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acados: copy c generated code (#38050)

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This commit is contained in:
YassineYousfi
2026-05-16 11:09:03 -07:00
committed by GitHub
parent d4a83deb7d
commit 65405bafa6
2 changed files with 18 additions and 4 deletions
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selfdrive/controls/lib/lateral_mpc_lib/SConscript
+9 -2
View File
@@ -55,8 +55,14 @@ source_list = ['lat_mpc.py',
]
lenv = env.Clone()
acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
copied_acados_libs = []
if arch != "Darwin":
for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
else:
acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
lenv.Clean(generated_files, Dir(gen))
generated_lat = lenv.Command(generated_files,
@@ -94,4 +100,5 @@ lenv2.Command(libacados_ocp_solver_c,
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
lenv2.Depends(lib_cython, lib_solver)
lenv2.Depends(lib_cython, copied_acados_libs)
lenv2.Depends(libacados_ocp_solver_c, np_version)
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+9 -2
View File
@@ -61,8 +61,14 @@ source_list = ['long_mpc.py',
]
lenv = env.Clone()
acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
copied_acados_libs = []
if arch != "Darwin":
for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
else:
acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
lenv.Clean(generated_files, Dir(gen))
generated_long = lenv.Command(generated_files,
source_list,
@@ -99,4 +105,5 @@ lenv2.Command(libacados_ocp_solver_c,
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
lenv2.Depends(lib_cython, lib_solver)
lenv2.Depends(lib_cython, copied_acados_libs)
lenv2.Depends(libacados_ocp_solver_c, np_version)