IQ.Pilot Prebuilt Release @ ab07000

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile

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+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+
+
+
+# define sources and use make's implicit rules to generate object files (*.o)
+
+# model
+MODEL_SRC=
+MODEL_SRC+= lat_model/lat_expl_ode_fun.c
+MODEL_SRC+= lat_model/lat_expl_vde_forw.c
+MODEL_SRC+= lat_model/lat_expl_vde_adj.c
+MODEL_OBJ := $(MODEL_SRC:.c=.o)
+
+# optimal control problem - mostly CasADi exports
+OCP_SRC=
+OCP_SRC+= lat_cost/lat_cost_y_0_fun.c
+OCP_SRC+= lat_cost/lat_cost_y_0_fun_jac_ut_xt.c
+OCP_SRC+= lat_cost/lat_cost_y_0_hess.c
+OCP_SRC+= lat_cost/lat_cost_y_fun.c
+OCP_SRC+= lat_cost/lat_cost_y_fun_jac_ut_xt.c
+OCP_SRC+= lat_cost/lat_cost_y_hess.c
+OCP_SRC+= lat_cost/lat_cost_y_e_fun.c
+OCP_SRC+= lat_cost/lat_cost_y_e_fun_jac_ut_xt.c
+OCP_SRC+= lat_cost/lat_cost_y_e_hess.c
+
+OCP_SRC+= acados_solver_lat.c
+OCP_OBJ := $(OCP_SRC:.c=.o)
+
+# for sim solver
+SIM_SRC= acados_sim_solver_lat.c
+SIM_OBJ := $(SIM_SRC:.c=.o)
+
+# for target example
+EX_SRC= main_lat.c
+EX_OBJ := $(EX_SRC:.c=.o)
+EX_EXE := $(EX_SRC:.c=)
+
+# for target example_sim
+EX_SIM_SRC= main_sim_lat.c
+EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
+EX_SIM_EXE := $(EX_SIM_SRC:.c=)
+
+# combine model, sim and ocp object files
+OBJ=
+OBJ+= $(MODEL_OBJ)
+OBJ+= $(SIM_OBJ)
+OBJ+= $(OCP_OBJ)
+
+EXTERNAL_DIR=
+EXTERNAL_LIB=
+
+INCLUDE_PATH = /data/openpilot/third_party/acados/include
+LIB_PATH = /data/openpilot/third_party/acados/lib
+
+# preprocessor flags for make's implicit rules
+CPPFLAGS+= -I$(INCLUDE_PATH)
+CPPFLAGS+= -I$(INCLUDE_PATH)/acados
+CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
+CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
+
+
+# define the c-compiler flags for make's implicit rules
+CFLAGS = -fPIC -std=c99   -O2#-fno-diagnostics-show-line-numbers -g
+# # Debugging
+# CFLAGS += -g3
+
+# linker flags
+LDFLAGS+= -L$(LIB_PATH)
+
+# link to libraries
+LDLIBS+= -lacados
+LDLIBS+= -lhpipm
+LDLIBS+= -lblasfeo
+LDLIBS+= -lm
+LDLIBS+= 
+
+# libraries
+LIBACADOS_SOLVER=libacados_solver_lat.so
+LIBACADOS_OCP_SOLVER=libacados_ocp_solver_lat.so
+LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
+
+# virtual targets
+.PHONY : all clean
+
+#all: clean example_sim example shared_lib
+
+all: clean example_sim example
+shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
+
+# some linker targets
+example: $(EX_OBJ) $(OBJ)
+	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
+
+example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
+	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
+
+bundled_shared_lib: $(OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
+
+ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
+	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
+
+sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
+
+
+# Cython targets
+ocp_cython_c: ocp_shared_lib
+	cython \
+	-o acados_ocp_solver_pyx.c \
+	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
+	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
+	-I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \
+
+ocp_cython_o: ocp_cython_c
+	$(CC) $(ACADOS_FLAGS) -c -O2 \
+	-fPIC \
+	-o acados_ocp_solver_pyx.o \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-I /data/openpilot/.venv/lib/python3.12/site-packages/numpy/_core/include \
+	-I /usr/include/python3.12 \
+	acados_ocp_solver_pyx.c \
+
+ocp_cython: ocp_cython_o
+	$(CC) $(ACADOS_FLAGS) -shared \
+	-o acados_ocp_solver_pyx.so \
+	-Wl,-rpath=$(LIB_PATH) \
+	acados_ocp_solver_pyx.o \
+	$(abspath .)/libacados_ocp_solver_lat.so \
+	$(LDFLAGS) $(LDLIBS)
+
+# Sim Cython targets
+sim_cython_c: sim_shared_lib
+	cython \
+	-o acados_sim_solver_pyx.c \
+	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
+	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
+	-I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \
+
+sim_cython_o: sim_cython_c
+	$(CC) $(ACADOS_FLAGS) -c -O2 \
+	-fPIC \
+	-o acados_sim_solver_pyx.o \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-I /data/openpilot/.venv/lib/python3.12/site-packages/numpy/_core/include \
+	-I /usr/include/python3.12 \
+	acados_sim_solver_pyx.c \
+
+sim_cython: sim_cython_o
+	$(CC) $(ACADOS_FLAGS) -shared \
+	-o acados_sim_solver_pyx.so \
+	-Wl,-rpath=$(LIB_PATH) \
+	acados_sim_solver_pyx.o \
+	$(abspath .)/libacados_sim_solver_lat.so \
+	$(LDFLAGS) $(LDLIBS)
+
+clean:
+	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
+	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
+	$(RM) $(EX_EXE) $(EX_SIM_EXE)
+
+clean_ocp_shared_lib:
+	$(RM) $(LIBACADOS_OCP_SOLVER)
+	$(RM) $(OCP_OBJ)
+
+clean_ocp_cython:
+	$(RM) libacados_ocp_solver_lat.so
+	$(RM) acados_solver_lat.o
+	$(RM) acados_ocp_solver_pyx.so
+	$(RM) acados_ocp_solver_pyx.o
+
+clean_sim_cython:
+	$(RM) libacados_sim_solver_lat.so
+	$(RM) acados_sim_solver_lat.o
+	$(RM) acados_sim_solver_pyx.so
+	$(RM) acados_sim_solver_pyx.o