Make prefix
sudo mkdir /opt/roborio
sudo chown schuyler:staff /opt/roborio
# cp -r /usr/local/arm-frc-linux-gnueabi/ /opt/roborio/
Environment variables
export TOOLCHAIN=~/development/first/allwpilib/arm-toolchain.cmake
export PREFIX=/opt/roborio
export PKG_CONFIG_PATH=$PREFIX/lib/pkgconfig
configure to build for RoboRIO
$ cat tools/build/src/user-config.jam
using gcc : arm : arm-frc-linux-gnueabi-g++ ;
build boost
./bootstrap
./b2 --debug-configuration --without-python link=shared runtime-link=shared threading=multi --toolset=gcc-arm target-os=linux
Install boost
./b2 --without-python link=shared runtime-link=shared threading=multi --toolset=gcc-arm target-os=linux --prefix=$PREFIX install
output of b2
Performing configuration checks
- 32-bit : yes (cached)
- arm : yes (cached)
Building the Boost C++ Libraries.
- symlinks supported : yes (cached)
- C++11 mutex : no (cached)
- lockfree boost::atomic_flag : yes (cached)
- Boost.Config Feature Check: cxx11_auto_declarations : no (cached)
- Boost.Config Feature Check: cxx11_constexpr : no (cached)
- Boost.Config Feature Check: cxx11_defaulted_functions : no (cached)
- Boost.Config Feature Check: cxx11_final : no (cached)
- Boost.Config Feature Check: cxx11_hdr_mutex : no (cached)
- Boost.Config Feature Check: cxx11_hdr_tuple : no (cached)
- Boost.Config Feature Check: cxx11_lambdas : no (cached)
- Boost.Config Feature Check: cxx11_noexcept : no (cached)
- Boost.Config Feature Check: cxx11_nullptr : no (cached)
- Boost.Config Feature Check: cxx11_rvalue_references : no (cached)
- Boost.Config Feature Check: cxx11_template_aliases : no (cached)
- Boost.Config Feature Check: cxx11_thread_local : no (cached)
- Boost.Config Feature Check: cxx11_variadic_templates : no (cached)
- has_icu builds : no (cached)
warning: Graph library does not contain MPI-based parallel components.
note: to enable them, add "using mpi ;" to your user-config.jam
- zlib : no (cached)
- bzip2 : no (cached)
- iconv (libc) : yes (cached)
- icu : no (cached)
- icu (lib64) : no (cached)
- native-atomic-int32-supported : yes (cached)
- native-syslog-supported : yes (cached)
- pthread-supports-robust-mutexes : yes (cached)
- compiler-supports-visibility : yes (cached)
- gcc visibility : yes (cached)
- long double support : yes (cached)
warning: skipping optional Message Passing Interface (MPI) library.
note: to enable MPI support, add "using mpi ;" to user-config.jam.
note: to suppress this message, pass "--without-mpi" to bjam.
note: otherwise, you can safely ignore this message.
Component configuration:
- atomic : building
- chrono : building
- container : building
- context : building
- coroutine : building
- coroutine2 : building
- date_time : building
- exception : building
- fiber : building
- filesystem : building
- graph : building
- graph_parallel : building
- iostreams : building
- locale : building
- log : building
- math : building
- metaparse : building
- mpi : building
- program_options : building
- python : not building
- random : building
- regex : building
- serialization : building
- signals : building
- system : building
- test : building
- thread : building
- timer : building
- type_erasure : building
- wave : building
...patience...
...patience...
...patience...
...patience...
commands
./bootstrap.sh
./configure --host=arm-frc-linux-gnueabi --disable-udev --prefix=$PREFIX
make
make install
git clone https://github.com/TeamCautionRobotics/pixy.git
cd pixy
git checkout java
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=$PREFIX \
-DCMAKE_TOOLCHAIN_FILE=$TOOLCHAIN \
-DBOOST_ROOT=$PREFIX \
-DCMAKE_PREFIX_PATH=$PREFIX/lib \
..
make
make install
The CMake command for pixy has to be run twice. Ignore the error the first time. See this for more information.
Run this command on the RoboRIO
mkdir /opt/roborio
echo '/opt/roborio/lib' > /etc/ld.so.conf.d/pixy.conf
Back on your build computer:
tar cf - lib | ssh admin@roboRIO-1492-FRC.local tar xf - -C /opt/roborio/
ssh admin@roboRIO-1492-FRC.local ldconfig
Copy the libraries to to the RoboRIO. We use tar, not scp to preserve symlinks (lib.so -> lib.so.1.2.3). Rsync is not installed on the RoboRIO
Java has some packaging issues that need to be figured out.
swig -c++ -java -package org.usfirst.frc.team1492.robot -outdir . pixy.i
libpixy_java.so will have to be rebuilt.
Reason:
$ arm-frc-linux-gnueabi-nm -gC /opt/roborio/lib/libpixy_java.so
0000b02c T Java_org_usfirst_frc_team1492_robot_pixyJNI_BlockArray_1cast
0000b04c T Java_org_usfirst_frc_team1492_robot_pixyJNI_BlockArray_1frompointer
...
scp roborio-libpixy_java-csharp.tar.gz admin@roboRIO-1492-FRC.local:~
Copy the tarball of all of the libraries to the RoboRIO
SSH into the RoboRIO: ssh admin@roboRIO-1492-FRC.local
tar xzvf roborio-libpixy_java-csharp.tar.gz -C /
echo '/opt/roborio/lib' > /etc/ld.so.conf.d/pixy.conf
ldconfig
sed -i".bak" -e "s,\$CMD_FILE,<(sed 's_/usr/local/frc/lib/_\&:/opt/roborio/lib/_' &)," -e '1i#!/bin/bash' /usr/local/frc/bin/frcRunRobot.sh
Improperly escaped old version of sed command to use over ssh.
ssh admin@roboRIO-1492-FRC.local sed -i".bak" "'s,\$CMD_FILE,<(sed \"s_/usr/local/frc/lib/_\&:/opt/roborio/lib/_\" &),'" /usr/local/frc/bin/frcRunRobot.sh