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acados: relative rpath (#35624)

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* opendbc/SharedLibrary

* acados, mpc don't link to absolute paths

* update opendbc

* include gen path, dont include abs path

* escape escape

* move rpath to relative path in mpc SConscripts

* clean up

* missing libs

* don't update opendbc

* rpath literal and rel_path

* ld library path is for runtime?

* same for darwin

* build on macos

* Update selfdrive/controls/lib/lateral_mpc_lib/SConscript

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Revert "Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript"

This reverts commit a55077f39ea248428e5916b85f24542293edefc9.

* Reapply "Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript"

This reverts commit 07a6a26292ea7f436ff43fb7efe1ad826eef689b.

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
Armand du Parc Locmaria
2025-07-10 18:59:09 -07:00
committed by GitHub
parent 501fddac82
commit 3c43a000cd
3 changed files with 15 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
SConstruct
+1 -3
View File
@@ -76,7 +76,6 @@ assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
lenv = {
"PATH": os.environ['PATH'],
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
@@ -84,7 +83,7 @@ lenv = {
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
}
rpath = lenv["LD_LIBRARY_PATH"].copy()
rpath = []
if arch == "larch64":
cpppath = [
@@ -126,7 +125,6 @@ else:
f"{brew_prefix}/include",
f"{brew_prefix}/opt/openssl@3.0/include",
]
lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
# Linux
else:
libpath = [
selfdrive/controls/lib/lateral_mpc_lib/SConscript
+8 -2
View File
@@ -55,6 +55,8 @@ source_list = ['lat_mpc.py',
]
lenv = env.Clone()
acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
lenv.Clean(generated_files, Dir(gen))
generated_lat = lenv.Command(generated_files,
@@ -67,6 +69,9 @@ lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CCFLAGS"].append("-Wno-unused")
if arch != "Darwin":
lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
else:
lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_lat.dylib")
lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}")
lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
@@ -78,7 +83,8 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')]
lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \
@@ -86,6 +92,6 @@ lenv2.Command(libacados_ocp_solver_c,
f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
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(libacados_ocp_solver_c, np_version)
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+6 -3
View File
@@ -61,8 +61,9 @@ source_list = ['long_mpc.py',
]
lenv = env.Clone()
acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
lenv.Clean(generated_files, Dir(gen))
generated_long = lenv.Command(generated_files,
source_list,
f"cd {Dir('.').abspath} && python3 long_mpc.py")
@@ -75,6 +76,7 @@ if arch != "Darwin":
lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
else:
lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib")
lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}")
lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
@@ -86,7 +88,8 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')]
lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \
@@ -94,6 +97,6 @@ lenv2.Command(libacados_ocp_solver_c,
f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
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(libacados_ocp_solver_c, np_version)