diff --git a/SConstruct b/SConstruct index 83ff9cbf02..530cf82d90 100644 --- a/SConstruct +++ b/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 = [ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 2c03da06a6..38c1df6396 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/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) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 2a155717c0..9dff07550b 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/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)