add acados package (#76)

acados/acados/__init__.py

@@ -0,0 +1,48 @@
+import os
+
+DIR = os.path.join(os.path.dirname(__file__), "install")
+INCLUDE_DIR = os.path.join(DIR, "include")
+LIB_DIR = os.path.join(DIR, "lib")
+BIN_DIR = os.path.join(DIR, "bin")
+TERA_PATH = os.path.join(BIN_DIR, "t_renderer")
+
+TEMPLATE_DIR = os.path.join(os.path.dirname(__file__), "acados_template")
+
+
+def smoketest():
+  import sys
+
+  lib_ext = ".dylib" if sys.platform == "darwin" else ".so"
+  for lib in ("libacados", "libblasfeo", "libhpipm", "libqpOASES_e"):
+    path = os.path.join(LIB_DIR, lib + lib_ext)
+    assert os.path.isfile(path), f"missing lib: {path}"
+
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "acados_c", "ocp_nlp_interface.h"))
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "blasfeo", "include", "blasfeo.h"))
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "hpipm", "include", "hpipm_common.h"))
+
+  assert os.path.isfile(TERA_PATH) and os.access(TERA_PATH, os.X_OK), f"t_renderer missing/not executable: {TERA_PATH}"
+
+  assert os.path.isfile(os.path.join(TEMPLATE_DIR, "__init__.py"))
+  assert os.path.isfile(os.path.join(TEMPLATE_DIR, "acados_layout.json"))
+  assert os.path.isdir(os.path.join(TEMPLATE_DIR, "c_templates_tera"))
+
+  # the vendored slim casadi shipped in this wheel is built against cpython 3.12
+  # and pulls in numpy; only exercise it when both are available (real consumers
+  # like openpilot install via the shim, which declares numpy as a dep).
+  try:
+    import numpy  # noqa: F401
+  except ImportError:
+    return
+  if sys.version_info[:2] != (3, 12):
+    return
+
+  from casadi import SX, MX, DM, Function, CasadiMeta, vertcat, jacobian, sin, cos, n_nodes  # noqa: F401
+
+  x = SX.sym("x")
+  y = SX.sym("y")
+  expr = vertcat(sin(x), cos(y))
+  J = jacobian(expr, vertcat(x, y))
+  assert J.shape == (2, 2)
+  assert n_nodes(J) > 0
+  assert isinstance(CasadiMeta.version(), str)

acados/build.sh

@@ -0,0 +1,139 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR"
+
+# v0.2.2
+VERSION="8af9b0ad180940ef611884574a0b27a43504311d"
+INSTALL_DIR="$DIR/acados/install"
+TEMPLATE_DIR="$DIR/acados/acados_template"
+CASADI_DIR="$DIR/casadi"
+CASADI_VERSION="3.6.7"
+
+NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
+
+# pick BLAS target per host arch
+ARCH="$(uname -m)"
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  # this BLASFEO version doesn't have an Apple Silicon target; Cortex-A57
+  # baseline ARMv8 SIMD compiles and runs fine on M1+.
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+elif [[ "$ARCH" == "aarch64" ]]; then
+  # Cortex-A57 = TICI baseline; safe for any modern aarch64
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+else
+  BLAS_TARGET="X64_AUTOMATIC"
+fi
+
+ACADOS_FLAGS=(
+  -DACADOS_WITH_QPOASES=ON
+  -UBLASFEO_TARGET
+  -DBLASFEO_TARGET="$BLAS_TARGET"
+  -DACADOS_INSTALL_DIR="$INSTALL_DIR"
+  # acados (and several of its submodules) still pin cmake_minimum_required <3.5;
+  # CMake 4 removed that compatibility, so re-enable it here.
+  -DCMAKE_POLICY_VERSION_MINIMUM=3.5
+  # qpOASES + blasfeo both call malloc()/posix_memalign() without including
+  # <stdlib.h>. C99/C2x and modern gcc/clang reject implicit declarations as
+  # errors. qpOASES also has a real Constraints*/Constraints** pointer bug
+  # that gcc 14+ now flags as an error too. Downgrade both so the upstream
+  # (pinned) sources keep compiling.
+  "-DCMAKE_C_FLAGS=-Wno-implicit-function-declaration -Wno-incompatible-pointer-types"
+)
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ACADOS_FLAGS+=(
+    -DCMAKE_OSX_ARCHITECTURES=arm64
+    -DCMAKE_MACOSX_RPATH=1
+  )
+fi
+
+# clone/update source
+if [ ! -d "acados-src/.git" ]; then
+  rm -rf acados-src
+  git clone https://github.com/acados/acados.git acados-src
+fi
+git -C acados-src fetch --all --tags
+git -C acados-src checkout --force "$VERSION"
+git -C acados-src submodule update --init --recursive --depth=1
+
+# build acados
+mkdir -p build
+cd build
+cmake "${ACADOS_FLAGS[@]}" "$DIR/acados-src"
+make -j"$NJOBS" install
+cd "$DIR"
+
+# we don't ship sample json templates
+rm -f "$INSTALL_DIR"/lib/*.json
+
+# python interface package (acados_template)
+rm -rf "$TEMPLATE_DIR"
+cp -r acados-src/interfaces/acados_template/acados_template "$TEMPLATE_DIR"
+
+# strip future_fstrings (avoids needing the compatibility package on py>=3.6).
+# Cython chokes on the unknown encoding in .pyx/.pxd too, not just .py.
+find "$TEMPLATE_DIR" -type f \( -name '*.py' -o -name '*.pyx' -o -name '*.pxd' \) \
+  -exec sed -i.bak '/future.fstrings/d' {} +
+find "$TEMPLATE_DIR" -name '*.bak' -delete
+
+# acados_template's gnsf/check_reformulation.py uses an absolute `from
+# acados_template.utils import ...` that only worked when acados_template was
+# itself a top-level package on the path. We ship it as `acados.acados_template`,
+# so rewrite to the relative form the rest of gnsf already uses.
+if [ -f "$TEMPLATE_DIR/gnsf/check_reformulation.py" ]; then
+  sed -i.bak 's/^from acados_template\.utils /from ..utils /' "$TEMPLATE_DIR/gnsf/check_reformulation.py"
+  rm -f "$TEMPLATE_DIR/gnsf/check_reformulation.py.bak"
+fi
+
+# build tera renderer (needs cargo)
+if ! command -v cargo >/dev/null 2>&1; then
+  echo "installing rust toolchain (needed for tera_renderer)..."
+  curl -LsSf https://sh.rustup.rs | sh -s -- -y --default-toolchain stable --profile minimal
+  # shellcheck disable=SC1091
+  source "$HOME/.cargo/env"
+fi
+
+mkdir -p "$INSTALL_DIR/bin"
+cd "$DIR/acados-src/interfaces/acados_template/tera_renderer/"
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  cargo build --release --target aarch64-apple-darwin
+  cp target/aarch64-apple-darwin/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+else
+  cargo build --release
+  cp target/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+fi
+
+cd "$DIR"
+
+# vendor a slim casadi: install the upstream wheel into a throwaway cp312 venv
+# (uv resolves the right platform wheel automatically), then move the casadi/
+# tree out and slim it.
+echo "vendoring casadi $CASADI_VERSION ..."
+rm -rf "$CASADI_DIR" casadi-venv
+uv venv --python 3.12 --quiet casadi-venv
+uv pip install --python casadi-venv/bin/python --no-deps --quiet "casadi==$CASADI_VERSION"
+mv casadi-venv/lib/python3.12/site-packages/casadi "$CASADI_DIR"
+rm -rf casadi-venv
+
+# drop everything except the bits openpilot actually needs:
+#   - __init__.py, casadi.py, tools/  (Python wrapper)
+#   - _casadi.so                       (CPython extension; same name on linux+darwin)
+#   - libcasadi.{so,dylib}*            (the C++ runtime that _casadi.so links to)
+# openpilot only uses symbolic SX/MX/Function/jacobian etc., which live in
+# libcasadi + _casadi. Solver plugins (conic_*, nlpsol_*, integrator_*, ...)
+# and their third-party backends (ipopt, bonmin, hpipm, fatrop, ...) are
+# loaded lazily via dlopen and never reached.
+cd "$CASADI_DIR"
+shopt -s extglob
+# libc++.*.dylib only exists on darwin and is needed by _casadi.so via @rpath
+rm -rf !(__init__.py|casadi.py|_casadi.so|tools|libcasadi.*|libc++.*)
+shopt -u extglob
+
+cd "$DIR"
+rm -rf casadi-wheel
+
+echo "Installed acados to $INSTALL_DIR"
+du -sh "$INSTALL_DIR"
+echo "Vendored casadi (slim) at $CASADI_DIR"
+du -sh "$CASADI_DIR"

acados/pyproject.toml

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+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "acados"
+version = "0.2.2"
+description = "acados solvers + Python interface, with a slimmed casadi vendored alongside"
+requires-python = ">=3.8"
+dependencies = [
+  # the vendored casadi.py shim imports numpy at module load time
+  "numpy",
+]
+
+# `find` runs at setup() init time, before build.sh creates these dirs, so
+# enumerate packages explicitly. acados.acados_template + casadi.tools are
+# subpackages and ship via package-data.
+[tool.setuptools]
+packages = ["acados", "casadi"]
+
+[tool.setuptools.package-data]
+acados = ["install/**/*", "acados_template/**/*"]
+casadi = ["**/*"]

acados/setup.py

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+import os
+import platform
+import subprocess
+
+from setuptools.command.build_py import build_py
+
+# `casadi/` is generated by build.sh (vendored from the upstream wheel), but
+# setuptools requires every declared package to have a directory + __init__.py
+# *before* any command runs. Drop a stub if it isn't there yet — build.sh
+# replaces it with the real slim casadi during build_py.
+_HERE = os.path.dirname(os.path.abspath(__file__))
+_casadi_init = os.path.join(_HERE, "casadi", "__init__.py")
+if not os.path.exists(_casadi_init):
+  os.makedirs(os.path.dirname(_casadi_init), exist_ok=True)
+  open(_casadi_init, "w").close()
+
+try:
+  from wheel.bdist_wheel import bdist_wheel
+except ImportError:
+  bdist_wheel = None
+
+
+class BuildAcados(build_py):
+  """Run build.sh to compile acados before collecting package data."""
+
+  def run(self):
+    pkg_dir = os.path.dirname(os.path.abspath(__file__))
+    build_script = os.path.join(pkg_dir, "build.sh")
+    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+
+    super().run()
+
+
+cmdclass = {"build_py": BuildAcados}
+
+if bdist_wheel is not None:
+
+  class PlatformWheel(bdist_wheel):
+    """Produce a platform-specific, Python-version-agnostic wheel."""
+
+    def finalize_options(self):
+      super().finalize_options()
+      self.root_is_pure = False
+
+    def get_tag(self):
+      system = platform.system()
+      machine = platform.machine()
+
+      if system == "Linux":
+        plat = f"linux_{machine}"
+      elif system == "Darwin":
+        plat = "macosx_11_0_arm64"
+      else:
+        plat = f"{system.lower()}_{machine}"
+
+      return "py3", "none", plat
+
+  cmdclass["bdist_wheel"] = PlatformWheel
+
+
+def setup():
+  from setuptools import setup as _setup
+
+  _setup(cmdclass=cmdclass)
+
+
+if __name__ == "__main__":
+  setup()