support acados on device (#21409)

* build tera

* larch64

* x86

* aarch64 libs

* aarch tera

Co-authored-by: Comma Device <device@comma.ai>

phonelibs/acados/aarch64/lib/libqpOASES_e.so

@@ -0,0 +1 @@
+libqpOASES_e.so.3.1

phonelibs/acados/build.sh

@@ -18,7 +18,7 @@ if [ ! -d acados/ ]; then
 fi
 cd acados
 git fetch
-git checkout 9a1bab3f8fc4814a295fbf424fdc8125c63fdd08
+git checkout f63f0be563519a3df32463397f2bcd57b3958714
 git submodule update --recursive --init
 
 # build
@@ -36,5 +36,9 @@ rm $DIR/acados/lib/*.json
 cp -r $DIR/acados/include $DIR
 cp -r $DIR/acados/lib $INSTALL_DIR
 cp -r $DIR/acados/interfaces/acados_template/acados_template $DIR/../../pyextra
-
 #pip3 install -e $DIR/acados/interfaces/acados_template
+
+# build tera
+cd $DIR/acados/interfaces/acados_template/tera_renderer/
+cargo build --verbose --release
+cp target/release/t_renderer $INSTALL_DIR/

phonelibs/acados/larch64/lib/libqpOASES_e.so

@@ -0,0 +1 @@
+libqpOASES_e.so.3.1

pyextra/acados_template/utils.py

@@ -55,8 +55,10 @@ def get_acados_path():
 
 
 def get_tera_exec_path():
-    ACADOS_PATH = get_acados_path()
-    return os.path.join(ACADOS_PATH, 'bin/t_renderer')
+    TERA_PATH = os.environ.get('TERA_PATH')
+    if not TERA_PATH:
+        TERA_PATH = os.path.join(get_acados_path(), 'bin/t_renderer')
+    return TERA_PATH
 
 
 platform2tera = {