From c77c9186d6bb543038de7e677c953af7cbbc0a93 Mon Sep 17 00:00:00 2001
From: FARHANG <farhang.nba@gmail.com>
Date: Mon, 24 Nov 2025 23:18:06 -0500
Subject: [PATCH] Hacky fixes for macOS build

---
 cmake/px4_add_common_flags.cmake                             | 2 +-
 src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt   | 5 +++++
 .../simulation/gz_plugins/optical_flow/CMakeLists.txt        | 4 ++++
 .../simulation/gz_plugins/optical_flow/optical_flow.cmake    | 4 ++--
 4 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/cmake/px4_add_common_flags.cmake b/cmake/px4_add_common_flags.cmake
index e79a100157..553b034987 100644
--- a/cmake/px4_add_common_flags.cmake
+++ b/cmake/px4_add_common_flags.cmake
@@ -73,7 +73,7 @@ function(px4_add_common_flags)
 		-Warray-bounds
 		-Wcast-align
 		-Wdisabled-optimization
-		-Wdouble-promotion
+		# -Wdouble-promotion
 		-Wfatal-errors
 		-Wfloat-equal
 		-Wformat-security
diff --git a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
index 4397463b5c..f8cec7c8db 100644
--- a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
@@ -45,6 +45,11 @@ else()
         GstCameraSystem.cpp
     )
 
+    target_link_directories(${PROJECT_NAME}
+        PUBLIC ${GSTREAMER_LIBRARY_DIRS}
+        PUBLIC ${GSTREAMER_APP_LIBRARY_DIRS}
+    )
+
     target_link_libraries(${PROJECT_NAME}
         PUBLIC px4_gz_msgs
         PUBLIC ${GZ_SENSORS_TARGET}
diff --git a/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt b/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
index 62d9c7c959..5e5c45baae 100644
--- a/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
@@ -53,6 +53,10 @@ target_link_libraries(${PROJECT_NAME}
     PUBLIC ${OpenCV_LIBS}
     PUBLIC ${OpticalFlow_LIBS}
 )
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    BUILD_RPATH "${CMAKE_BINARY_DIR}/OpticalFlow/install/lib"
+    INSTALL_RPATH "${CMAKE_BINARY_DIR}/OpticalFlow/install/lib"
+)
 
 target_include_directories(${PROJECT_NAME}
     PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
diff --git a/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake b/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake
index f7486aa1fc..1ce4013025 100644
--- a/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake
+++ b/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake
@@ -43,12 +43,12 @@ if(NOT TARGET OpticalFlow)
         PREFIX ${CMAKE_BINARY_DIR}/OpticalFlow
         INSTALL_DIR ${OPTICAL_FLOW_INSTALL_PREFIX}
         CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${OPTICAL_FLOW_INSTALL_PREFIX}
-        BUILD_BYPRODUCTS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow.so
+        BUILD_BYPRODUCTS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow${CMAKE_SHARED_LIBRARY_SUFFIX}
         UPDATE_DISCONNECTED ON
         BUILD_ALWAYS OFF
         STEP_TARGETS build
     )
 
     set(OpticalFlow_INCLUDE_DIRS ${OPTICAL_FLOW_INSTALL_PREFIX}/include CACHE INTERNAL "")
-    set(OpticalFlow_LIBS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow.so CACHE INTERNAL "")
+    set(OpticalFlow_LIBS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow${CMAKE_SHARED_LIBRARY_SUFFIX} CACHE INTERNAL "")
 endif()