Voxl-hexagon build.sh

SHofmeester

Hi,

I am at step 4 of "Build instructions" (https://gitlab.com/voxl-public/core-libs/libvoxl_io), where I need to use "./build.sh" in voxl-hexagon, but the following error is raised:

Screenshot from 2022-03-15 12-22-35.jpeg

In step 3 of "Build instructions", it says to use "-p" after "voxl-docker -i voxl-hexagon", when opening voxl-hexagon. But when I type "voxl-docker -h" it isn't an option, so I opened voxl-hexagon without the "-p". Step 3 says to update the latest version, but I followed the steps from the Modalai docs and also downloaded it from the git-repository, but still no "-p".

Does it have to do with the "-p" or lies the problem elsewhere?

Thanks in advance

Eric Katzfey

@SHofmeester I'll try this on my machine but the error it is showing is related to a missing file. That file should be there if the submodules were updated properly. Step 2 does this: git submodule update --init --recursive. What happened when you ran that step? What do you get if you run this command in the libvoxl_io top level directory?

libvoxl_io$ find . -name mavlink.h
./lib/c_library_v2/standard/mavlink.h
./lib/c_library_v2/ASLUAV/mavlink.h
./lib/c_library_v2/matrixpilot/mavlink.h
./lib/c_library_v2/icarous/mavlink.h
./lib/c_library_v2/autoquad/mavlink.h
./lib/c_library_v2/ardupilotmega/mavlink.h
./lib/c_library_v2/slugs/mavlink.h
./lib/c_library_v2/test/mavlink.h
./lib/c_library_v2/minimal/mavlink.h
./lib/c_library_v2/uAvionix/mavlink.h
./lib/c_library_v2/common/mavlink.h

Eric Katzfey

@SHofmeester I just tried the build with V1.1 of voxl-hexagon and it all worked for me. But you are correct, the -p option is not needed. We'll update the documentation. And after I downloaded V1.1 of voxl-hexagon from downloads.modalai.com I loaded it with docker load < ~/Downloads/voxl-hexagon_v1.1.tgz and then ran it with voxl-docker -i voxl-hexagon:V1.1.

SHofmeester

@Eric-Katzfey Thank you for your reply.

I managed to get the same "find" results as you, by properly cloning the repository and using "git submodule update --init --recursive".

When I try to run build.sh in ~/git/libapq8096-io, the following error appears:

Eric Katzfey

@SHofmeester Something got corrupted. That can happen when you build, then make some changes to the structure of the build environment, then try to build again. Just delete everything, and start from scratch. Looks like we also just moved and changed the name of the repository which probably contributed to the error you saw. Here is the full output from what I just described:

modalai@modalai-XPS-15-9570:~/development/modalai$ git clone git@gitlab.com:voxl-public/voxl-sdk/core-libs/libapq8096-io.git
Cloning into 'libapq8096-io'...
remote: Enumerating objects: 893, done.
remote: Counting objects: 100% (152/152), done.
remote: Compressing objects: 100% (76/76), done.
remote: Total 893 (delta 95), reused 125 (delta 74), pack-reused 741
Receiving objects: 100% (893/893), 294.66 KiB | 1.94 MiB/s, done.
Resolving deltas: 100% (499/499), done.
modalai@modalai-XPS-15-9570:~/development/modalai$ cd libapq8096-io/
modalai@modalai-XPS-15-9570:~/development/modalai/libapq8096-io$ ls
build.sh   clean.sh            ipk  LICENSE          README.md
CHANGELOG  install_on_voxl.sh  lib  make_package.sh
modalai@modalai-XPS-15-9570:~/development/modalai/libapq8096-io$ git submodule update --init --recursive
Submodule 'lib/c_library_v2' (https://github.com/mavlink/c_library_v2.git) registered for path 'lib/c_library_v2'
Cloning into '/home/modalai/development/modalai/libapq8096-io/lib/c_library_v2'...
Submodule path 'lib/c_library_v2': checked out '99a977433a13705cd0624f8ff3b5f5210d526ba9'
modalai@modalai-XPS-15-9570:~/development/modalai/libapq8096-io$ voxl-docker -i voxl-hexagon:V1.1
launching image: voxl-hexagon:V1.1 with the following command:
docker run --rm -it --net=host --privileged -w /home/modalai --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/modalai/development/modalai/libapq8096-io:/home/root:rw -w /home/root voxl-hexagon:V1.1 /bin/bash -l

voxl-hexagon:~$ ./build.sh
CMake Deprecation Warning at /usr/share/cmake-3.10/Modules/CMakeForceCompiler.cmake:69 (message):
  The CMAKE_FORCE_C_COMPILER macro is deprecated.  Instead just set
  CMAKE_C_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
  /opt/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabi.cmake:98 (cmake_force_c_compiler)
  /usr/share/cmake-3.10/Modules/CMakeDetermineSystem.cmake:94 (include)
  CMakeLists.txt


CMake Deprecation Warning at /usr/share/cmake-3.10/Modules/CMakeForceCompiler.cmake:83 (message):
  The CMAKE_FORCE_CXX_COMPILER macro is deprecated.  Instead just set
  CMAKE_CXX_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
  /opt/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabi.cmake:109 (cmake_force_cxx_compiler)
  /usr/share/cmake-3.10/Modules/CMakeDetermineSystem.cmake:94 (include)
  CMakeLists.txt


CMake Deprecation Warning at /usr/share/cmake-3.10/Modules/CMakeForceCompiler.cmake:69 (message):
  The CMAKE_FORCE_C_COMPILER macro is deprecated.  Instead just set
  CMAKE_C_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
  /opt/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabi.cmake:98 (cmake_force_c_compiler)
  /home/root/build_apps/CMakeFiles/3.10.2/CMakeSystem.cmake:6 (include)
  CMakeLists.txt


CMake Deprecation Warning at /usr/share/cmake-3.10/Modules/CMakeForceCompiler.cmake:83 (message):
  The CMAKE_FORCE_CXX_COMPILER macro is deprecated.  Instead just set
  CMAKE_CXX_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
  /opt/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabi.cmake:109 (cmake_force_cxx_compiler)
  /home/root/build_apps/CMakeFiles/3.10.2/CMakeSystem.cmake:6 (include)
  CMakeLists.txt


Generated generate_io_rpc_stubs target
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build_apps
Scanning dependencies of target generate_io_rpc_stubs
[  3%] Generating io_rpc.h, io_rpc_skel.c, io_rpc_stub.c
[  3%] Built target generate_io_rpc_stubs
Scanning dependencies of target voxl_io
[  6%] Building C object CMakeFiles/voxl_io.dir/voxl_io_uart.c.o
[  9%] Building C object CMakeFiles/voxl_io.dir/voxl_io_misc.c.o
[ 12%] Building C object CMakeFiles/voxl_io.dir/voxl_io_spi.c.o
[ 15%] Building C object CMakeFiles/voxl_io.dir/voxl_io_gpio.c.o
[ 18%] Building C object CMakeFiles/voxl_io.dir/voxl_io_i2c.c.o
[ 21%] Building C object CMakeFiles/voxl_io.dir/voxl_io_mavparser.c.o
[ 24%] Building C object CMakeFiles/voxl_io.dir/io_rpc_stub.c.o
[ 27%] Building C object CMakeFiles/voxl_io.dir/opt/Qualcomm/Hexagon_SDK/3.1/libs/common/rpcmem/src/rpcmem.c.o
[ 30%] Linking C shared library libvoxl_io.so
[ 36%] Built target voxl_io
Scanning dependencies of target voxl-test-mavparser
[ 39%] Building C object CMakeFiles/voxl-test-mavparser.dir/voxl-test-mavparser.c.o
[ 42%] Linking C executable voxl-test-mavparser
[ 45%] Built target voxl-test-mavparser
Scanning dependencies of target voxl-i2c
[ 48%] Building C object CMakeFiles/voxl-i2c.dir/voxl-i2c.c.o
[ 51%] Linking C executable voxl-i2c
[ 54%] Built target voxl-i2c
Scanning dependencies of target voxl-spi
[ 57%] Building C object CMakeFiles/voxl-spi.dir/voxl-spi.c.o
[ 60%] Linking C executable voxl-spi
[ 63%] Built target voxl-spi
Scanning dependencies of target voxl-gpio-loopback
[ 66%] Building C object CMakeFiles/voxl-gpio-loopback.dir/voxl-gpio-loopback.c.o
[ 69%] Linking C executable voxl-gpio-loopback
[ 72%] Built target voxl-gpio-loopback
Scanning dependencies of target voxl-gpio
[ 75%] Building C object CMakeFiles/voxl-gpio.dir/voxl-gpio.c.o
[ 78%] Linking C executable voxl-gpio
[ 81%] Built target voxl-gpio
Scanning dependencies of target voxl-uart-loopback
[ 84%] Building C object CMakeFiles/voxl-uart-loopback.dir/voxl-uart-loopback.c.o
[ 87%] Linking C executable voxl-uart-loopback
[ 90%] Built target voxl-uart-loopback
Scanning dependencies of target voxl-test-time
[ 93%] Building C object CMakeFiles/voxl-test-time.dir/voxl-test-time.c.o
[ 96%] Linking C executable voxl-test-time
[100%] Built target voxl-test-time
/home/root
-- The C compiler identification is Clang 3.9.0
-- The CXX compiler identification is Clang 3.9.0
-- Check for working C compiler: /opt/Qualcomm/Hexagon_SDK/3.1/tools/HEXAGON_Tools/8.0.08/Tools/bin/hexagon-clang
-- Check for working C compiler: /opt/Qualcomm/Hexagon_SDK/3.1/tools/HEXAGON_Tools/8.0.08/Tools/bin/hexagon-clang -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /opt/Qualcomm/Hexagon_SDK/3.1/tools/HEXAGON_Tools/8.0.08/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /opt/Qualcomm/Hexagon_SDK/3.1/tools/HEXAGON_Tools/8.0.08/Tools/bin/hexagon-clang++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- CMAKE_C_FLAGS:   -O0 -g -std=gnu99 -fno-strict-aliasing                     -fdata-sections -fno-zero-initialized-in-bss -Wall -Wextra                     -Werror -Wno-unused-parameter -Wno-unused-function                     -Wno-unused-variable -Wno-gnu-array-member-paren-init                     -Wno-cast-align -Wno-missing-braces -Wno-strict-aliasing  -D__CUSTOM_FILE_IO__ -mv60 -G0 -DDSP_TYPE_SLPI
-- CMAKE_CXX_FLAGS:   -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv60 -G0 -DDSP_TYPE_SLPI
Generated generate_io_rpc_stubs target
QURT_LIB_INCS = 
QURT_LIB_LINK_LIBS = 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build_sdsp
Scanning dependencies of target generate_io_rpc_stubs
[  9%] Generating io_rpc.h, io_rpc_skel.c, io_rpc_stub.c
[  9%] Built target generate_io_rpc_stubs
Scanning dependencies of target io_rpc
[ 18%] Building C object CMakeFiles/io_rpc.dir/io_rpc_misc.c.o
[ 27%] Building C object CMakeFiles/io_rpc.dir/io_rpc_spi.c.o
[ 36%] Building C object CMakeFiles/io_rpc.dir/io_rpc_uart.c.o
[ 45%] Building C object CMakeFiles/io_rpc.dir/io_rpc_gpio.c.o
[ 54%] Building C object CMakeFiles/io_rpc.dir/io_rpc_i2c.c.o
[ 63%] Building C object CMakeFiles/io_rpc.dir/io_rpc_mavparser.c.o
[ 72%] Linking C shared library libio_rpc.so
[ 72%] Built target io_rpc
Scanning dependencies of target io_rpc_skel
[ 81%] Building C object CMakeFiles/io_rpc_skel.dir/io_rpc_skel.c.o
[ 90%] Linking C shared module libio_rpc_skel.so
[100%] Built target io_rpc_skel
/home/root

DONE
voxl-hexagon:~$

SHofmeester

@Eric-Katzfey Thank you for your help. I followed your steps and it worked immediately. I am now also able to generate the ipk-package and push it to the VOXL. When I use adb shell, the file appears in home/root/ipk.

I tried a few things, but I still have some questions:
How can I run the i2c related files from "libapq8096-io/lib/python" on the VOXL, for example voxl_i2c_scan.py?
Can I also make my own python scripts and run them?