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openpilot v0.8.11 release

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This commit is contained in:
Vehicle Researcher
2021-11-19 15:24:51 -08:00
parent 93e8dbb8b5
commit bf338bf5e9
328 changed files with 9240 additions and 3951 deletions
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selfdrive/controls/lib/lateral_mpc_lib/SConscript
+23 -4
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@@ -1,4 +1,4 @@
Import('env', 'arch')
Import('env', 'envCython', 'arch', 'common')
gen = "c_generated_code"
@@ -33,6 +33,7 @@ generated_files = [
f'{gen}/main_lat.c',
f'{gen}/acados_solver_lat.h',
f'{gen}/acados_solver.pxd',
f'{gen}/lat_model/lat_expl_vde_adj.c',
@@ -53,6 +54,24 @@ lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CCFLAGS"].append("-Wno-unused")
lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
# generate cython stuff
acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \
f' -o {libacados_ocp_solver_c.get_labspath()}' + \
f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
lenv2.Depends(lib_cython, lib_solver)