External library swiftnav when cross-compiling dune

[Kristian Klausen]

Hi,

I am working on incorporating swiftnav with Dune, but I have som problems when I use the toolchain to compile for lctr-b2xx:

Library: swiftnav. The library is built with glued, and installed to toolcain/sysroot/usr: https://github.com/LSTS/glued/blob/master/rules/libswiftnav/default.bash#L49
The cmake-configuration can be seen here: https://github.com/LSTS/dune/blob/master/cmake/Libraries/Swiftnav.cmake

This configuration works fine when I compile locally for host. But, when using the crosscompiler, I get the following:

cmake -DCROSS=/home/krisklau/uavlab/glued/lctr-b2xx/toolchain/bin/armv7-lsts-linux-gnueabi- ../dune

---- Relevant output ----
-- The C compiler identification is GNU 4.8.2
-- The CXX compiler identification is GNU 4.8.2
-- Check for working C compiler: /home/krisklau/uavlab/glued/lctr-b2xx/toolchain/bin/armv7-lsts-linux-gnueabi-gcc
-- Check for working C compiler: /home/krisklau/uavlab/glued/lctr-b2xx/toolchain/bin/armv7-lsts-linux-gnueabi-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /home/krisklau/uavlab/glued/lctr-b2xx/toolchain/bin/armv7-lsts-linux-gnueabi-g++
-- Check for working CXX compiler: /home/krisklau/uavlab/glued/lctr-b2xx/toolchain/bin/armv7-lsts-linux-gnueabi-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done

--snipsnip--

-- ******************************************
-- ***          Probing Libraries         ***
-- ******************************************
-- Looking for jpeg_set_defaults in jpeg
-- Looking for jpeg_set_defaults in jpeg - not found
-- Performing Test DUNE_SYS_HAS_JPEGLIB_H
-- Performing Test DUNE_SYS_HAS_JPEGLIB_H - Failed
-- Performing Test HAVE_LIB_JPEG_80
-- Performing Test HAVE_LIB_JPEG_80 - Failed
-- Looking for sbp_state_init in swiftnav
-- Looking for sbp_state_init in swiftnav - not found
-- Looking for C++ include libswiftnav/sbp.h
-- Looking for C++ include libswiftnav/sbp.h - found


-----

So, the header files are found, but the library-check fails. I even tried to manually copy the library file to several other locations, still no luck:


find . -name "libswiftnav.so" | xargs file
./lctr-b2xx/rootfs/usr/lib/libswiftnav.so:                                     ELF 32-bit LSB  shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, stripped
./lctr-b2xx/builds/libswiftnav/build/src/libswiftnav.so:                       ELF 32-bit LSB  shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, not stripped
./lctr-b2xx/toolchain/lib/libswiftnav.so:                                      ELF 32-bit LSB  shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, not stripped
./lctr-b2xx/toolchain/armv7-lsts-linux-gnueabi/sysroot/lib/libswiftnav.so:     ELF 32-bit LSB  shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, not stripped
./lctr-b2xx/toolchain/armv7-lsts-linux-gnueabi/sysroot/usr/lib/libswiftnav.so: ELF 32-bit LSB  shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, not stripped
./lctr-b2xx/toolchain/armv7-lsts-linux-gnueabi/lib/libswiftnav.so:             ELF 32-bit LSB  shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, not stripped

Any thoughts on what could be wrong, or anything else I should check?

Regards,
Kristian

[Kristian Klausen]

Hi again,

I tried linking with the library regardless of the check, and it seems to be the library that has some dependency-errors. So the library is found, but I guess the check fails because a test-program fails to link. In other words, not a glued-issue :) I'll post the error to the library developers in stead.

Kristian

[Ricardo Martins]

If I have time I'll check that today.

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[Ricardo Martins]

Hi Kristian,

When you build Swiftnav you get one shared library (libswiftnav.so) and a static library (libswiftnav-static.a). If you probe and link against the static library you don't get unresolved symbols. Maybe you should use that one in the meantime.