docs(yocto/examples): add examples how to cross-compile generic C/C++…

… and ROS2 C/C++ projects
extra2000 · Jul 19, 2023 · 7c97965 · 7c97965
1 parent a7f3854
commit 7c97965
Show file tree

Hide file tree

Showing 8 changed files with 523 additions and 3 deletions.
diff --git a/.gitignore b/.gitignore
@@ -8,4 +8,6 @@
 /project/yocto/build/*.log
 /project/yocto/build/*.lock
 /project/yocto/build/sdk-*
-/project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files/build
+/project/yocto/layers/meta-user/recipes-apps/*/files/build
+/project/yocto/layers/meta-user/recipes-apps/*/files/install
+/project/yocto/layers/meta-user/recipes-apps/*/files/log
diff --git a/docs/yocto/specifics/qemuarm.md b/docs/yocto/specifics/qemuarm.md
@@ -26,6 +26,17 @@ Build:
 bitbake mc:qemuarm:ros2-image
 ```
 
+To build SDK and extract into `[PROJECT_ROOT]/project/yocto/build/sdk-qemuarm` directory:
+```
+bitbake mc:qemuarm:ros2-image -c populate_sdk
+./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa15t2hf-neon-toolchain-nodistro.0.sh -d sdk-qemuarm
+```
+
+Replace `FIXMESTAGINGDIRHOST` with `project/yocto/build/sdk-qemuarm/sysroots` in all `cmake` files in the `sdk-qemuarm`:
+```
+find sdk-qemuarm -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-qemuarm/sysroots/x86_64-oesdk-linux)"',g'
+```
+
 
 ## Testing
 
@@ -53,3 +64,73 @@ runqemu \
 **NOTE: If the port forwarding doesn't work, try shutdown QEMU, respawn the `yocto-toolkit` Podman container, and re-execute the same `runqemu` command again.**
 
 Login as `yocto` user with password `yocto`. Then follow testing instructions in [Testing](../common/testing.md).
+
+
+## Cross-Compiling C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-qemuarm/environment-setup-cortexa15t2hf-neon-oe-linux-gnueabi
+cd project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files
+mkdir -pv build
+cd build
+cmake \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DCMAKE_BUILD_TYPE=Debug \
+    ../datastruct-cpp
+make -j $(($(nproc) -1))
+```
+
+Execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22222 ./ds-helloworld-cpp yocto@127.0.0.1:
+ssh -p 22222 yocto@127.0.0.1
+./ds-helloworld-cpp
+```
+
+To cleanup the `datastruct-cpp` project:
+```
+cd ..
+rm -rf ./build/
+```
+
+
+## Cross-Compiling ROS2 C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-qemuarm/environment-setup-cortexa15t2hf-neon-oe-linux-gnueabi
+source project/yocto/build/sdk-qemuarm/sysroots/x86_64-oesdk-linux/etc/profile.d/ros/setup.bash
+cd project/yocto/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp/
+colcon \
+    --log-base ../log \
+    build \
+    --build-base ../build \
+    --install-base ../install \
+    --cmake-args \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DBUILD_TESTING=OFF
+```
+
+Within the `yocto-toolkit` Podman container, start QEMU using the following command:
+```
+runqemu \
+    qemuarm \
+    slirp \
+    nographic \
+    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
+    bootparams="selinux=1 enforcing=0"
+```
+
+From host, execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22222 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@127.0.0.1:
+ssh -p 22222 yocto@127.0.0.1
+./main
+```
+
+To cleanup the `ros2-helloworld-cpp` project:
+```
+rm -rf ../build/ ../install/ ../log/
+```
diff --git a/docs/yocto/specifics/qemuarm64.md b/docs/yocto/specifics/qemuarm64.md
@@ -26,6 +26,17 @@ Build:
 bitbake mc:qemuarm64:ros2-image
 ```
 
+To build SDK and extract into `[PROJECT_ROOT]/project/yocto/build/sdk-qemuarm64` directory:
+```
+bitbake mc:qemuarm64:ros2-image -c populate_sdk
+./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa57-toolchain-nodistro.0.sh -d sdk-qemuarm64
+```
+
+Replace `FIXMESTAGINGDIRHOST` with `project/yocto/build/sdk-qemuarm64/sysroots` in all `cmake` files in the `sdk-qemuarm64`:
+```
+find sdk-qemuarm64 -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-qemuarm64/sysroots)"',g'
+```
+
 
 ## Testing
 
@@ -53,3 +64,73 @@ runqemu \
 **NOTE: If the port forwarding doesn't work, try shutdown QEMU, respawn the `yocto-toolkit` Podman container, and re-execute the same `runqemu` command again.**
 
 Login as `yocto` user with password `yocto`. Then follow testing instructions in [Testing](../common/testing.md).
+
+
+## Cross-Compiling C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-qemuarm64/environment-setup-cortexa57-oe-linux
+cd project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files
+mkdir -pv build
+cd build
+cmake \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DCMAKE_BUILD_TYPE=Debug \
+    ../datastruct-cpp
+make -j $(($(nproc) -1))
+```
+
+Execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22222 ./ds-helloworld-cpp yocto@127.0.0.1:
+ssh -p 22222 yocto@127.0.0.1
+./ds-helloworld-cpp
+```
+
+To cleanup the `datastruct-cpp` project:
+```
+cd ..
+rm -rf ./build/
+```
+
+
+## Cross-Compiling ROS2 C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-qemuarm64/environment-setup-cortexa57-oe-linux
+source project/yocto/build/sdk-qemuarm64/sysroots/x86_64-oesdk-linux/etc/profile.d/ros/setup.bash
+cd project/yocto/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp/
+colcon \
+    --log-base ../log \
+    build \
+    --build-base ../build \
+    --install-base ../install \
+    --cmake-args \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DBUILD_TESTING=OFF
+```
+
+Within the `yocto-toolkit` Podman container, start QEMU using the following command:
+```
+runqemu \
+    qemuarm64 \
+    slirp \
+    nographic \
+    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
+    bootparams="selinux=1 enforcing=0"
+```
+
+From host, execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22222 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@127.0.0.1:
+ssh -p 22222 yocto@127.0.0.1
+./main
+```
+
+To cleanup the `ros2-helloworld-cpp` project:
+```
+rm -rf ../build/ ../install/ ../log/
+```
diff --git a/docs/yocto/specifics/rock64.md b/docs/yocto/specifics/rock64.md
@@ -26,6 +26,17 @@ To build:
 bitbake mc:rock64:ros2-image
 ```
 
+To build SDK and extract into `[PROJECT_ROOT]/project/yocto/build/sdk-rock64` directory:
+```
+bitbake mc:rock64:ros2-image -c populate_sdk
+./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa53-crypto-toolchain-nodistro.0.sh -d sdk-rock64
+```
+
+Replace `FIXMESTAGINGDIRHOST` with `project/yocto/build/sdk-rock64/sysroots` in all `cmake` files in the `sdk-rock64`:
+```
+find sdk-rock64 -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-rock64/sysroots/x86_64-oesdk-linux)"',g'
+```
+
 
 ## Flashing to SD Card
 
@@ -38,3 +49,65 @@ sudo dd bs=4M iflag=fullblock oflag=direct status=progress if=project/yocto/buil
 ## Testing
 
 Insert SD card and power on Rock64. Access serial console and login as `yocto` user with password `yocto`. Then, follow [Testing](../common/testing.md) instructions.
+
+
+## Cross-Compiling C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-rock64/environment-setup-cortexa53-crypto-oe-linux
+cd project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files
+mkdir -pv build
+cd build
+cmake \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DCMAKE_BUILD_TYPE=Debug \
+    ../datastruct-cpp
+make -j $(($(nproc) -1))
+```
+
+Execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22 ./ds-helloworld-cpp yocto@rock64.lan:
+ssh -p 22 yocto@rock64.lan
+./ds-helloworld-cpp
+```
+
+**NOTE: If `rock64.lan` is not resolvable by your network, you need to replace `rock64.lan` according to your target device IP address.**
+
+To cleanup the `datastruct-cpp` project:
+```
+cd ..
+rm -rf ./build/
+```
+
+
+## Cross-Compiling ROS2 C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-rock64/environment-setup-cortexa53-crypto-oe-linux
+source project/yocto/build/sdk-rock64/sysroots/x86_64-oesdk-linux/etc/profile.d/ros/setup.bash
+cd project/yocto/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp/
+colcon \
+    --log-base ../log \
+    build \
+    --build-base ../build \
+    --install-base ../install \
+    --cmake-args \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DBUILD_TESTING=OFF
+```
+
+Execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@rock64.lan:
+ssh -p 22 yocto@rock64.lan
+./main
+```
+
+To cleanup the `ros2-helloworld-cpp` project:
+```
+rm -rf ../build/ ../install/ ../log/
+```
diff --git a/docs/yocto/specifics/rpi3bp.md b/docs/yocto/specifics/rpi3bp.md
@@ -26,6 +26,18 @@ Build:
 bitbake mc:raspberrypi3-64:ros2-image
 ```
 
+To build SDK and extract into `[PROJECT_ROOT]/project/yocto/build/sdk-rpi3bp` directory:
+```
+bitbake mc:raspberrypi3-64:ros2-image -c populate_sdk
+./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa53-toolchain-nodistro.0.sh -d sdk-rpi3bp
+```
+
+Replace `FIXMESTAGINGDIRHOST` with `project/yocto/build/sdk-rpi3bp/sysroots` in all `cmake` files in the `sdk-rpi3bp`:
+```
+find sdk-rpi3bp -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-rpi3bp/sysroots/x86_64-oesdk-linux)"',g'
+```
+
+
 ## Flashing to SD Card
 
 Execute the following command:
@@ -37,3 +49,65 @@ bzcat project/yocto/build/tmp-glibc/deploy/images/raspberrypi3-64/ros2-image-hum
 ## Testing
 
 Insert SD card and power on Raspberry Pi 3B+. Access serial console and login as `yocto` user with password `yocto`. Then, follow [Testing](../common/testing.md) instructions.
+
+
+## Cross-Compiling C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-rpi3bp/environment-setup-cortexa53-oe-linux
+cd project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files
+mkdir -pv build
+cd build
+cmake \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DCMAKE_BUILD_TYPE=Debug \
+    ../datastruct-cpp
+make -j $(($(nproc) -1))
+```
+
+Execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22 ./ds-helloworld-cpp yocto@raspberrypi3-64.lan:
+ssh -p 22 yocto@raspberrypi3-64.lan
+./ds-helloworld-cpp
+```
+
+**NOTE: If `raspberrypi3-64.lan` is not resolvable by your network, you need to replace `raspberrypi3-64.lan` according to your target device IP address.**
+
+To cleanup the `datastruct-cpp` project:
+```
+cd ..
+rm -rf ./build/
+```
+
+
+## Cross-Compiling ROS2 C++ Applications
+
+Open a new terminal and execute the following command (without using Podman):
+```
+source project/yocto/build/sdk-rpi3bp/environment-setup-cortexa53-oe-linux
+source project/yocto/build/sdk-rpi3bp/sysroots/x86_64-oesdk-linux/etc/profile.d/ros/setup.bash
+cd project/yocto/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp/
+colcon \
+    --log-base ../log \
+    build \
+    --build-base ../build \
+    --install-base ../install \
+    --cmake-args \
+    -G "Eclipse CDT4 - Unix Makefiles" \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DBUILD_TESTING=OFF
+```
+
+Execute the following command to upload to QEMU and execute the binary:
+```
+scp -P 22 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@raspberrypi3-64.lan:
+ssh -p 22 yocto@raspberrypi3-64.lan
+./main
+```
+
+To cleanup the `ros2-helloworld-cpp` project:
+```
+rm -rf ../build/ ../install/ ../log/
+```