MP4 Export for Raybig on WSL

scripts/launch_ui_raybig_desktop.sh

@@ -202,6 +202,18 @@ prepare_pandad_host_artifacts() {
   rm -f "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a"
 }
 
+prepare_acados_host_artifacts() {
+  # c_generated_code is regenerated byte-for-byte each run, so SCons sees no change and skips
+  # relinking, leaving a larch64 solver lib from a device build in place. Drop the whole tree.
+  local rel=""
+  for rel in "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so" \
+             "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"; do
+    if archive_is_aarch64_elf "${ROOT_DIR}/${rel}"; then
+      rm -rf "$(dirname "${ROOT_DIR}/${rel}")"
+    fi
+  done
+}
+
 python_ui_runtime_ok() {
   "${PY_BIN}" - <<'PY'
 import pyray  # noqa: F401
@@ -286,6 +298,7 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
   prepare_common_host_artifacts
   prepare_msgq_host_artifacts
   prepare_pandad_host_artifacts
+  prepare_acados_host_artifacts
   remove_if_elf "common/params_pyx.so"
   remove_if_elf "common/transformations/transformations.so"
   remove_if_elf "msgq/ipc_pyx.so"