acados: relative rpath (#35624)

* 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 a55077f39e.

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

This reverts commit 07a6a26292.

---------

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

SConstruct

@@ -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

@@ -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

@@ -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)