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minhanghuang / CyberRT

Baidu Apollo(v9.0.0) CyberRT Framework CMake Build
Apache License 2.0
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aarch64有使用过吗，能正常使用talker和listener测试通过吗？ #76

Closed sundongdong4300 closed 5 days ago

sundongdong4300 commented 2 weeks ago

我这边测试listener崩溃；

  1. 能否提供aarch64编译步骤
  2. fast-rtps-1.5.0-1.prebuilt.aarch64.tar.gz工程源码可以给一个吗？
minhanghuang commented 1 week ago

我这边测试listener崩溃；

  1. 能否提供aarch64编译步骤
  2. fast-rtps-1.5.0-1.prebuilt.aarch64.tar.gz工程源码可以给一个吗？

hello @sundongdong4300

CyberRT编译过程如下:

cd CyberRT
python3 install.py
source install/setup.bash
mkdir -p build && cd build
cmake .. && make -j$(nproc)

fast-rtps-1.5.0-1.prebuilt.aarch64.tar.gz这个文件是百度Apollo预编译好的文件, 源码参考这里, 需要打补丁, 补丁参考这里

sundongdong4300 commented 1 week ago

感谢，我在试试去

sundongdong4300 commented 1 week ago

yg@ubuntu:~/project/uav/platform/rk3588/git_release/0926/rk3588_sdk/external/sf/Fast-RTPS$ git branch

yg@ubuntu:~/project/uav/platform/rk3588/git_release/0926/rk3588_sdk/external/sf/Fast-RTPS$ patch -p1 < FastRTPS_1.4.0.patch patching file CMakeLists.txt Hunk #1 FAILED at 175. 1 out of 1 hunk FAILED -- saving rejects to file CMakeLists.txt.rej patching file include/fastrtps/utils/IPFinder.h patching file src/cpp/qos/ParameterList.cpp Hunk #1 succeeded at 402 with fuzz 1 (offset 33 lines). patching file src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp Hunk #3 succeeded at 427 (offset 38 lines). Hunk #4 succeeded at 445 (offset 38 lines). Hunk #5 succeeded at 462 (offset 38 lines). Hunk #6 succeeded at 480 (offset 38 lines). patching file src/cpp/transport/UDPv4Transport.cpp Hunk #1 succeeded at 30 with fuzz 1 (offset -1 lines). Hunk #2 succeeded at 210 (offset 41 lines). patching file thirdparty/fastcdr/CMakeLists.txt Hunk #1 FAILED at 106. 1 out of 1 hunk FAILED -- saving rejects to file thirdparty/fastcdr/CMakeLists.txt.rej patching file thirdparty/fastcdr/include/fastcdr/Cdr.h patching file thirdparty/fastcdr/src/cpp/Cdr.cpp

sundongdong4300 commented 1 week ago

1.4patch打不进去，你那边有试过吗？

minhanghuang commented 1 week ago

1.4patch打不进去，你那边有试过吗？

@sundongdong4300 不好意思, 你试一下1.5patch

sundongdong4300 commented 1 week ago

太客气了，我昨天使用1.5打进去了。我想知到你在aarch64测试demo能正常talker发送和listener接收吗？

minhanghuang commented 1 week ago

太客气了，我昨天使用1.5打进去了。我想知到你在aarch64测试demo能正常talker发送和listener接收吗？

image

我这边使用arrch64可以正常收发。不知道你是报了什么错

sundongdong4300 commented 1 week ago

厉害。我是移植到rk3588上测试的，因此不能正常通信，稍后我搭建好环境，在发给你看看，有您的帮助，真的万分幸运，感谢！！！

sundongdong4300 commented 1 week ago

// cyber_example_talker root@rk3588-buildroot:/# source install/setup.bash root@rk3588-buildroot:/# cd build/ root@rk3588-buildroot:/build# source setup.bash root@rk3588-buildroot:/build# ./cyber/examples/cyber_example_talker I0101 00:01:43.460406 1366 global_data.cc:153] [cyber_example_talker]host ip: 127.0.0.1 W0101 00:01:43.462194 1366 scheduler_factory.cc:63] [cyber_example_talker]Scheduler conf named /build/share/conf/cyber_example_talker_1366.conf not found, use default. I0101 00:01:43.462632 1368 processor.cc:42] [cyber_example_talker]processor_tid: 1368 I0101 00:01:43.462783 1369 processor.cc:42] [cyber_example_talker]processor_tid: 1369 I0101 00:01:43.462921 1370 processor.cc:42] [cyber_example_talker]processor_tid: 1370 I0101 00:01:43.463022 1371 processor.cc:42] [cyber_example_talker]processor_tid: 1371 I0101 00:01:43.463111 1372 processor.cc:42] [cyber_example_talker]processor_tid: 1372 I0101 00:01:43.463229 1373 processor.cc:42] [cyber_example_talker]processor_tid: 1373 I0101 00:01:43.463280 1374 processor.cc:42] [cyber_example_talker]processor_tid: 1374 I0101 00:01:43.463346 1375 processor.cc:42] [cyber_example_talker]processor_tid: 1375 I0101 00:01:43.463464 1376 processor.cc:42] [cyber_example_talker]processor_tid: 1376 I0101 00:01:43.463516 1377 processor.cc:42] [cyber_example_talker]processor_tid: 1377 I0101 00:01:43.463628 1378 processor.cc:42] [cyber_example_talker]processor_tid: 1378 I0101 00:01:43.463690 1379 processor.cc:42] [cyber_example_talker]processor_tid: 1379 I0101 00:01:43.463797 1380 processor.cc:42] [cyber_example_talker]processor_tid: 1380 I0101 00:01:43.463903 1381 processor.cc:42] [cyber_example_talker]processor_tid: 1381 I0101 00:01:43.463969 1382 processor.cc:42] [cyber_example_talker]processor_tid: 1382 I0101 00:01:43.464016 1383 processor.cc:42] [cyber_example_talker]processor_tid: 1383 I0101 00:01:43.464038 1366 init.cc:113] [cyber_example_talker]Register exit handle succ. I0101 00:01:43.468896 1366 talker.cc:43] [cyber_example_talker]talker sent a message! No. 0 I0101 00:01:44.469078 1366 talker.cc:43] [cyber_example_talker]talker sent a message! No. 1

// cyber_example_listener root@rk3588-buildroot:/# source install/setup.bash root@rk3588-buildroot:/# cd build/ root@rk3588-buildroot:/build# source setup.bash root@rk3588-buildroot:/build# ./cyber/examples/cyber_example_listener I0101 00:02:17.371700 1403 global_data.cc:153] [cyber_example_listener]host ip: 127.0.0.1 W0101 00:02:17.373436 1403 scheduler_factory.cc:63] [cyber_example_listener]Scheduler conf named /build/share/conf/cyber_example_listener_1403.conf not found, use default. I0101 00:02:17.373708 1405 processor.cc:42] [cyber_example_listener]processor_tid: 1405 I0101 00:02:17.373953 1406 processor.cc:42] [cyber_example_listener]processor_tid: 1406 I0101 00:02:17.374037 1407 processor.cc:42] [cyber_example_listener]processor_tid: 1407 I0101 00:02:17.374148 1408 processor.cc:42] [cyber_example_listener]processor_tid: 1408 I0101 00:02:17.374219 1409 processor.cc:42] [cyber_example_listener]processor_tid: 1409 I0101 00:02:17.374279 1410 processor.cc:42] [cyber_example_listener]processor_tid: 1410 I0101 00:02:17.374391 1411 processor.cc:42] [cyber_example_listener]processor_tid: 1411 I0101 00:02:17.374439 1412 processor.cc:42] [cyber_example_listener]processor_tid: 1412 I0101 00:02:17.374494 1413 processor.cc:42] [cyber_example_listener]processor_tid: 1413 I0101 00:02:17.374548 1414 processor.cc:42] [cyber_example_listener]processor_tid: 1414 I0101 00:02:17.374599 1415 processor.cc:42] [cyber_example_listener]processor_tid: 1415 I0101 00:02:17.374656 1416 processor.cc:42] [cyber_example_listener]processor_tid: 1416 I0101 00:02:17.374727 1417 processor.cc:42] [cyber_example_listener]processor_tid: 1417 I0101 00:02:17.374778 1418 processor.cc:42] [cyber_example_listener]processor_tid: 1418 I0101 00:02:17.374843 1419 processor.cc:42] [cyber_example_listener]processor_tid: 1419 I0101 00:02:17.374891 1420 processor.cc:42] [cyber_example_listener]processor_tid: 1420 I0101 00:02:17.374900 1403 init.cc:113] [cyber_example_listener]Register exit handle succ. I0101 00:02:17.379891 1403 scheduler.cc:55] [cyber_example_listener]create croutine: listener_channel/chatter Segmentation fault

sundongdong4300 commented 1 week ago

我这就是现在这现象，直接段错误！！！

minhanghuang commented 1 week ago

我这就是现在这现象，直接段错误！！！

你在本地是如何编译的, cmake 有加什么编译参数吗,

sundongdong4300 commented 1 week ago

$ source /home/yg/project/uav/platform/rk3588/sdk/aarch64-buildroot-linux-gnu_sdk-buildroot/environment-setup $ python3 install.py $ source install/setup.bash $ mkdir -p build && cd build $ cmake -Dfastcdr_DIR=/home/yg/project/uav/apollo/1030/CyberRT/install/lib/fastcdr/cmake/ -Dfastrtps_DIR=/home/yg/project/uav/apollo/1030/CyberRT/install/lib/fastrtps/cmake/ -DProtobuf_LIBRARIES=protobuf -DProtobuf_INCLUDE_DIR=/home/yg/project/uav/apollo/1030/CyberRT/install/include/ .. $ make -j12

sundongdong4300 commented 1 week ago

请问您那边aarch64成功是使用的真实机器还是docker环境？

minhanghuang commented 1 week ago

请问您那边aarch64成功是使用的真实机器还是docker环境？

我用的物理机和docker都可以, 你在编译时添加参数 cmake -DCMAKE_BUILD_TYPE=Debug ..试一试

 cmake -DCMAKE_BUILD_TYPE=Debug -Dfastcdr_DIR=/home/yg/project/uav/apollo/1030/CyberRT/install/lib/fastcdr/cmake/ -Dfastrtps_DIR=/home/yg/project/uav/apollo/1030/CyberRT/install/lib/fastrtps/cmake/ -DProtobuf_LIBRARIES=protobuf -DProtobuf_INCLUDE_DIR=/home/yg/project/uav/apollo/1030/CyberRT/install/include/ ..