forked from IQ.Lvbs/IQ.Pilot
IQ.Pilot Prebuilt Release @ ab07000
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IQ.Lvbs history cleanup
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#
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# Copyright (c) The acados authors.
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#
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# This file is part of acados.
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#
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# The 2-Clause BSD License
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.;
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#
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# define sources and use make's implicit rules to generate object files (*.o)
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# model
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MODEL_SRC=
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MODEL_SRC+= long_model/long_expl_ode_fun.c
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MODEL_SRC+= long_model/long_expl_vde_forw.c
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MODEL_SRC+= long_model/long_expl_vde_adj.c
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MODEL_OBJ := $(MODEL_SRC:.c=.o)
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# optimal control problem - mostly CasADi exports
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OCP_SRC=
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OCP_SRC+= long_constraints/long_constr_h_fun_jac_uxt_zt.c
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OCP_SRC+= long_constraints/long_constr_h_fun.c
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OCP_SRC+= long_cost/long_cost_y_0_fun.c
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OCP_SRC+= long_cost/long_cost_y_0_fun_jac_ut_xt.c
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OCP_SRC+= long_cost/long_cost_y_0_hess.c
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OCP_SRC+= long_cost/long_cost_y_fun.c
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OCP_SRC+= long_cost/long_cost_y_fun_jac_ut_xt.c
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OCP_SRC+= long_cost/long_cost_y_hess.c
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OCP_SRC+= long_cost/long_cost_y_e_fun.c
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OCP_SRC+= long_cost/long_cost_y_e_fun_jac_ut_xt.c
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OCP_SRC+= long_cost/long_cost_y_e_hess.c
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OCP_SRC+= acados_solver_long.c
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OCP_OBJ := $(OCP_SRC:.c=.o)
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# for sim solver
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SIM_SRC= acados_sim_solver_long.c
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SIM_OBJ := $(SIM_SRC:.c=.o)
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# for target example
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EX_SRC= main_long.c
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EX_OBJ := $(EX_SRC:.c=.o)
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EX_EXE := $(EX_SRC:.c=)
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# for target example_sim
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EX_SIM_SRC= main_sim_long.c
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EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
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EX_SIM_EXE := $(EX_SIM_SRC:.c=)
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# combine model, sim and ocp object files
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OBJ=
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OBJ+= $(MODEL_OBJ)
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OBJ+= $(SIM_OBJ)
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OBJ+= $(OCP_OBJ)
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EXTERNAL_DIR=
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EXTERNAL_LIB=
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INCLUDE_PATH = /data/openpilot/third_party/acados/include
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LIB_PATH = /data/openpilot/third_party/acados/lib
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# preprocessor flags for make's implicit rules
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CPPFLAGS+= -I$(INCLUDE_PATH)
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CPPFLAGS+= -I$(INCLUDE_PATH)/acados
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CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
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CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
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# define the c-compiler flags for make's implicit rules
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CFLAGS = -fPIC -std=c99 -O2#-fno-diagnostics-show-line-numbers -g
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# # Debugging
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# CFLAGS += -g3
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# linker flags
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LDFLAGS+= -L$(LIB_PATH)
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# link to libraries
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LDLIBS+= -lacados
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LDLIBS+= -lhpipm
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LDLIBS+= -lblasfeo
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LDLIBS+= -lm
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LDLIBS+=
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# libraries
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LIBACADOS_SOLVER=libacados_solver_long.so
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LIBACADOS_OCP_SOLVER=libacados_ocp_solver_long.so
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LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
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# virtual targets
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.PHONY : all clean
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#all: clean example_sim example shared_lib
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all: clean example_sim example
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shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
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# some linker targets
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example: $(EX_OBJ) $(OBJ)
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$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
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example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
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$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
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bundled_shared_lib: $(OBJ)
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$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
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ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
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$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
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-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
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sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
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$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
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# Cython targets
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ocp_cython_c: ocp_shared_lib
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cython \
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-o acados_ocp_solver_pyx.c \
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-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
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$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
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-I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \
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ocp_cython_o: ocp_cython_c
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$(CC) $(ACADOS_FLAGS) -c -O2 \
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-fPIC \
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-o acados_ocp_solver_pyx.o \
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-I $(INCLUDE_PATH)/blasfeo/include/ \
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-I $(INCLUDE_PATH)/hpipm/include/ \
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-I $(INCLUDE_PATH) \
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-I /data/openpilot/.venv/lib/python3.12/site-packages/numpy/_core/include \
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-I /usr/include/python3.12 \
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acados_ocp_solver_pyx.c \
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ocp_cython: ocp_cython_o
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$(CC) $(ACADOS_FLAGS) -shared \
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-o acados_ocp_solver_pyx.so \
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-Wl,-rpath=$(LIB_PATH) \
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acados_ocp_solver_pyx.o \
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$(abspath .)/libacados_ocp_solver_long.so \
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$(LDFLAGS) $(LDLIBS)
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# Sim Cython targets
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sim_cython_c: sim_shared_lib
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cython \
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-o acados_sim_solver_pyx.c \
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-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
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$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
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-I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \
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sim_cython_o: sim_cython_c
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$(CC) $(ACADOS_FLAGS) -c -O2 \
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-fPIC \
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-o acados_sim_solver_pyx.o \
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-I $(INCLUDE_PATH)/blasfeo/include/ \
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-I $(INCLUDE_PATH)/hpipm/include/ \
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-I $(INCLUDE_PATH) \
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-I /data/openpilot/.venv/lib/python3.12/site-packages/numpy/_core/include \
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-I /usr/include/python3.12 \
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acados_sim_solver_pyx.c \
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sim_cython: sim_cython_o
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$(CC) $(ACADOS_FLAGS) -shared \
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-o acados_sim_solver_pyx.so \
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-Wl,-rpath=$(LIB_PATH) \
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acados_sim_solver_pyx.o \
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$(abspath .)/libacados_sim_solver_long.so \
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$(LDFLAGS) $(LDLIBS)
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clean:
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$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
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$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
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$(RM) $(EX_EXE) $(EX_SIM_EXE)
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clean_ocp_shared_lib:
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$(RM) $(LIBACADOS_OCP_SOLVER)
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$(RM) $(OCP_OBJ)
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clean_ocp_cython:
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$(RM) libacados_ocp_solver_long.so
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$(RM) acados_solver_long.o
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$(RM) acados_ocp_solver_pyx.so
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$(RM) acados_ocp_solver_pyx.o
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clean_sim_cython:
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$(RM) libacados_sim_solver_long.so
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$(RM) acados_sim_solver_long.o
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$(RM) acados_sim_solver_pyx.so
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$(RM) acados_sim_solver_pyx.o
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