From d2448e0cc4f43e4bd552ef1688450a78ec80931b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Sep 2021 11:57:34 -0700
Subject: [PATCH] more neos acados lib fixes (#22175)

Co-authored-by: Comma Device <device@comma.ai>
---
 phonelibs/acados/aarch64/lib/libacados.so     | Bin 469544 -> 567737 bytes
 phonelibs/acados/aarch64/lib/libblasfeo.so    | Bin 694192 -> 694193 bytes
 phonelibs/acados/aarch64/lib/libhpipm.so      | Bin 1268032 -> 1324401 bytes
 .../acados/aarch64/lib/libqpOASES_e.so.3.1    | Bin 218544 -> 218545 bytes
 phonelibs/acados/build.sh                     |  19 +++++++++++++++++-
 5 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/phonelibs/acados/aarch64/lib/libacados.so b/phonelibs/acados/aarch64/lib/libacados.so
index 3b4672744b3a32dc99e13de15b758edb342652e8..71524a065b12d55497f4c81c72f8d970afc98233 100755
GIT binary patch
delta 491
zcmZ2+MP}z^r3n^{TpKO>8S5Dt7#P@qn8AP@L^3cqfO&A*p%N+#r5OYue7L?1P<;oW
z`k-_LR6UHw&}YB_GDsR|5zJx;y#uOoN9E>SjD8Bu8<g5NC@}&t6A&{4G0XN1N~{%j
zO65?6AeVpuGaBEfa=KR{Yd@0%`}Et1tg?(dw*O3IO_gU9nI7NB>dq<(vU&UJMpn~*
zjH1&Y*0a?!if&JAVEfMqqMO*RGfuB)VRM*n(ZVJu0dph7(F`y*GE84s&nCY8K|ZSo
z_vVX?_Z2ojV7ve)TEw<9bF!-{PFK-nSJ?g_oOK5)rlP%K(`QOCa&NyA&bpHgQ~C!&
yx}I%2;{-OQ%IPOL*bO)`3Nj0F^@{VSpWt9O<Vwm(EKW<!hw-N`VP_X)WB>ry8+3XA

delta 209
zcmdmaS!u-;nF$t*>>Dln88;U)*(*$LU|QL{L8*O%5+e{Z0WmWWvuxj>#9Cpew6L53
z3>YC4!&Wr@!Sd-|iLCuh3s|S$PGps3WZwQWku_DGQFMBIBda^B2m`|c*6phsSxx^j
zicEi4&sNVUvOTeZ?LQ-kZeqL6IK85UO;BP1E5!T>Y+#zX5^CM_h4pOW(=A%q9HtjE
ZvT<yGkk9JKy`9m3gQ;>mGbg*MA^<H;H(US!

diff --git a/phonelibs/acados/aarch64/lib/libblasfeo.so b/phonelibs/acados/aarch64/lib/libblasfeo.so
index bd77b6d1a35bd4eab3ea8b7f1a41e0ccf170d18b..9dbd582275ccbad0c9b53fb819205256dd9fe93b 100755
GIT binary patch
delta 31
ncmdn6UTfoet%erH7N!>F7M2#)7Pc1l7LFFqEnFL>Gco`Gx}*wg

delta 29
lcmdnEUTed8t%erH7N!>F7M2#)7Pc1l7LFFqEnFL>0|2Gb3TglV

diff --git a/phonelibs/acados/aarch64/lib/libhpipm.so b/phonelibs/acados/aarch64/lib/libhpipm.so
index 89d4b393ab460d375c5f1ff5373671dc3b505ce5..7b087fe4a1647256acb4413fe40476bc40fadd28 100755
GIT binary patch
delta 321
zcmX@G$@k-{fC(0i92+hB8MPT17#P@qm?1$JL^3c;5JaI1u0ps#dh>3^rOwSWT-#^3
zG6FFZ5HkZY3lOscF&hxG12G2>a{@6J5OV`D4-oSLG2iwXuKX*$Fd1E)?qnrUuK=|O
zY&p;lfqsZZTo8&Ocl$#tfm$&};py>#0`9CLAeXhT4iwnFI#96n38Tn#Lo=azMv?6s
z&4m6lf@lk&>5S7mtb`n<dsqnxO2GU9^;a&`9}Lq!nhJ?;PcRg)VBJ0=jq&G|$qyJU
sw;PEH^SMk{aT7KGNlj$i&gdXycy;<u5n%)Vq@2X!wA6gP;(V~v0Hi2X_W%F@

delta 244
zcmezPD&W8--w76s>>Dln88<UBO?RFwz+~Ax!?k^eD<cpy0WmWWvj8zG5VHX>I}mdK
zF((jn0Wmia^8hg~5c6%H;mW__3scLL=}uMx^$G<73?RS;CK(t6`XLN1DBo!NLo0z=
zF-DQ;@qq&FtilWo1p@7>0|mCP4is#C!YDl5&`hYFQF!}CGok;CAlgD`I^*;XD<MG%
ysL2ctLSVCuu0oBR{?SxOe7c8~ki+x?=0Y6X6AT3mS+_GL2peAAZX_zq=K=t-Fhgws

diff --git a/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1 b/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1
index d7cf29ca61b92072790d11b16144a977c97315a9..5a0f7609792a0e24c4e818e2ee12e1b933923942 100755
GIT binary patch
delta 17
Ycmdn6ns?)B-i8*&7N#xC8$uZw06`Q68UO$Q

delta 15
WcmdnEns>u$-i8*&7N#xC8$tmz;|3W3

diff --git a/phonelibs/acados/build.sh b/phonelibs/acados/build.sh
index 6c9676668b..af071bf5fb 100755
--- a/phonelibs/acados/build.sh
+++ b/phonelibs/acados/build.sh
@@ -43,10 +43,27 @@ if [ -f /EON ]; then
   pushd $INSTALL_DIR/lib
   for lib in $(ls .); do
     if ! readlink $lib; then
-      patchelf --set-soname "$PWD/$lib" $lib
+      patchelf --set-soname $PWD/$lib $lib
+
+      if [ "$lib" = "libacados.so" ]; then
+        for nlib in "libhpipm.so" "libblasfeo.so" "libqpOASES_e.so.3.1"; do
+          patchelf --replace-needed $nlib $PWD/$nlib $lib
+        done
+      fi
+
+      if [ "$lib" = "libhpipm.so" ]; then
+        patchelf --replace-needed libblasfeo.so $PWD/libblasfeo.so $lib
+      fi
+
+      # pad extra byte to workaround bionic linker bug
+      # https://android.googlesource.com/platform/bionic/+/93ce35434ca5af43a7449e289959543f0a2426fa%5E%21/#F0
+      dd if=/dev/zero bs=1 count=1 >> $lib
     fi
   done
   popd
+
+  cd $DIR
+  git checkout $INSTALL_DIR/t_renderer
 fi
 
 # build tera