build for mac (#23048)

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/libqpOASES_e.dylib

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