QNX Fast-DDS交叉编译

lyp90h

已于 2024-01-19 13:33:58 修改

阅读量764

点赞数 6

文章标签： c++

于 2024-01-18 14:34:07 首次发布

本文链接：https://blog.csdn.net/lyp90h/article/details/135673818

版权

QNX Fast-DDS交叉编译

Clone所需要的仓库

编译fastdds一共需要2个仓库（其实还依赖了Fast-CDR, tinyxml2…等其他仓库，但它们是作为Fast-DDS的submodule，不需要手动clone)，下面列出了clone地址（注意是clone地址，不是web地址）

Fast-DDS : https://github.com/eProsima/Fast-DDS.git

foonathan_memory_vendor: https://github.com/eProsima/foonathan_memory_vendor.git

根据需要选择fastdds的版本，这里我们以2.6.0，编译目标平台是qnx710的fastdds

Clone Fast-DDS

首先clone Fast-DDS，checkout到tag v2.6.0，并且更新所有submodule

git clone https://github.com/eProsima/Fast-DDS.git 
cd Fast-DDS
git checkout v2.6.0
git submodule sync --recursive
git submodule update --init --recursive

Clone foonathan_memory_vendor

首先查看Fast-DDS目录内fastrtps.repos文件，查看v2.6.0的Fast-DDS对应foonathan_memory_vendor的版本。可知版本是 v1.2.1(tag)

cat fastrtps.repos 
repositories:
    foonathan_memory_vendor:
        type: git
        url: https://github.com/eProsima/foonathan_memory_vendor.git
        version: v1.2.1
    fastcdr:
        type: git
        url: https://github.com/eProsima/Fast-CDR.git
        version: v1.0.24
    fastrtps:
        type: git
        url: https://github.com/eProsima/Fast-DDS.git
        version: v2.6.0
    fastddsgen:
        type: git
        url: https://github.com/eProsima/Fast-DDS-Gen.git
        version: v2.1.2
    fastddsgen/thirdparty/idl-parser:
        type: git
        url: https://github.com/eProsima/IDL-Parser.git
        version: v1.2.0

clone foonathan_memory_vendor仓库并checkout到v1.2.1

git clone https://github.com/eProsima/foonathan_memory_vendor.git
cd foonathan_memory_vendor
git checkout v1.2.1

QNX cmake编译依赖

根据你qnx编译器安装路径修改QNX_PATH变量，修改后把以下文本保存成qnx710_cross_compile.cmake备用

set(CMAKE_SYSTEM_NAME QNX)
set(QNX_PATH /home/$ENV{USER}/qnx710_safety CACHE STRING "QNX path")
set(CMAKE_FIND_ROOT_PATH  ${QNX_PATH}/target/qnx7/aarch64le/usr ${QNX_PATH}/target/qnx7/aarch64le/usr)
set(CMAKE_CXX_COMPILER ${QNX_PATH}/host/linux/x86_64/usr/bin/q++)
set(CMAKE_C_COMPILER  ${QNX_PATH}/host/linux/x86_64/usr/bin/qcc)
set(CMAKE_C_FLAGS "-Vgcc_ntoaarch64le")
set(CMAKE_CXX_FLAGS "-Vgcc_ntoaarch64le")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D_QNX_SOURCE")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_QNX_SOURCE")

编译顺序

仓库之间是有依赖的，所以要按 foonathan_memory_vendor, Fast-CDR, tinyxml2, Fast-DDS的顺序编译

编译foonathan_memory_vendor

执行以下命令进行编译。注意，所有仓库的安装目录需要一致，这里使用/home/dev/dds_install

cd foonathan_memory_vendor
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=/home/dev/qnx710_cross_compile.cmake -DCMAKE_INSTALL_PREFIX=/home/dev/dds_install  #假设qnx cmake文件放在了/home/dev目录，如果不是请自行替换
make
make install

这时候发现编译报错了

make
[ 12%] Performing configure step for 'foo_mem-ext'
container_node_sizes_impl.hpp
CMake Error at src/CMakeLists.txt:99 (message):
  

  Error: Cannot find pre-generated file container_node_sizes_impl.hpp

  Please pre-generate the header file container_node_sizes_impl.hpp by
  following the steps below:

  - Build nodesize_dbg from source:

  
  	/home/dev/dds/foonathan_memory_vendor/build/foo_mem-ext-prefix/src/foo_mem-ext/tool/node_size_debugger.cpp


  - Transfer nodesize_dbg to QNX target and execute:

  	nodesize_dbg --code container_node_sizes_impl.hpp

  - Transfer generated header file back to your development system

  - Set FOONATHAN_MEMORY_CONTAINER_NODE_SIZES_IMPL to the path of the
  pre-generated file and pass it to cmake as an argument



-- Configuring incomplete, errors occurred!

提示大概是说，需要用源码/home/dev/dds/foonathan_memory_vendor/build/foo_mem-ext-prefix/src/foo_mem-ext/tool/node_size_debugger.cpp编译成nodesize_dbg，然后上传到目标设备执行命令nodesize_dbg --code container_node_sizes_impl.hpp，把生成的container_node_sizes_impl.hpp头文件回传编译主机，再进行编译

使用以下命令进行nodesize_dbg编译

qcc -Vgcc_ntoaarch64le /home/dev/dds/foonathan_memory_vendor/build/foo_mem-ext-prefix/src/foo_mem-ext/tool/node_size_debugger.cpp -o nodesize_dbg

如果提示error: ‘VERSION’ was not declared in this scope报错，直接修改源码把版本打印这行删掉，不影响。

编译成功后，上传nodesize_dbg到目标机器任意目录，执行以下命令生成container_node_sizes_impl.hpp

nodesize_dbg --code container_node_sizes_impl.hpp

生成container_node_sizes_impl.hpp后，把头文件回传到任意目录，假设是/home/dev/dds/foonathan_memory_vendor/container_node_sizes_impl.hpp

修改foonathan_memory_vendor目录下的CMakeLists.txt文件，在第86行（编译foo_mem-ext的命令）后添加该头文件的路径变量"-DFOONATHAN_MEMORY_CONTAINER_NODE_SIZES_IMPL=/home/dev/dds/foonathan_memory_vendor/container_node_sizes_impl.hpp"

......
  externalproject_add(foo_mem-ext
  GIT_REPOSITORY git@git.dev.com:mirror/memory.git
  GIT_TAG v0.7-1
  TIMEOUT 600
  # Avoid the update (git pull) and so the recompilation of foonathan_memory library each time.
  UPDATE_COMMAND ""
  CMAKE_ARGS
    -DFOONATHAN_MEMORY_BUILD_EXAMPLES=${BUILD_MEMORY_EXAMPLES}
    -DFOONATHAN_MEMORY_BUILD_TESTS=${BUILD_MEMORY_TESTS}
    -DFOONATHAN_MEMORY_BUILD_TOOLS=${BUILD_MEMORY_TOOLS}
    -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/foo_mem_ext_prj_install
    -DFOONATHAN_MEMORY_CONTAINER_NODE_SIZES_IMPL=/home/dev/dds/foonathan_memory_vendor/container_node_sizes_impl.hpp
    ${extra_cmake_args}
    -Wno-dev
    ${PATCH_COMMAND_STR}
  )
  ......

然后在build目录再次执行make可以编译通过，编译完成后执行make install把库安装到指定目录

编译Fast-CDR

Fast-CDR作为Fast-DDS的submodule在第一步的时候已经同步下来了，如果没有，请回头。

cd Fast-DDS/thirdparty/fastcdr
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=/home/dev/qnx710_cross_compile.cmake -DCMAKE_INSTALL_PREFIX=/home/dev/dds_install
make
make install

编译tinyxml2

tinyxml2作为Fast-DDS的submodule在第一步的时候已经同步下来了，如果没有，请回头。

cd Fast-DDS/thirdparty/tinyxml2
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=/home/dev/qnx710_cross_compile.cmake -DCMAKE_INSTALL_PREFIX=/home/dev/dds_install
make
make install

编译Fast-DDS

cd Fast-DDS
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=/home/dev/qnx710_safety_cross_compile.cmake -DCMAKE_INSTALL_PREFIX=/home/dev/dds_install -DTHIRDPARTY_Asio=ON -DTHIRDPARTY_TinyXML2=ON -DAsio_INCLUDE_DIR=../thirdparty/asio/asio/include/
make
make install

链接时会有报错

[100%] Building CXX object tools/fds/CMakeFiles/fast-discovery-server.dir/server.cpp.o
[100%] Linking CXX executable fast-discovery-server-1.0.0
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `connect'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `freeaddrinfo'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `freeifaddrs'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `getnameinfo'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `getpeername'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `shutdown'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `send'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `getifaddrs'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `getsockopt'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `recv'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `listen'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `sendmsg'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `inet_ntop'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `getsockname'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `if_indextoname'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `gai_strerror'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `sendto'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `bind'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `setsockopt'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `socket'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `inet_pton'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `recvfrom'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `getaddrinfo'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `if_nametoindex'
/home/dev/qnx710_safety/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.1.0-ld: ../../src/cpp/libfastrtps.so.2.6.0: undefined reference to `accept'
tools/fds/CMakeFiles/fast-discovery-server.dir/build.make:99: recipe for target 'tools/fds/fast-discovery-server-1.0.0' failed
make[2]: *** [tools/fds/fast-discovery-server-1.0.0] Error 1
CMakeFiles/Makefile2:966: recipe for target 'tools/fds/CMakeFiles/fast-discovery-server.dir/all' failed
make[1]: *** [tools/fds/CMakeFiles/fast-discovery-server.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

该问题是Linux与qnx的socket链接库不一样导致的

编辑Fast-DDS/tools/fds/CMakeLists.txt，找到第76行target_link_libraries(${PROJECT_NAME} fastrtps fastcdr fastdds::optionparser)，把socket链接上

target_link_libraries(${PROJECT_NAME} fastrtps fastcdr fastdds::optionparser socket)

再次make; make install

完成

到安装目录/home/dev/dds_install查看编译好的库

cd /home/dev/dds_install
tree -l -L 2
.
├── bin
│   ├── fastdds
│   ├── fast-discovery-server -> fast-discovery-server-1.0.0
│   ├── fast-discovery-server-1.0.0
│   ├── nodesize_dbg
│   └── ros-discovery
├── include
│   ├── fastcdr
│   ├── fastdds
│   ├── fastrtps
│   ├── foonathan_memory
│   └── tinyxml2.h
├── lib
│   ├── cmake
│   ├── foonathan_memory
│   ├── libfastcdr.so -> libfastcdr.so.1
│   ├── libfastcdr.so.1 -> libfastcdr.so.1.0.24
│   ├── libfastcdr.so.1.0.24
│   ├── libfastrtps.so -> libfastrtps.so.2.6
│   ├── libfastrtps.so.2.6 -> libfastrtps.so.2.6.0
│   ├── libfastrtps.so.2.6.0
│   ├── libfoonathan_memory-0.7.1.a
│   ├── libtinyxml2.so -> libtinyxml2.so.6
│   ├── libtinyxml2.so.6 -> libtinyxml2.so.6.0.0
│   ├── libtinyxml2.so.6.0.0
│   └── pkgconfig
├── share
│   ├── fastcdr
│   ├── fastrtps
│   ├── foonathan_memory
│   └── foonathan_memory_vendor
└── tools
    └── fastdds

17 directories, 16 files

lyp90h

关注

6
点赞
踩
11

收藏

觉得还不错? 一键收藏
4
评论
QNX Fast-DDS交叉编译

编译fastdds一共需要2个仓库（其实还依赖了Fast-CDR, tinyxml2…等其他仓库，但它们是作为Fast-DDS的submodule，不需要手动clone)，下面列出了clone地址（注意是clone地址，不是web地址）根据需要选择fastdds的版本，这里我们以2.6.0，编译目标平台是qnx710的fastdds。
复制链接

扫一扫