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cyber-ubuntu16.04-arm-compile
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cyber-ubuntu16.04-arm-compile
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cmake version >= 3.12
sudo apt install libasio-dev libtinyxml2-dev
apt-get install libncurses5-dev
安装automake 工具, 用下面的命令安装好就可以了。
sudo apt-get install autoconf automake libtool
####compile protobuf
安装protobuffer:
https://github.com/protocolbuffers/protobuf/releases
下载 3.6.1版本
解压
./configure CC=/usr/bin/aarch64-linux-gnu-gcc CXX=/usr/bin/aarch64-linux-gnu-g++ --host=aarch64-linux-gnu --prefix=/protobuf-3.6.1
make -j8 && make check && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile gflags
git clone https://github.com/gflags/gflags.git
cd gflags && mkdir build && cd build
export CROSS_COMPILE=aarch64-linux-gnu-
copy aarch64_toolchainfile.cmake to gflags directory and add below line to CMakeLists.txt:
include(../aarch64_toolchainfile.cmake)
cmake .. -DCMAKE_INSTALL_PREFIX=/gflags
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile glog
git clone https://github.com/google/glog.git
cd glog
mkdir build && cd build
export CROSS_COMPILE=aarch64-linux-gnu-
copy aarch64_toolchainfile.cmake to gflags directory and add below line to CMakeLists.txt:
include(../aarch64_toolchainfile.cmake)
cmake .. -DCMAKE_INSTALL_PREFIX=/glog
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile poco
git clone https://github.com/pocoproject/poco.git
cd poco
mkdir build && cd build
export CROSS_COMPILE=aarch64-linux-gnu-
copy aarch64_toolchainfile.cmake to gflags directory and add below line to CMakeLists.txt:
include(../aarch64_toolchainfile.cmake)
cmake .. -DCMAKE_INSTALL_PREFIX=/poco
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile Foonathan memory
$ git clone https://github.com/eProsima/foonathan_memory_vendor.git
$ cd foonathan_memory_vendor
$ mkdir build && cd build
export CROSS_COMPILE=aarch64-linux-gnu-
copy aarch64_toolchainfile.cmake to gflags directory and add below line to CMakeLists.txt:
include(../aarch64_toolchainfile.cmake)
cmake .. -DCMAKE_INSTALL_PREFIX=/foonathan_memory_vendor
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile Fast-CDR
https://github.com/eProsima/Fast-CDR/releases
下载 1.0.7版本
$ mkdir Fast-CDR/build && cd Fast-CDR/build
$ cmake ..
$ cmake --build . --target install
####compile Fast-RTPS
https://github.com/eProsima/Fast-RTPS/releases
下载1.5.0版本
$ mkdir Fast-RTPS/build && cd Fast-RTPS/build
$ cmake ..
$ cmake --build . --target install
编译可能遇到fastRTPS报错，std::function相关。。。打开对应文件#include <functional>
FastCDR与fastRTPS需要打patch才可以。patch文件:
https://github.com/ApolloAuto/apollo/issues/7240
也可以直接用该仓库中cyberRT-dependency目录中的三方库，其中fast-CDR和fast-RTPS已经打过补丁。
issue with compile fastRTPS, it depends on: fastcdr, asio(depend on boost), tinyxml2
fastcdr aarch64 version has been compiled.
so it needs to compile aarch64 version boost asio and tinyxml2.
#### compile boost
download boost_1.68.0;
unzip;
./bootstrap.sh
change project-config.jam:
if ! gcc in [ feature.values <toolset> ]
{
using gcc : arm : aarch64-linux-gnu-gcc ;
}
......
option.set prefix : /usr/bin ;
option.set exec-prefix : /usr/bin ;
option.set libdir : /usr/lib/aarch64-linux-gnu ;
option.set includedir : /usr/aarch64-linux-gnu/include ;
./bjam
./bjam install --prefix=/home/allen/aarch64-depends/boost
sudo cp -rf /home/allen/aarch64-depends/boost/* /usr/include/boost/
####compile asio
download asio-1.12.2
unzip
cd asio-1.12.2
./configure CC=/usr/bin/aarch64-linux-gnu-gcc CXX=/usr/bin/aarch64-linux-gnu-g++ --host=aarch64-linux-gnu --prefix=/asio
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile tinyxml2
github download tinyxml2
copy aarch64_toolchainfile.cmake to tinyxml2 directory and add below line to CMakeLists.txt:
include(../aarch64_toolchainfile.cmake)
cmake .. -DCMAKE_INSTALL_PREFIX=/tinyxml2
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
compile fastrtps only need asio_include_dir
####compile Python2.7.12
https://www.python.org/ftp/python/2.7.12/
./configure CC=/usr/bin/aarch64-linux-gnu-gcc CXX=/usr/bin/aarch64-linux-gnu-g++ --host=aarch64-linux-gnu --prefix=/python2.7.12 --build=aarch64 --disable-ipv6 ac_cv_file__dev_ptmx="yes" ac_cv_file__dev_ptc="no"
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
####compile libuuid
https://sourceforge.net/projects/libuuid/
./configure CC=/usr/bin/aarch64-linux-gnu-gcc CXX=/usr/bin/aarch64-linux-gnu-g++ --host=aarch64-linux-gnu --prefix=/uuid
make -j8 && sudo make install DESTDIR=~/aarch64-depends/
####compile ncurses5.9
http://ftp.gnu.org/pub/gnu/ncurses/
./configure CC=/usr/bin/aarch64-linux-gnu-gcc CXX=/usr/bin/aarch64-linux-gnu-g++ --host=arm-linux --with-shared --prefix=/ncurses-5.9
compile error resolve:
cd ncurses/include
sudo vim curses.tail
find mouse_trafo in line 104, delete the comment of this line.
make -j8 && sudo make install DESTDIR=/home/allen/aarch64-depends
###############
./configure --help can show how to use ./configure command
protobuf3.5.1 protobuf 3.6.1编译ubuntu16.04.3 aarch64版本天坑：（cyber需要移植到ascend310平台，cyber依赖于protobuf，所以需要先交叉编译出来aarch64版本的protobuf）：
1。去https://github.com/protocolbuffers/protobuf/releases下载对应版本（protobuf-all-3.6.1.tar.gz或者protobuf-all-3.5.1.tar.gz）
2。 解压后将protobuf-3.6.1目录复制一份命名：protobuf-3.6.1-x86
3。一定要先编译x86版本的protobuf：cd protobuf-3.6.1-x86/cmake && mkdir build && cd build && cmake .. && make -j8
应该可以很顺利的编译出x86版本。
4。cd protobuf-3.6.1/cmake 然后复制aarch64_toolchainfile.cmake到cmake目录，将下面语句添加到CMakeLists.txt的projiect(...)语句下面。
include(./aarch64_toolchainfile.cmake)
5。mkdir build && cd build && cmake .. && make -j8
这一步编译的时候肯定会出问题，因为编译的后半段会用到编译的前半段编译出的一个二进制文件(js_embed)来执行，但是二进制文件是aarch64版本，肯定无法执行！所以此时就要将protobuf-3.6.1-x86/cmake/build/下面的这个二进制文件复制到protobuf-3.6.1/cmake/build下面，接着继续编译。然后就成功了。
6。然后sudo make install DESTDIR=/home/allen/aarch64-depends
会在/home/allen/aarch64-depends下面创建目录usr/local/{bin和include和lib}。lib/cmake/protobuf下面就包含了.cmake文件。
cd /home/allen/aarch64-depends && mkdir protobuf-3.6.1 然后将上面/home/allen/aarch64-depends下面创建目录usr/local/下面的内容都复制到
/home/allen/aarch64-depends/protobuf-3.6.1。
7。然后编译cyber的时候：
cd cyber-ubuntu16.04-aarch64/cmake
vim Dependdencies.cmake 修改：
set(Protobuf_ROOT /home/allen/aarch64-depends/protobuf-3.6.1/lib/cmake/protobuf)
set(Protobuf_DIR /home/allen/aarch64-depends/protobuf-3.6.1/lib/cmake/protobuf)
find_package(Protobuf REQUIRED CONFIG)
message(STATUS "version: ${Protobuf_VERSION}")
message(STATUS "###Found Protobuf: ${Protobuf_INCLUDE_DIRS} ${Protobuf_LIBRARIES}")
include_directories(${PROTOBUF_INCLUDE_DIRS})
link_directories(${PROTOBUF_LIBRARIES})
8. cd /home/allen/cyber-ubuntu16.04-aarch64/build && cmake .. && make -j8
然后报错：Unknown CMake command "PROTOBUF_GENERATE_CPP"
同时###Found Protobuf: ${Protobuf_INCLUDE_DIRS} ${Protobuf_LIBRARIES} 也无法打印出来这2个变量。
此时需要修改：
cd /home/allen/aarch64-depends/protobuf-3.6.1/lib/cmake/protobuf
vim protobuf-config.cmake
#if ( protobuf_MODULE_COMPATIABLE)
include("${CMAKE_CURRENT_LIST_DIR}/protobuf-module.cmake")
#endif()
9。 继续编译还是会报错：
/home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: 2: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: 2: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: 2: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: 2: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: 2: /home/allen/aarch64-depends/protobuf-3.5.1/bin/protoc: Syntax error: ")" unexpected
cyber/proto/CMakeFiles/cyber_proto.dir/build.make:75: recipe for target 'cyber/proto/component_conf.pb.h' failed
make[2]: *** [cyber/proto/component_conf.pb.h] Error 2
make[2]: *** Waiting for unfinished jobs....
Syntax error: ")" unexpected
cyber/proto/CMakeFiles/cyber_proto.dir/build.make:82: recipe for target 'cyber/proto/cyber_conf.pb.h' failed
make[2]: *** [cyber/proto/cyber_conf.pb.h] Error 2
Syntax error: ")" unexpected
cyber/examples/proto/CMakeFiles/cyber_example_proto.dir/build.make:61: recipe for target 'cyber/examples/proto/examples.pb.h' failed
make[2]: *** [cyber/examples/proto/examples.pb.h] Error 2
CMakeFiles/Makefile2:3025: recipe for target 'cyber/examples/proto/CMakeFiles/cyber_example_proto.dir/all' failed
原因：编译cyber的过程中需要用protoc文件来生成xx.pb.h文件，但是引用的确实aarch64版本的protoc。
解决办法：cd /home/allen/aarch64-depends/protobuf-3.6.1/bin && mv protoc protoc-arm
然后将x86版本的protoc复制到该目录中：
cp /home/allen/protobuf-3.6.1-x86/cmake/build/protoc /home/allen/aarch64-depends/protobuf-3.6.1/bin
然后 继续编译大功告成！！！！