I'm very sorry, I am a beginner, I use docker cross platform compilation in Linux environment, and found that it can not be compiled normally. The error message is as follows
minimize https://github.com/jhoneybee/webkitgtk
error info
[ 50%] Building C object CMakeFiles/raindrop.dir/src/main.c.obj
In file included from /usr/lib/x86_64-linux-gnu/glib-2.0/include/glibconfig.h:9:0,
from /usr/include/glib-2.0/glib/gtypes.h:32,
from /usr/include/glib-2.0/glib/galloca.h:32,
from /usr/include/glib-2.0/glib.h:30,
from /usr/include/gtk-3.0/gdk/gdkconfig.h:13,
from /usr/include/gtk-3.0/gdk/gdk.h:30,
from /usr/include/gtk-3.0/gtk/gtk.h:30,
from /home/root/src/main.c:1:
/usr/include/glib-2.0/glib/gtypes.h: In function '_GLIB_CHECKED_ADD_U64':
/usr/include/glib-2.0/glib/gmacros.h:232:53: error: size of array '_GStaticAssertCompileTimeAssertion_0' is negative
#define G_STATIC_ASSERT(expr) typedef char G_PASTE (_GStaticAssertCompileTimeAssertion_, __COUNTER__)[(expr) ? 1 : -1] G_GNUC_UNUSED
^
/usr/include/glib-2.0/glib/gmacros.h:229:47: note: in definition of macro 'G_PASTE_ARGS'
#define G_PASTE_ARGS(identifier1,identifier2) identifier1 ## identifier2
^~~~~~~~~~~
/usr/include/glib-2.0/glib/gmacros.h:232:44: note: in expansion of macro 'G_PASTE'
#define G_STATIC_ASSERT(expr) typedef char G_PASTE (_GStaticAssertCompileTimeAssertion_, __COUNTER__)[(expr) ? 1 : -1] G_GNUC_UNUSED
^~~~~~~
/usr/include/glib-2.0/glib/gtypes.h:423:3: note: in expansion of macro 'G_STATIC_ASSERT'
G_STATIC_ASSERT(sizeof (unsigned long long) == sizeof (guint64));
^~~~~~~~~~~~~~~
In file included from /usr/include/glib-2.0/gio/gio.h:46:0,
from /usr/include/gtk-3.0/gdk/gdkapplaunchcontext.h:28,
from /usr/include/gtk-3.0/gdk/gdk.h:32,
from /usr/include/gtk-3.0/gtk/gtk.h:30,
from /home/root/src/main.c:1:
/usr/include/glib-2.0/gio/gcredentials.h: At top level:
/usr/include/glib-2.0/gio/gcredentials.h:75:1: error: unknown type name 'uid_t'
uid_t g_credentials_get_unix_user (GCredentials *credentials,
^~~~~
/usr/include/glib-2.0/gio/gcredentials.h:79:52: error: unknown type name 'uid_t'
uid_t uid,
^~~~~
CMakeFiles/raindrop.dir/build.make:63: recipe for target 'CMakeFiles/raindrop.dir/src/main.c.obj' failed
make[2]: *** [CMakeFiles/raindrop.dir/src/main.c.obj] Error 1
make[1]: *** [CMakeFiles/raindrop.dir/all] Error 2
CMakeFiles/Makefile2:771: recipe for target 'CMakeFiles/raindrop.dir/all' failed
Makefile:116: recipe for target 'all' failed
make: *** [all] Error 2
The command '/bin/sh -c make' returned a non-zero code: 2
This is my cmakelists.txt file
cmake_minimum_required(VERSION 3.0.0)
project(raindrop VERSION 0.1.0)
file(GLOB SOURCES src/*.c)
find_package(PkgConfig REQUIRED)
pkg_check_modules(GTK3 REQUIRED gtk+-3.0)
pkg_check_modules(WEBKIT2GTK REQUIRED webkit2gtk-4.0)
include_directories(${GTK3_INCLUDE_DIRS} ${WEBKIT2GTK_INCLUDE_DIRS})
link_directories(${GTK3_LIBRARY_DIRS} ${WEBKIT2GTK_LIBRARY_DIRS})
add_definitions(${GTK3_CFLAGS_OTHER} ${WEBKIT2GTK_CFLAGS_OTHER})
include(CTest)
enable_testing()
add_executable(raindrop ${SOURCES})
set(CPACK_PROJECT_NAME ${PROJECT_NAME})
set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
include(CPack)
target_link_libraries(raindrop ${GTK3_LIBRARIES} ${WEBKIT2GTK_LIBRARIES})
mingw-w64-x86_64.cmake
set(CMAKE_SYSTEM_NAME Windows)
set(TOOLCHAIN_PREFIX x86_64-w64-mingw32)
# cross compilers to use for C, C++ and Fortran
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
set(CMAKE_Fortran_COMPILER ${TOOLCHAIN_PREFIX}-gfortran)
set(CMAKE_RC_COMPILER ${TOOLCHAIN_PREFIX}-windres)
# target environment on the build host system
set(CMAKE_FIND_ROOT_PATH /usr/${TOOLCHAIN_PREFIX})
# modify default behavior of FIND_XXX() commands
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
dockerfile
FROM debian:stretch
WORKDIR /home/root
COPY ./* ./
RUN echo \
deb http://mirrors.aliyun.com/debian/ stretch main non-free contrib\
deb-src http://mirrors.aliyun.com/debian/ stretch main non-free contrib\
deb http://mirrors.aliyun.com/debian-security stretch/updates main\
deb-src http://mirrors.aliyun.com/debian-security stretch/updates main\
deb http://mirrors.aliyun.com/debian/ stretch-updates main non-free contrib\
deb-src http://mirrors.aliyun.com/debian/ stretch-updates main non-free contrib\
deb http://mirrors.aliyun.com/debian/ stretch-backports main non-free contrib\
deb-src http://mirrors.aliyun.com/debian/ stretch-backports main non-free contrib\
> /etc/apt/sources.list
RUN apt-get update -y
RUN apt-get install mingw-w64 cmake build-essential libgtk-3-dev libwebkit2gtk-4.0-dev mingw-w64-tools -y
RUN PKG_CONFIG_PATH=/usr/x86_64-w64-mingw32/lib/pkgconfig cmake -DCMAKE_TOOLCHAIN_FILE=./mingw-w64-x86_64.cmake -B build -S .
RUN make
CMD sleep 900000
Possibly relevant
32 bit compilation failing on 64 bit Ubuntu 16.04
https://github.com/mattn/go-gtk/issues/326
Related
When using the IAR compiler I get an error when creating a library. This uses "iarchive.exe" in the IAR bin directory to create a library file.
The issue occurs when the number of object files exceeds the Windows10 command line limit (about 8000 bytes).
When the limit is exceeded CMake creates a ".rsp" file and the response file has a 3 bytes (Byte Order Mark) at the start of the file.
I am using a licensed version of the IAR compiler.
The tools are version 7.2.
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(IAR_INSTALL_DIR "C:/Program Files (x86)/IAR Systems/Embedded
Workbench 7.2")
architectures
set(TOOLKIT_DIR "${IAR_INSTALL_DIR}/${CMAKE_SYSTEM_PROCESSOR}")
if(UNIX)
set(ENV{PATH} "${TOOLKIT_DIR}/bin:$ENV{PATH}")
else()
set(ENV{PATH} "${TOOLKIT_DIR}/bin;$ENV{PATH}")
endif()
Compiler and Assembler
set(CMAKE_C_COMPILER "icc${CMAKE_SYSTEM_PROCESSOR}")
set(CMAKE_CXX_COMPILER "icc${CMAKE_SYSTEM_PROCESSOR}")
set(CMAKE_ASM_COMPILER "iasm${CMAKE_SYSTEM_PROCESSOR}")
SET(CMAKE_C_USE_RESPONSE_FILE_FOR_OBJECTS 0)
To configure cmake
cmake -H.. -B. -G "Ninja Multi-Config" -DCMAKE_TOOLCHAIN_FILE=..\iar-toolchain.cmake
I have also tried:
cmake -H.. -B. -G "NMake Makefiles" -DCMAKE_TOOLCHAIN_FILE=..\iar-toolchain.cmake
Below is the error message generated during the build.
C:\Firmware\SRFN\build>cmake --build . --target SrfnDcu
[1/20] Linking C static library Debug\libpsp_dcu_k64f120m.a
FAILED: Debug/libpsp_dcu_k64f120m.a
cmd.exe /C "cd . && C:\PROGRA~2\IARSYS~1\EMBEDD~1.2\arm\bin\iarchive.exe Debug\libpsp_dcu_k64f120m.a --create -f CMakeFiles\psp_dcu_k64f120m.Debug.rsp && cd ."
Fatal error[La001]: could not open file "C:\Firmware\SRFN\build\CMakeFiles\p
sp_dcu_k64f120m.dir\Debug\DCU\OS\mqx\source\psp\cortex_m\compiler\iar
\comp.c.o"
Fatal error detected, aborting.
One solution to the problem was to use a newer version of "iarchive.exe" that was in IAR Version 8.2.
Basically is seems that IAR updated "iarchive.exe" to support this.
I've been struggling to fix an intermediate linking error that I get when using CMake to build my nvcc project. I've been upgrading a previous project to utilize CUDA and was able to successfully call functions from that library from host code. When I try to call functions of that library from device code, I get the intermediate linking error. I annotated all of the functions with __device__ and __host__ descriptors.
As a side note, this is a ROS project, so I'm using some of the catkin CMake functions.
This is a snippet from the ParticleFilter code that calls the host and device functions:
#include <cuda.h>
#include <cuda_runtime.h>
#include <device_launch_parameters.h>
#include <curand_kernel.h>
#include <iostream>
#include <davinci_kinematics_cuda/davinci_fwd_kinematics.cuh>
__host__
ParticleFilter::ParticleFilter(const unsigned int numParticles, const std::vector<double> &initialJointState, const unsigned int threads,
const unsigned int blocks) {
/* random other work here */
// This works fine (compiles and runs), it is calling host code from the other file
kinematics = davinci_kinematics_cuda::Forward();
std::cout << kinematics.fwd_kin_solve(initialJointState.data()).translation() << std::endl;
}
__global__
void printParticlesKernel(double *particles, const unsigned int numParticles, const unsigned int dimensions, const size_t pitch) {
int locationStart = blockIdx.x * blockDim.x + threadIdx.x;
int stride = blockDim.x * gridDim.x;
// This fails, will not link
davinci_kinematics_cuda::Forward kinematics = davinci_kinematics_cuda::Forward();
for (int n = locationStart; n < numParticles; n += stride) {
double *particle = (double*) ((char*) particles + n * pitch);
/* random other work here */
// this fails, will not link
auto translation = kinematics.fwd_kin_solve(particle).translation();
printf("%f %f %f\n", translation[0], translation[1], translation[2]);
}
}
And this is from the kinematics file:
#include <cuda.h>
#include <cuda_runtime.h>
#include <device_launch_parameters.h>
namespace davinci_kinematics_cuda {
// use member fncs to compute and multiply successive transforms
__host__ __device__
Forward::Forward() {
/* random initialization here */
}
__host__ __device__
Eigen::Affine3d Forward::fwd_kin_solve(const double *q_vec, const unsigned int desired_joint) {
/* other work here */
}
}
This is the relevant CMake parts for the ParticleFilter file.
cmake_minimum_required(VERSION 2.8.10)
project(tool_tracking LANGUAGES CUDA CXX)
# https://stackoverflow.com/questions/25748039/add-cuda-to-ros-package
find_package(CUDA REQUIRED)
# set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CURAND_FLAGS} -fPIC")
set(CUDA_SEPARABLE_COMPILATION ON)
find_package(catkin REQUIRED COMPONENTS
message_generation
roscpp
std_msgs
sensor_msgs
geometry_msgs
cwru_opencv_common
tool_model
cwru_davinci_control
cwru_davinci_kinematics
xform_utils
tf
tool_segmentation
)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
tool_tracking_particle
CATKIN_DEPENDS
message_runtime
std_msgs
sensor_msgs
geometry_msgs
cwru_opencv_common
tool_model
cwru_davinci_control
cwru_davinci_kinematics
xform_utils
tf
)
include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
include_directories(include ${catkin_INCLUDE_DIRS} tool_model_lib )
cuda_add_executable(test_particlefilter src/ParticleFilter.cu src/Particle.cu)
target_link_libraries(test_particlefilter tool_tracking_particle ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES})
This is the error from CMake:
/usr/bin/cmake -H/home/ethan/catkin_ws/src/cwru_davinci_tool_tracking/tool_tracking -B/home/ethan/catkin_ws/build/tool_tracking --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/progress.marks
/usr/bin/make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/ethan/catkin_ws/build/tool_tracking'
/usr/bin/make -f CMakeFiles/test_particlefilter.dir/build.make CMakeFiles/test_particlefilter.dir/depend
make[2]: Entering directory '/home/ethan/catkin_ws/build/tool_tracking'
[ 20%] Building NVCC intermediate link file CMakeFiles/test_particlefilter.dir/test_particlefilter_intermediate_link.o
/usr/local/cuda-11.0/bin/nvcc -lcudadevrt -m64 -ccbin /usr/bin/cc -dlink /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_ParticleFilter.cu.o /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_Particle.cu.o -o /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/./test_particlefilter_intermediate_link.o -Xcompiler -fPIC
nvlink error : Undefined reference to '_ZN23davinci_kinematics_cuda7ForwardC1Ev' in '/home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_ParticleFilter.cu.o'
nvlink error : Undefined reference to '_ZN23davinci_kinematics_cuda7Forward13fwd_kin_solveEPKdj' in '/home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_ParticleFilter.cu.o'
CMakeFiles/test_particlefilter.dir/build.make:1468: recipe for target 'CMakeFiles/test_particlefilter.dir/test_particlefilter_intermediate_link.o' failed
make[2]: Leaving directory '/home/ethan/catkin_ws/build/tool_tracking'
make[2]: *** [CMakeFiles/test_particlefilter.dir/test_particlefilter_intermediate_link.o] Error 255
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/test_particlefilter.dir/all' failed
make[1]: Leaving directory '/home/ethan/catkin_ws/build/tool_tracking'
make[1]: *** [CMakeFiles/test_particlefilter.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
How do I fix the error with the undefined reference? Seems like a linking error, but I am not familiar enough with the compilation / linking process to troubleshoot any further. If I need to post the CMake from the kinematics file I can as well.
Here's the key issue and the part that will be most helpful to other readers of this question. Catkin configures CMake to build shared libraries by default but CUDA separable compilation and nvlink only work with static libraries. You need to set your CUDA libraries (in your case, those in cwru_davinci_kinematics) to be static, always. You can do that by adding the STATIC keyword to the add_library call, as in:
add_library(my_cuda_lib STATIC source1.cu ...)
If you "link" to a shared library with CUDA in CMake, it will just ignore it. This is actually the documented behavior of nvcc. See here: https://docs.nvidia.com/cuda/cuda-compiler-driver-nvcc/#libraries
The device linker has the ability to read the static host library formats (.a on Linux and Mac OS X, .lib on Windows). It ignores any dynamic (.so or .dll) libraries.
Another major lesson here is that setting CMake to an ancient version is bound to cause problems. While reproducing your issue, I was forced to build OpenCV 3 from source (it's not in Ubuntu 20.04 LTS) and there is no good way to override the search path for a particular package prior to version 3.12, which introduced CMP0074.
Upgrade your minimum CMake version. Ideally you would upgrade to the newest version available to you in your software repositories and set your files' minimums to that. There is zero benefit to being compatible with CMake versions earlier than ~3.5, and I would argue that extends up to 3.16 (the version in Ubuntu 20.04 LTS). Since you're using CUDA, 3.18 is most appropriate. Even worse, many of your projects set a minimum below 2.8.12; compatibility with this version will very soon be removed by CMake.
Here are the exact changes I made to get it to build on Ubuntu 20.04 LTS. I used the following build script, placed in and executed from the ROS workspace:
#!/usr/bin/bash
source /opt/ros/noetic/setup.bash
export CUDACXX=/usr/local/cuda/bin/nvcc
export OpenCV_ROOT=$(readlink -f opencv-install)
[ -f "$CUDACXX" ] || { echo "Invalid CUDACXX: $CUDACXX"; exit; }
[ -d "$OpenCV_ROOT" ] || { echo "Invalid OpenCV_ROOT: $OpenCV_ROOT"; exit; }
rm -rf build devel
catkin build tool_tracking --cmake-args \
-Wno-dev \
-DCMAKE_POLICY_DEFAULT_CMP0074=NEW \
-DCMAKE_CUDA_ARCHITECTURES=75
The directory opencv-install was created by building my own OpenCV 3 (because Ubuntu 20.04 only has v4). The steps for that were:
$ git clone -b 3.4.14 git#github.com:opencv/opencv.git
$ git clone -b 3.4.14 git#github.com:opencv/opencv_contrib.git
$ cmake -G Ninja -S opencv -B opencv-build/ -DOPENCV_EXTRA_MODULES_PATH=$(readlink -f opencv_contrib)/modules -DBUILD_opencv_cnn_3dobj=OFF -DBUILD_opencv_face=OFF -DBUILD_opencv_hdf=OFF -DBUILD_opencv_hfs=OFF -DBUILD_opencv_julia=OFF -DBUILD_opencv_matlab=OFF -DBUILD_opencv_ovis=OFF -DBUILD_opencv_reg=OFF -DBUILD_opencv_sfm=OFF -DBUILD_opencv_text=OFF -DBUILD_opencv_wechat_qrcode=OFF -DBUILD_opencv_ximgproc=OFF
$ cmake --build opencv-build
$ cmake --install opencv-build --prefix opencv-install
This disables the extra modules that have significant/irrelevant dependencies.
The script sets the environment variable OpenCV_ROOT to direct CMake to this locally installed version of OpenCV. Because the minimum version of CMake specified in the file is so low, I must also set CMAKE_POLICY_DEFAULT_CMP0074=NEW so that OpenCV_ROOT will be honored.
Here are the changes I made to your CMake code:
src/cwru_davinci_kinematics/CMakeLists.txt
--- a/src/cwru_davinci_kinematics/CMakeLists.txt
+++ b/src/cwru_davinci_kinematics/CMakeLists.txt
## -1,4 +1,4 ##
-cmake_minimum_required(VERSION 2.8.10)
+cmake_minimum_required(VERSION 3.18)
project(cwru_davinci_kinematics)
#This is needed as part of the migration to ros jade and later
## -26,18 +26,16 ## find_package(catkin REQUIRED COMPONENTS roscpp roslib roslint tf tf2 tf2_eigen)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=gnu++0x")
-# https://stackoverflow.com/questions/25748039/add-cuda-to-ros-package
-find_package(CUDA)
-message(STATUS "CUDA_FOUND=${CUDA_FOUND}")
-if(CUDA_FOUND)
- message(STATUS "Found CUDA, setting nvcc compilation flags")
-
- # set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS
- set(CUDA_NVCC_FLAGS CACHE STRING "nvcc flags" FORCE)
- set(CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE)
+include(CheckLanguage)
+check_language(CUDA)
+if (CMAKE_CUDA_COMPILER)
+ enable_language(CUDA)
+
# fPIC fixes some linker issues with nvcc code / objects
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CURAND_FLAGS} -fPIC")
- set(CUDA_SEPARABLE_COMPILATION ON)
+ set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -fPIC")
+ set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
+
+ find_package(CUDAToolkit REQUIRED)
endif()
include_directories(
## -48,7 +46,7 ## include_directories(
${YAML_CPP_INCLUDE_DIRS}
)
-if (CUDA_FOUND)
+if (CMAKE_CUDA_COMPILER)
catkin_package(
DEPENDS ${Eigen3_DEP}
LIBRARIES
## -82,14 +80,17 ## target_link_libraries(davinci_kinematics
davinci_kinematic_definitions
)
-if (CUDA_FOUND)
- cuda_add_library(davinci_kinematics_cuda src/davinci_fwd_kinematics.cu)
- cuda_add_library(davinci_kinematics_definitions_cuda src/davinci_kinematic_definitions.cu)
-
- target_link_libraries(davinci_kinematics_cuda
- ${catkin_LIBRARIES}
- davinci_kinematics_definitions_cuda
- )
+if (CMAKE_CUDA_COMPILER)
+ add_library(davinci_kinematics_cuda STATIC src/davinci_fwd_kinematics.cu)
+ add_library(davinci_kinematics_definitions_cuda STATIC src/davinci_kinematic_definitions.cu)
+
+ target_link_libraries(
+ davinci_kinematics_cuda
+ PRIVATE
+ CUDA::curand
+ ${catkin_LIBRARIES}
+ davinci_kinematics_definitions_cuda
+ )
endif()
# Examples
The important lines here are:
add_library(davinci_kinematics_cuda STATIC src/davinci_fwd_kinematics.cu)
add_library(davinci_kinematics_definitions_cuda STATIC src/davinci_kinematic_definitions.cu)
I also modernized the CMake code here, because the built-in CUDA language support has considerably advanced.
src/cwru_davinci_tool_tracking/tool_tracking/CMakeLists.txt
--- a/src/cwru_davinci_tool_tracking/tool_tracking/CMakeLists.txt
+++ b/src/cwru_davinci_tool_tracking/tool_tracking/CMakeLists.txt
## -1,18 +1,11 ##
-cmake_minimum_required(VERSION 2.8.10)
-project(tool_tracking LANGUAGES CUDA CXX)
+cmake_minimum_required(VERSION 3.18)
+project(tool_tracking LANGUAGES C CXX CUDA)
-# https://stackoverflow.com/questions/25748039/add-cuda-to-ros-package
-find_package(CUDA REQUIRED)
+set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -fPIC")
+set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
-# set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CURAND_FLAGS} -fPIC")
-set(CUDA_SEPARABLE_COMPILATION ON)
+find_package(OpenCV 3 REQUIRED)
-#find_package(catkin_simple REQUIRED)
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(OpenCV REQUIRED)
find_package(catkin REQUIRED COMPONENTS
message_generation
roscpp
## -28,11 +21,12 ## find_package(catkin REQUIRED COMPONENTS
tool_segmentation
)
+find_package(CUDAToolkit REQUIRED)
catkin_package(
INCLUDE_DIRS
include
- LIBRARIES
+ LIBRARIES
tool_tracking_particle
CATKIN_DEPENDS
message_runtime
## -47,13 +41,7 ## catkin_package(
tf
)
-include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
-include_directories(include ${catkin_INCLUDE_DIRS} tool_model_lib )
-
-#cuda_add_library(tool_tracking_particle src/ParticleFilter.cu src/Particle.cu)
-#add_executable(particle src/tracking_particle.cpp)
-#target_link_libraries(particle tool_tracking_particle ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} davinci_kinematics_cuda
-# davinci_kinematics_definitions_cuda)
-
-cuda_add_executable(test_particlefilter src/ParticleFilter.cu src/Particle.cu)
-target_link_libraries(test_particlefilter tool_tracking_particle ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES})
+add_executable(test_particlefilter src/ParticleFilter.cu src/Particle.cu)
+target_include_directories(test_particlefilter SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+target_include_directories(test_particlefilter PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_link_libraries(test_particlefilter PRIVATE ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} CUDA::curand)
I also modernized the CMake code here, because the built-in CUDA language support has considerably advanced.
Miscellaneous changes
I bumped the minimum CMake version from 2.8.x to 3.0.2 in all other places to suppress warnings. I also added a version number 3 to all find_package(OpenCV ...) calls that didn't have it.
Boost no longer has a python3 package; it's just python now. I made the following change to src/vision_opencv/cv_bridge/CMakeLists.txt:
--- a/src/vision_opencv/cv_bridge/CMakeLists.txt
+++ b/src/vision_opencv/cv_bridge/CMakeLists.txt
## -1,18 +1,15 ##
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
project(cv_bridge)
find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
if(NOT ANDROID)
find_package(PythonLibs)
- if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
- find_package(Boost REQUIRED python)
- else()
- find_package(Boost REQUIRED python3)
- endif()
+ find_package(Boost REQUIRED python)
else()
-find_package(Boost REQUIRED)
+ find_package(Boost REQUIRED)
endif()
+
find_package(OpenCV 3 REQUIRED
COMPONENTS
opencv_core
I have been trying to build TensorFlow 2.0 from the master branch on a Red Hat Linux Enterprise edition cluster.
The default GCC available is 4.8.5, and it is not possible to compile TensorFlow with it because it uses explicit
std=c++14
flag which is not available in GCC 4.8.5
Hence, I started using gcc/8.3.0 using a modulefile, which is configured as follows :
(tensorflow2.0-master) -bash-4.2$ module show gcc/8.3.0/gcc-4.8.5
-------------------------------------------------------------------
/gpfslocalsup/pub/modules-idris/modulefiles/linux-rhel7-x86_64/gcc/8.3.0/gcc-4.8.5:
module-whatis The GNU Compiler Collection includes front ends for C, C++, Objective-C, Fortran, Ada, and Go, as well as libraries for these languages.
conflict gcc
prepend-path PATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin
prepend-path MANPATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/share/man
prepend-path LD_LIBRARY_PATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib
prepend-path LIBRARY_PATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib
prepend-path LD_LIBRARY_PATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib64
prepend-path LIBRARY_PATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib64
prepend-path CPATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/include
prepend-path CMAKE_PREFIX_PATH /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/
setenv CC /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/gcc
setenv CXX /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/g++
setenv FC /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/gfortran
setenv F77 /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/gfortran
setenv F90 /gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/gfortran
-------------------------------------------------------------------
To compile TensorFlow, I first compiled bazel-0.29.1 and for that I modified the
tools/cpp/cc_toolchain_config.bzl
file as follows :
I replaced all occourances of /usr/bin/gcc, /usr/bin/gcov, /usr/bin/nm, /usr/bin/ar, /usr/bin/cpp with the binaries in PATH as shown above.
I added the include path as shown above, to the list of cxx_builtin_include_directory present in the file.
After that I proceeded to build TensorFlow.
The command used was :
CC=/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/gcc bazel --output_user_root=/tmp/ujjwal-builds build --config=opt --config=cuda --config=mkl --config=numa //tensorflow/tools/pip_package:build_pip_package --verbose_failures
This ended up giving me the following error :
INFO: Analyzed target //tensorflow/tools/pip_package:build_pip_package (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
ERROR: /tmp/ujjwal-builds/7d993f307acf01aa765c32a6dcabd368/external/gif/BUILD.bazel:8:1: undeclared inclusion(s) in rule '#gif//:gif':
this rule is missing dependency declarations for the following files included by 'external/gif/gif_err.c':
'/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib/gcc/x86_64-pc-linux-gnu/8.3.0/include/stddef.h'
'/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib/gcc/x86_64-pc-linux-gnu/8.3.0/include/stdarg.h'
'/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib/gcc/x86_64-pc-linux-gnu/8.3.0/include/stdbool.h'
'/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/lib/gcc/x86_64-pc-linux-gnu/8.3.0/include/stdint.h'
Target //tensorflow/tools/pip_package:build_pip_package failed to build
INFO: Elapsed time: 2.152s, Critical Path: 1.63s
INFO: 7 processes: 7 local.
FAILED: Build did NOT complete successfully
I have tried to search for solutions online but there are no satisfactory solutions. Can anyone please help me with what is going on here as it is important for me.
If it helps, I have attached the output of gcc and g++ include paths below :
gcc -E -xc++ - -v
Reading specs from /gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/specs
COLLECT_GCC=gcc
Target: x86_64-pc-linux-gnu
Configured with: /gpfs7kw/linkhome/idris/softmgr/softmgr01/spack/var/spack/stage/gcc-8.3.0-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/spack-src/configure --prefix=/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3 --disable-multilib --enable-languages=c,c++,fortran --with-mpfr=/gpfslocalsup/spack_soft/mpfr/3.1.6/gcc-4.8.5-vwx7snyrzymeg5n6f7dg5tbpgk35do3k --with-gmp=/gpfslocalsup/spack_soft/gmp/6.1.2/gcc-4.8.5-5odxtlxihbfjtj4dxo52oz5f7r6ir6jk --enable-lto --with-quad --with-system-zlib --with-mpc=/gpfslocalsup/spack_soft/mpc/1.1.0/gcc-4.8.5-pogagquauxex67doa7v2mkas2gcs5xut --with-isl=/gpfslocalsup/spack_soft/isl/0.18/gcc-4.8.5-3wslknueis6r2nx3tasaizgda2ianxfa
Thread model: posix
gcc version 8.3.0 (GCC)
COLLECT_GCC_OPTIONS='-E' '-v' '-mtune=generic' '-march=x86-64'
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../libexec/gcc/x86_64-pc-linux-gnu/8.3.0/cc1plus -E -quiet -v -iprefix /gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/ -D_GNU_SOURCE - -mtune=generic -march=x86-64
ignoring nonexistent directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../x86_64-pc-linux-gnu/include"
ignoring duplicate directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../include/c++/8.3.0"
ignoring duplicate directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../include/c++/8.3.0/x86_64-pc-linux-gnu"
ignoring duplicate directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../include/c++/8.3.0/backward"
ignoring duplicate directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../lib/gcc/x86_64-pc-linux-gnu/8.3.0/include"
ignoring duplicate directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../lib/gcc/x86_64-pc-linux-gnu/8.3.0/include-fixed"
ignoring nonexistent directory "/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../x86_64-pc-linux-gnu/include"
ignoring duplicate directory "/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/include"
as it is a non-system directory that duplicates a system directory
#include "..." search starts here:
#include <...> search starts here:
/gpfslocalsys/intel/parallel_studio_xe_2019_update5_cluster_edition/compilers_and_libraries_2019.5.281/linux/mkl/include
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../include/c++/8.3.0
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../include/c++/8.3.0/x86_64-pc-linux-gnu
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/../../../../include/c++/8.3.0/backward
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/include
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/x86_64-pc-linux-gnu/8.3.0/include-fixed
/usr/local/include
/gpfs7kro/gpfslocalsup/spack_soft/gcc/8.3.0/gcc-4.8.5-opnwtdjumg2hxo4ljvnx77ugb6afmvj3/bin/../lib/gcc/../../include
/usr/include
End of search list.
You could try using this PR from within spack for this : https://github.com/spack/spack/pull/14681
I am trying to create and compile an ARM-based STM32 project using CMake.
CMakeLsts.txt is the following:
cmake_minimum_required(VERSION 3.7)
SET(CMAKE_SYSTEM_NAME Generic)
SET(CMAKE_SYSTEM_VERSION 1)
# Enable logging messages
#set(CMAKE_VERBOSE_MAKEFILE ON)
# Project name
set(PROJECT_NAME FixtureTACO)
PROJECT(${PROJECT_NAME} C CXX ASM)
SET(CMAKE_CXX_STANDARD 11)
###################### CHIP CONFIGURATION ##########################
SET(ROOT_PROJ ${CMAKE_CURRENT_SOURCE_DIR})
SET(CPU "cortex-m4")
SET(ARCH_NAME "arm")
SET(ARCH_VER "v7e-m")
SET(FAMILY "stm32f3")
SET(CHIP "STM32F303xC")
SET(ARCH "${ARCH_NAME}${ARCH_VER}")
####################################################################
# MCU Config
set(FPU "-mfpu=fpv4-sp-d16")
set(FLOAT_ABI "-mfloat-abi=hard")
# Toolchain path
set(TOOLCHAIN_PATH "")
set(ARM_LIB "/usr/lib/arm-none-eabi/lib/${ARCH}")
# Specify C, C++ and ASM compilers
SET(CMAKE_C_COMPILER ${TOOLCHAIN_PATH}arm-none-eabi-gcc)
SET(CMAKE_CXX_COMPILER ${TOOLCHAIN_PATH}arm-none-eabi-g++)
set(AS ${TOOLCHAIN_PATH}arm-none-eabi-as)
set(AR ${TOOLCHAIN_PATH}arm-none-eabi-ar)
set(OBJCOPY ${TOOLCHAIN_PATH}arm-none-eabi-objcopy)
set(OBJDUMP ${TOOLCHAIN_PATH}arm-none-eabi-objdump)
set(SIZE ${TOOLCHAIN_PATH}arm-none-eabi-size)
set(GDB ${TOOLCHAIN_PATH}arm-none-eabi-gdb)
set(SIZE ${TOOLCHAIN_PATH}arm-none-eabi-size)
# Definitions passed at compile time (#defines)
add_definitions(-DFAMILY=${FAMILY})
add_definitions(-DCHIP=${CHIP})
add_definitions(-D${CHIP})
add_definitions(-DUSE_FULL_LL_DRIVER)
add_definitions(-USE_HAL_DRIVER)
add_definitions(-DHSE_VALUE=8000000)
add_definitions(-DHSE_STARTUP_TIMEOUT=100)
add_definitions(-DLSE_STARTUP_TIMEOUT=5000)
add_definitions(-DLSE_VALUE=32768)
add_definitions(-DHSI_VALUE=8000000)
add_definitions(-DLSI_VALUE=40000)
add_definitions(-DDD_VALUE=3300)
add_definitions(-DPREFETCH_ENABLE=1)
# Compilation flags
add_compile_options(-mcpu=${CPU})
add_compile_options(-march=${ARCH})
add_compile_options(-mthumb)
add_compile_options(${FPU})
add_compile_options(${FLOAT_ABI})
add_compile_options(-Og)
add_compile_options(-Wall)
add_compile_options(-fdata-sections)
add_compile_options(-ffunction-sections)
# Only for debugging
add_compile_options(-g -gdwarf-2)
# Linker script path
file(GLOB_RECURSE LINKER_SCRIPT ${ROOT_PROJ}/platforms/${FAMILY}/Linker/*.ld)
# Variables initialized first time
SET(CMAKE_CXX_FLAGS_INIT "-std=c++11")
SET(CMAKE_C_FLAGS_INIT "-std=gnu99")
################################## Source code ###############################################################
# Retrieve all sources # "platforms/${FAMILY}/Startup/*.s"
file(GLOB SOURCES "platforms/${FAMILY}/Startup/*.s" "src/*.cpp" "src/*.c" "platforms/${FAMILY}/Hal/src/*.c" "platforms/${FAMILY}/Device/*.c")
#Retrieve all locations of headers
file(GLOB_RECURSE HEADERS "includes/*.h" "src/*.h" "platforms/${FAMILY}*.h")
set (INCLUDE_DIRS "")
foreach (_headerFile ${HEADERS})
get_filename_component(_dir ${_headerFile} PATH)
list (APPEND INCLUDE_DIRS ${_dir})
endforeach()
list(REMOVE_DUPLICATES INCLUDE_DIRS)
include_directories(${INCLUDE_DIRS})
link_directories(${ARM_LIB})
################################## Source code END ###########################################################
set(EXE_NAME "${PROJECT_NAME}_${CHIP}")
add_executable(${EXE_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})
set(CMAKE_EXE_LINKER_FLAGS "-mcpu=${CPU} -mthumb ${FPU} ${FLOAT_ABI} --specs=nano.specs -T${LINKER_SCRIPT} -Wl,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map,--cref -Wl,--gc-sections")
# Libs and external dependencies
target_link_libraries(${EXE_NAME}.elf -lc -lm -lnosys)
# Outputs
set(ELF_FILE ${PROJECT_BINARY_DIR}/${EXE_NAME}.elf)
set(HEX_FILE ${PROJECT_BINARY_DIR}/${EXE_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${EXE_NAME}.bin)
add_custom_command(TARGET "${EXE_NAME}.elf" POST_BUILD
# Build .hex and .bin files
COMMAND ${OBJCOPY} -Obinary ${ELF_FILE} ${BIN_FILE}
COMMAND ${OBJCOPY} -Oihex ${ELF_FILE} ${HEX_FILE}
COMMENT "Building ${PROJECT_NAME}.bin and ${PROJECT_NAME}.hex"
# Copy files to a custom build directory
COMMAND ${CMAKE_COMMAND} -E copy ${ELF_FILE} "${ROOT_PROJ}/builds/${CHIP}/${EXE_NAME}.elf"
COMMAND ${CMAKE_COMMAND} -E copy ${HEX_FILE} "${ROOT_PROJ}/builds/${CHIP}/${EXE_NAME}.hex"
COMMAND ${CMAKE_COMMAND} -E copy ${BIN_FILE} "${ROOT_PROJ}/builds/${CHIP}/${EXE_NAME}.bin"
# Display sizes
COMMAND ${SIZE} --format=berkeley ${EXE_NAME}.elf ${EXE_NAME}.hex
COMMENT "Invoking: Cross ARM GNU Print Size"
)
add_custom_target(UPLOAD
${GDB} -iex "target remote tcp:127.0.0.1:3333"
-iex "monitor program ${EXE_NAME}.elf"
-iex "monitor reset init"
-iex "disconnect" -iex "quit ")
When I try to compile I am getting the following errors:
[ 82%] Building C object CMakeFiles/FixtureTACO_STM32F303xC.elf.dir/platforms/stm32f3/Hal/src/stm32f3xx_ll_utils.c.obj
[ 86%] Building ASM object CMakeFiles/FixtureTACO_STM32F303xC.elf.dir/platforms/stm32f3/Startup/startup_stm32f303xc.s.obj
cc: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
cc: error: unrecognized command line option ‘-mthumb’; did you mean ‘-mtbm’?
cc: error: unrecognized command line option ‘-mfpu=fpv4-sp-d16’
cc: error: unrecognized command line option ‘-mfloat-abi=hard’
The error occurs ONLY when an assembly file (startup.s in this case) is present in source files and when FPU and FLOAR_ABI flags are present. As you can see, error occurs when startup_stm32f303xc.s is compiled.
I suspect that I am adding those flags in the wrong place but I have no clue where to add them in order to get it works.
Later edit: I already have installed arm 7 compiler on my ubuntu system. I can use it without specifying any path as it is already present in environment variables. I can compile without problems ARM code (from Makefiles) for other targets on machine. My problem is with cmake.
In your line set(TOOLCHAIN_PATH "") you must add a path to compiler. First go to get your free GCC ARM ToolChain. Download for your OS. and then just copy to your favorite location. If you using Linux you can use my path configurations:
1.) Copy gcc arm compirel to /opt/ directory:
sudo tar xjfv ~/Downloads/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2 -C /opt/
For more "sexy" path you can do symbolic link:
sudo ln -s /opt/gcc-arm-none-eabi-7-2018-q2-update/ /opt/gcc-arm-none-eabi
After that go to your CMakeLists.txt and rewrite your set command to:
set(TOOLCHAIN_PATH "/opt/gcc-arm-none-eabi/bin")
But there is better solution to build your project for STM32, but with already done stm32-cmake template project, specifically made for STM32 family. It is mush easier done with something working. You will also need two prerequisites STM32CubeMX installed and again GCC ARM ToolChain. If you want to know how to use this template just DM me and I will you give a quick guidance.
OK, I finally managed to figure it out!
I had to replace
set(AS ${TOOLCHAIN_PATH}arm-none-eabi-as)
with
set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PATH}arm-none-eabi-gcc)
It is not a mistake, it is gcc compiler. You can also append these flags: -x assembler-with-cpp.
CMake didn't know about my custom ASM compiler so it was using default system ASM compiler unless I force it by writing CMAKE_ASM_COMPILER. Now the project is being build and works fine on microcontroller.
The other answers were ok, but had half of the solution. Only ASM filese were compiled with wrong compiler.
I think you try to compile code for ARM using x86 compiler. It will not work. You need to download the ARM toolchain and use the correct compiler.
-mcpu is depreciated in the x86 branch, but is not in the ARM branch
another options just not exist in the x86 compiler.
I can't get CMake to find threads with a Linaro ARM toolchain (I've tried several different ones). Here's what I've done:
Downloaded the gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf.tar.xz toolchain and extracted to /opt.
Downloaded the corresponding sysroot and extracted to ~/sysroot
I created a Toolchain-Linaro-arm.cmake file that looks like this:
set (CMAKE_SYSTEM_NAME Linux)
include (CMakeForceCompiler)
set (TOOLCHAIN_BASE "/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf/")
set (CMAKE_SYSTEM_PROCESSOR armhf-cortexa9)
CMAKE_FORCE_C_COMPILER("${TOOLCHAIN_BASE}/bin/arm-linux-gnueabihf-gcc" GNU)
CMAKE_FORCE_CXX_COMPILER("${TOOLCHAIN_BASE}/bin/arm-linux-gnueabihf-g++" GNU)
set (CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} /home/user/sysroot)
set (CMAKE_SIZEOF_VOID_P 4)
set (CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set (CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set (CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set (CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
I created a minimal example project that uses threads:
~/threadstest $ ls
CMakeLists.txt main.cpp
~/threadstest $ cat CMakeLists.txt
cmake_minimum_required(VERSION 3.0.0)
project(threads_test)
add_executable(test main.cpp)
find_package(Threads REQUIRED)
target_link_libraries(test, ${CMAKE_THREAD_LIBS_INIT})
~/threadstest $ cat main.cpp
int main() { }
~/threadstest $ mkdir build; cd build
~/threadstest/build $ cmake -DCMAKE_TOOLCHAIN_FILE=~/Toolchain-Linaro-arm.cmake ..
CMake Error at /opt/cmake-3.3.1-Linux-x86_64/share/cmake-3.3/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
Could NOT find Threads (missing: Threads_FOUND)
Call Stack (most recent call first):
/opt/cmake-3.3.1-Linux-x86_64/share/cmake-3.3/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
/opt/cmake-3.3.1-Linux-x86_64/share/cmake-3.3/Modules/FindThreads.cmake:205 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
CMakeLists.txt:8 (find_package)
~/threadstest/build $ cat CMakeFiles/CMakeError.log
Determining if files pthread.h exist failed with the following output:
Change Dir: /home/user/threadstest/arm/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_37a3c/fast"
/usr/bin/make -f CMakeFiles/cmTC_37a3c.dir/build.make CMakeFiles/cmTC_37a3c.dir/build
make[1]: Entering directory `/home/user/threadstest/arm/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_37a3c.dir/CheckIncludeFiles.c.o
/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc -o CMakeFiles/cmTC_37a3c.dir/CheckIncludeFiles.c.o -c /home/user/threadstest/arm/CMakeFiles/CMakeTmp/CheckIncludeFiles.c
/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.14' not found (required by /opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc)
make[1]: Leaving directory `/home/user/threadstest/arm/CMakeFiles/CMakeTmp'
make[1]: *** [CMakeFiles/cmTC_37a3c.dir/CheckIncludeFiles.c.o] Error 1
make: *** [cmTC_37a3c/fast] Error 2
Source:
/* */
#include <pthread.h>
int main(void){return 0;}
I know the pthread libraries exist:
$ find ~/sysroot -name "*pthread*"
/home/user/sysroot/usr/lib/libpthread_nonshared.a
/home/user/sysroot/usr/lib/libpthread.so.0
/home/user/sysroot/usr/lib/libpthread-2.19-2014.08-1-git.so
/home/user/sysroot/usr/lib/libpthread_p.a
/home/user/sysroot/usr/lib/libpthread.a
/home/user/sysroot/usr/lib/libpthread.so
/home/user/sysroot/usr/include/bits/pthreadtypes.h
/home/user/sysroot/usr/include/pthread.h
It looks like something is still looking at my native libc and not the cross compiling environment:
/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc -o CMakeFiles/cmTC_37a3c.dir/CheckIncludeFiles.c.o -c /home/user/threadstest/arm/CMakeFiles/CMakeTmp/CheckIncludeFiles.c
/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc: /lib/x86_64-linux-gnu/libc.so.6: version "GLIBC_2.14" not found (required by /opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc)
The root cause of the problem not in pthread library:
The root cause is:
/lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.14' not found (required by /opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc)
Your compiler is trying to use your local libc.
1) Find libc.so* in downloaded sysroot and check version with the following command:
objdump -p libc.so.6 | grep "Version References:" -A 10
The if everything is ok use this lib (with --sysroot options);
You may try to do it manually:
/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf//bin/arm-linux-gnueabihf-gcc -o CMakeFiles/cmTC_37a3c.dir/CheckIncludeFiles.c.o -c /home/user/threadstest/arm/CMakeFiles/CMakeTmp/CheckIncludeFiles.c --sysroot /home/user/sysroot/
2) Your toolchains probably compiled with differ libc.so version than installed on your system, download appropriate version on your system and use it.