move rpath to relative path in mpc SConscripts

SConstruct

@@ -80,7 +80,7 @@ assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
 lenv = {
   "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [str(Dir(f"#third_party/acados/{arch}/lib"))],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
   "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
@@ -88,7 +88,7 @@ lenv = {
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
-rpath = lenv["LD_LIBRARY_PATH"].copy()
+rpath = [] # lenv["LD_LIBRARY_PATH"].copy()
 
 if arch == "larch64":
   cpppath = [

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -55,6 +55,7 @@ source_list = ['lat_mpc.py',
 ]
 
 lenv = env.Clone()
+lenv["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/../../../../../third_party/acados/{arch}/lib']
 lenv.Clean(generated_files, Dir(gen))
 
 generated_lat = lenv.Command(generated_files,
@@ -78,8 +79,9 @@ 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"] += ['-Wl,-rpath,\\$$ORIGIN']
-lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/{gen}']
+lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
+# lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/../../../../../third_party/acados/{arch}/lib']
+lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN']
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -61,13 +61,14 @@ source_list = ['long_mpc.py',
 ]
 
 lenv = env.Clone()
+lenv["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/../../../../../third_party/acados/{arch}/lib']
 lenv.Clean(generated_files, Dir(gen))
-
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
 lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python])
 
+
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
@@ -86,8 +87,9 @@ 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"] += ['-Wl,-rpath,\\$$ORIGIN']
-lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/{gen}']
+lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
+# lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN/../../../../../third_party/acados/{arch}/lib']
+lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\\$$ORIGIN']
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \
@@ -95,6 +97,7 @@ lenv2.Command(libacados_ocp_solver_c,
   f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
   f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
   f' {acados_ocp_solver_pyx.get_labspath()}')
-lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+# lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
 lenv2.Depends(libacados_ocp_solver_c, np_version)