acados, mpc don't link to absolute paths

4 months ago · 55cbaa5dcb
parent 5b81d7b7fe
commit 55cbaa5dcb
3 changed files with 3 additions and 3 deletions
--- a/2
+++ b/2
@ -80,7 +80,7 @@ assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]

 lenv = {
  "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "LD_LIBRARY_PATH": [str(Dir(f"#third_party/acados/{arch}/lib"))],
  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,

  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@ -78,7 +78,7 @@ 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["LINKFLAGS"] += ['-Wl,-rpath,$$ORIGIN', lib_solver[0].get_labspath()]
 lenv2.Command(libacados_ocp_solver_c,
  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
  f'cython' + \
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@ -86,7 +86,7 @@ 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["LINKFLAGS"] += ['-Wl,-rpath,$$ORIGIN', lib_solver[0].get_labspath()]
 lenv2.Command(libacados_ocp_solver_c,
  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
  f'cython' + \