build for mac (#23048)

old-commit-hash: 16dd7ce1fe

SConstruct

@@ -127,6 +127,7 @@ else:
       "/opt/homebrew/lib",
       "/usr/local/opt/openssl/lib",
       "/opt/homebrew/opt/openssl/lib",
+      f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -48,12 +48,13 @@ lenv.Clean(generated_files, Dir(gen))
 
 lenv.Command(generated_files,
              ["lat_mpc.py"],
-             f"cd {Dir('.').abspath} && python lat_mpc.py")
+             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
-lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+if arch != "Darwin":
+  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -58,12 +58,13 @@ lenv.Clean(generated_files, Dir(gen))
 
 lenv.Command(generated_files,
              ["long_mpc.py"],
-             f"cd {Dir('.').abspath} && python long_mpc.py")
+             f"cd {Dir('.').abspath} && python3 long_mpc.py")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
-lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+if arch != "Darwin":
+  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])

selfdrive/ui/qt/widgets/cameraview.cc

@@ -31,8 +31,8 @@ const char frame_fragment_shader[] =
   "#version 150 core\n"
 #else
   "#version 300 es\n"
-#endif
   "precision mediump float;\n"
+#endif
   "uniform sampler2D uTexture;\n"
   "in vec4 vTexCoord;\n"
   "out vec4 colorOut;\n"

selfdrive/ui/replay/framereader.cc

@@ -15,7 +15,8 @@ struct buffer_data {
 
 int readPacket(void *opaque, uint8_t *buf, int buf_size) {
   struct buffer_data *bd = (struct buffer_data *)opaque;
-  buf_size = std::min((size_t)buf_size, bd->size - bd->offset);
+  assert(bd->offset <= bd->size);
+  buf_size = std::min((size_t)buf_size, (size_t)(bd->size - bd->offset));
   if (!buf_size) return AVERROR_EOF;
 
   memcpy(buf, bd->data + bd->offset, buf_size);

third_party/acados/Darwin/lib/libacados.dylib

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498f02aa0ec9a3f5018e0888b13eeacb64726289f6b9149bd4645252c19e8f2d
+size 357804

third_party/acados/Darwin/lib/libblasfeo.dylib

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2422711a5f711325947bb4cfd55368840ce57b33cffacf45fd0a6dcbf71cd8b3
+size 531149

third_party/acados/Darwin/lib/libhpipm.dylib

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40530c77834e7efbf9f7e8b7f76d547d706459e4079a58fb5b93c2d68187a77a
+size 1062411

third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3876b41af39f6815cb84ecabeada4e9866d34aa2a73874ab0a627a4651952b
+size 218403

third_party/acados/Darwin/lib/libqpOASES_e.dylib

@@ -0,0 +1 @@
+libqpOASES_e.3.1.dylib

third_party/acados/Darwin/t_renderer

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0f1e15993ae4234e8371c69055a5f52b4deacaa79446734716972771a8ae9c
+size 3354796