From c06d975ec4fbb8912cb5b78c5158738ea57cb271 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Sat, 10 Aug 2024 02:12:40 -0400
Subject: [PATCH] tools/sim: resolve import error on MacOS running Metadrive
 (#33244)

fix dynamic lib linking on mac
---
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 22342c0078..2a155717c0 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -73,6 +73,8 @@ 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_long.dylib")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])