkspace.objValueIn[4] = acadoVariables.x[124];
acadoWorkspace.objValueIn[5] = acadoVariables.x[125];
acadoWorkspace.objValueIn[6] = acadoVariables.od[20];
acadoWorkspace.objValueIn[6] = acadoVariables.od[40];
acadoWorkspace.objValueIn[7] = acadoVariables.od[41];
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
@@ -5202,7 +5205,8 @@ acadoWorkspace.state[3] = acadoVariables.x[index * 6 + 3];
acadoWorkspace.state[4] = acadoVariables.x[index * 6 + 4];
acadoWorkspace.state[5] = acadoVariables.x[index * 6 + 5];
acadoWorkspace.state[48] = acadoVariables.u[index];
acadoWorkspace.state[49] = acadoVariables.od[index];
acadoWorkspace.state[49] = acadoVariables.od[index * 2];
acadoWorkspace.state[50] = acadoVariables.od[index * 2 + 1];
acado_integrate(acadoWorkspace.state, index == 0, index);
@@ -5253,7 +5257,8 @@ else
{
acadoWorkspace.state[48] = acadoVariables.u[19];
}
acadoWorkspace.state[49] = acadoVariables.od[20];
acadoWorkspace.state[49] = acadoVariables.od[40];
acadoWorkspace.state[50] = acadoVariables.od[41];
acado_integrate(acadoWorkspace.state, 1, 19);
@@ -5328,7 +5333,8 @@ acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 6 + 3];
acadoWorkspace.objValueIn[4] = acadoVariables.x[lRun1 * 6 + 4];
acadoWorkspace.objValueIn[5] = acadoVariables.x[lRun1 * 6 + 5];
acadoWorkspace.objValueIn[6] = acadoVariables.u[lRun1];
acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1];
acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 2];
acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 2 + 1];
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.Dy[lRun1 * 4] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 4];
@@ -5342,7 +5348,8 @@ acadoWorkspace.objValueIn[2] = acadoVariables.x[122];
acadoWorkspace.objValueIn[3] = acadoVariables.x[123];
acadoWorkspace.objValueIn[4] = acadoVariables.x[124];
acadoWorkspace.objValueIn[5] = acadoVariables.x[125];
acadoWorkspace.objValueIn[6] = acadoVariables.od[20];
acadoWorkspace.objValueIn[6] = acadoVariables.od[40];
acadoWorkspace.objValueIn[7] = acadoVariables.od[41];
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.d
+3
View File
@@ -0,0 +1,3 @@
lib_mpc_export/acado_solver.o: lib_mpc_export/acado_solver.c \
lib_mpc_export/acado_common.h \
lib_mpc_export/acado_qpoases_interface.hpp
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.d
+14
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@@ -0,0 +1,14 @@
lib_qp/Bounds.o: ../../../../phonelibs/qpoases/SRC/Bounds.cpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.d
+14
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@@ -0,0 +1,14 @@
lib_qp/Constraints.o: ../../../../phonelibs/qpoases/SRC/Constraints.cpp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.d
+11
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@@ -0,0 +1,11 @@
lib_qp/CyclingManager.o: \
../../../../phonelibs/qpoases/SRC/CyclingManager.cpp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
+24
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@@ -0,0 +1,24 @@
lib_qp/EXTRAS/SolutionAnalysis.o: \
../../../../phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp \
../../../../phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
../../../../phonelibs/qpoases/SRC/QProblem.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.d
+10
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@@ -0,0 +1,10 @@
lib_qp/Indexlist.o: ../../../../phonelibs/qpoases/SRC/Indexlist.cpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/MessageHandling.d
+9
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@@ -0,0 +1,9 @@
lib_qp/MessageHandling.o: \
../../../../phonelibs/qpoases/SRC/MessageHandling.cpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/SRC/Utils.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/MessageHandling.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.d
+22
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@@ -0,0 +1,22 @@
lib_qp/QProblem.o: ../../../../phonelibs/qpoases/SRC/QProblem.cpp \
../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
../../../../phonelibs/qpoases/SRC/Constraints.ipp \
../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
../../../../phonelibs/qpoases/SRC/QProblem.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblemB.d
+16
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@@ -0,0 +1,16 @@
lib_qp/QProblemB.o: ../../../../phonelibs/qpoases/SRC/QProblemB.cpp \
../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
../../../../phonelibs/qpoases/SRC/Bounds.ipp \
../../../../phonelibs/qpoases/SRC/QProblemB.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblemB.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/SubjectTo.d
+12
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@@ -0,0 +1,12 @@
lib_qp/SubjectTo.o: ../../../../phonelibs/qpoases/SRC/SubjectTo.cpp \
../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp \
../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
../../../../phonelibs/qpoases/SRC/SubjectTo.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/SubjectTo.o
BIN
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selfdrive/controls/lib/longitudinal_mpc/lib_qp/Utils.d
+8
View File
@@ -0,0 +1,8 @@
lib_qp/Utils.o: ../../../../phonelibs/qpoases/SRC/Utils.cpp \
../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
lib_mpc_export/acado_qpoases_interface.hpp \
../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
../../../../phonelibs/qpoases/SRC/Utils.ipp
selfdrive/controls/lib/longitudinal_mpc/lib_qp/Utils.o
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