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micro-ROS / micro_ros_zephyr_module

micro-ROS Zephyr module and sample code
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Build fails when adding CONFIG_CPLUSPLUS to prj.conf #98

Closed gseqBE closed 1 year ago

gseqBE commented 1 year ago

Hello, Our code base is cpp based and works well with the non-module style of microros on zephyr. However, with this repo(module based), I get build errors when the following two flags are added to prj.conf: If the below two flags are removed, the default project compiles ok.

CONFIG_CPLUSPLUS=y
CONFIG_LIB_CPLUSPLUS=y

Steps to reproduce the issue

Expected behavior

Build succeeds.

Actual behavior

Build failure

/ws/zephyr-sdk-0.14.2/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/10.3.0/../../../../arm-zephyr-eabi/bin/ld.bfd: ../modules/libmicroros/libmicroros.a(libtest_msgs__rosidl_generator_c-arrays__functions.c.obj): in function `test_msgs__srv__Arrays_Request__init':
/ws/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/build/test_msgs/rosidl_generator_c/test_msgs/srv/detail/arrays__functions.c:52: undefined reference to `test_msgs__msg__BasicTypes__init

build_log.txt

Additional information

gseqBE commented 1 year ago

@Acuadros95 is this something that could be fixed. Thanks!

Acuadros95 commented 1 year ago

Hi @gseqBE,

For some reason, the generated code for the test_msgs package does not include the extern "C" guards to fix name mangling on c++.

We will take a closer look at this issue, but as those messages are used only for testing purposes, we can just leave them out of our build process. Please try to build again with this PR branch: https://github.com/micro-ROS/micro_ros_zephyr_module/pull/99

gseqBE commented 1 year ago

Thanks @Acuadros95 . I still seem to get the build errors in fix/cpp_build. Were you able to try with 

CONFIG_CPLUSPLUS=y
CONFIG_LIB_CPLUSPLUS=y

in prj.conf?

Acuadros95 commented 1 year ago

Were you able to try with

Yes. Which errors do you get?

gseqBE commented 1 year ago

Adding the build log. All I did was add the two cpp config lines in prf.conf. build.log

Acuadros95 commented 1 year ago

Well, test_msgs is still being build on your log. Can you try on a clean environment with the merged fix?

gseqBE commented 1 year ago

@Acuadros95 I'm away on a work trip, please give me till this Friday to test. Thank you.

gseqBE commented 1 year ago

@Acuadros95 Confirming that merged fix in humble branch works for me, with the two zephyr CPP flags. Note that my board is a h743zi: west build -b nucleo_h743zi .

For the default west build -b disco_l475_iot1 . i get an SRAM error with the flags, but someone with those flags will be using a higher SRAM chip anyway. ws/zephyr-sdk-0.14.2/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/10.3.0/../../../../arm-zephyr-eabi/bin/ld.bfd: zephyr/zephyr_pre0.elf sectionnoinit' will not fit in region SRAM'

Thanks for the help. Issue can close.