From 5c3d843b4b696345cbf24ece629248b2be100fd9 Mon Sep 17 00:00:00 2001 From: Armandpl Date: Wed, 9 Jul 2025 02:21:29 -0700 Subject: [PATCH] rpath literal and rel_path --- selfdrive/controls/lib/lateral_mpc_lib/SConscript | 4 ++-- selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 4ddff71b3e..5ed2a81402 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -55,7 +55,7 @@ source_list = ['lat_mpc.py', ] lenv = env.Clone() -lenv["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/../../../../../third_party/acados/{arch}/lib'] +lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{Dir({gen}).rel_path(Dir(f"#third_party/acados/{arch}/lib"))}')] lenv.Clean(generated_files, Dir(gen)) generated_lat = lenv.Command(generated_files, @@ -80,7 +80,7 @@ libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c') lenv2 = envCython.Clone() lenv2["LIBPATH"] += [lib_solver[0].dir.abspath] -lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN'] +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' + \ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 6a5684a487..bdc018b417 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -61,7 +61,7 @@ source_list = ['long_mpc.py', ] lenv = env.Clone() -lenv["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/../../../../../third_party/acados/{arch}/lib'] +lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{Dir({gen}).rel_path(Dir(f"#third_party/acados/{arch}/lib"))}')] lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, @@ -87,7 +87,7 @@ libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c') lenv2 = envCython.Clone() lenv2["LIBPATH"] += [lib_solver[0].dir.abspath] -lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN'] +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' + \