Set rpath on install_name on macOS (#201)

* Set rpath on install_name on macOS

* Fix build

Author: ThadHouse

build.gradle

@@ -13,7 +13,7 @@ java {
 
 allprojects {
     group = "edu.wpi.first"
-    version = "2025.0.0"
+    version = "2025.1.0"
 
     if (project.hasProperty('publishVersion')) {
         version = project.publishVersion

src/main/java/edu/wpi/first/nativeutils/RpathRules.java

@@ -0,0 +1,21 @@
+package edu.wpi.first.nativeutils;
+
+import org.gradle.api.Task;
+import org.gradle.model.ModelMap;
+import org.gradle.model.RuleSource;
+import org.gradle.nativeplatform.SharedLibraryBinarySpec;
+import org.gradle.nativeplatform.tasks.LinkSharedLibrary;
+import org.gradle.platform.base.BinaryTasks;
+
+public class RpathRules extends RuleSource {
+  @BinaryTasks
+  public void createRpathSharedBinaryTasks(ModelMap<Task> tasks, SharedLibraryBinarySpec binary) {
+    if (!binary.getTargetPlatform().getOperatingSystem().isMacOsX()) {
+      return;
+    }
+
+    binary.getTasks().withType(LinkSharedLibrary.class, link -> {
+        link.getInstallName().set("@rpath/" + binary.getSharedLibraryFile().getName());
+    });
+  }
+}

src/main/java/edu/wpi/first/nativeutils/WPINativeUtils.java

@@ -11,5 +11,7 @@ public void apply(Project project) {
     NativeUtilsExtension nativeExt = project.getExtensions().getByType(NativeUtilsExtension.class);
 
     nativeExt.addWpiExtension();
+
+    project.getPluginManager().apply(RpathRules.class);
   }
 }

testing/cpp/build.gradle

@@ -2,7 +2,7 @@ import edu.wpi.first.toolchain.NativePlatforms
 
 plugins {
     id "cpp"
-    id "edu.wpi.first.NativeUtils" version "2025.0.0"
+    id "edu.wpi.first.NativeUtils" version "2025.1.0"
 }
 
 nativeUtils.addWpiNativeUtils()