0. 背景
大概是上个月左右，协助韩博把我写的这套网口相机框架运行到树莓派上，一直想找时间 记录一下，终于有时间 了。
除了交叉编译我们自己的代码之外，还有一些依赖的3方的框架也需要编译为arm64的库，大概会按我下面列的这几点为大纲进行记录
vcpkg用于安装大部分版本稳定的三方框架，少部分三方框架用vcpkg安装也不一定编译得了，因为官方只维护几种常用的triplets，如果是自定义太高的编译工作，将不得不使用社区版本的triplets，将使vcpkg遇到比平时更多的编译问题，当然如果有时间 +有能力的话，可以fix这些bug为vcpkg提交pr ，这部分工作通常由微软的vcpkg小组和社区开发者一同维护
接下来我不会很详细的介绍某个具体的库是怎么编译的，甚至会跳过，主要介绍交叉编译的大致过程
目录
-
准备工作
-
编译arm64 Qt5.15
-
cmake交叉编译树莓派的工具链配置
-
meson交叉编译配置
-
vcpkg配置
- 绕过qt下载编译，使用本地已有的Qt
- cmake交叉编译配置
- meson交叉编译配置
1. 准备工作
1.1 arm64 gcc 下载
略
1.2 复制树莓派 systemroot库目录，用于交叉编译时程序链接
略 ,韩博做的镜像 host:rpi4-1中已经有做这个操作了，/sysroot 这个目录
1.3 编译环境docker制作
SW/dv-qt-dev: Dockerfiles and scripts for QT development with containers. - dv-qt-dev (deepvision-tech.net)
之前韩博写的这个dockerfile里，是从qt 安装包安装qt 的.run安装包+提取安装包脚本 安装qt 5.12.6，
但qt 5.15没有.run安装包，所以需要自己编译
所以如果你想编译的是5.12.6，可以直接使用这个docker file
如果想用5.15，可以参考我在韩博的帮助下，创建的这个dockerfile，它没有包含qt的编译，我们以它做成的容器为环境，在容器中编译qt到我们挂载的卷上
build_dev_env.docker
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FROM --platform=linux/amd64 ubuntu:16.04
ENV DEBIAN_FRONTEND=noninteractive
#RUN touch /etc/apt/sources.list && \
#echo "deb http://ftp.cn.debian.org/debian bookworm main contrib non-free non-free-firmware" >> /etc/apt/sources.list && \
#echo "deb http://ftp.cn.debian.org/debian-security/ bookworm-security main contrib non-free non-free-firmware" >> /etc/apt/sources.list && \
#echo "deb http://ftp.cn.debian.org/debian bookworm-updates main contrib non-free non-free-firmware" >> /etc/apt/sources.list && \
#echo "deb-src http://ftp.cn.debian.org/debian bookworm main contrib non-free non-free-firmware" >> /etc/apt/sources.list && \
#echo "deb-src http://ftp.cn.debian.org/debian-security/ bookworm-security main contrib non-free non-free-firmware" >> /etc/apt/sources.list && \
#echo "deb-src http://ftp.cn.debian.org/debian bookworm-updates main contrib non-free non-free-firmware" >> /etc/apt/sources.list && \
COPY set_aptsource.sh /etc/apt
RUN chmod +x /etc/apt/set_aptsource.sh && bash /etc/apt/set_aptsource.sh &&\
apt update && \
apt install -y \
autoconf \
libtool \
autoconf-archive \
automake \
bison \
build-essential \
cmake \
cowsay \
ethtool \
figlet \
flex \
freeglut3-dev \
g++-aarch64-linux-gnu \
gawk \
gcc-aarch64-linux-gnu \
gcc \
gdb-multiarch \
gfortran \
git \
gperf \
libatspi2.0-dev \
libavcodec-dev \
libavformat-dev \
libcap-dev \
libcap2 \
libclang-dev \
libdc1394-22-dev \
libfontconfig1-dev \
libfreetype6-dev \
libgl1-mesa-dev \
libglade2-0 \
libglade2-dev \
libglu1-mesa-dev \
libgstreamer-plugins-base0.10-dev \
libgtk-3-dev \
libjasper-dev \
libjpeg-dev \
liblapack-dev \
libncurses-dev \
libpcap0.8 \
libpng12-dev \
libsndio-dev \
libssh2-1 \
libswscale-dev \
libtiff-dev \
libva-dev \
libva-drm1 \
libva-egl1 \
libva-glx1 \
libva1 \
libx11-dev \
libx11-xcb-dev \
libxcb-glx0-dev \
libxcb-icccm4-dev \
libxcb-image0-dev \
libxcb-keysyms1-dev \
libxcb-randr0-dev \
libxcb-render-util0-dev \
libxcb-shape0-dev \
libxcb-shm0-dev \
libxcb-sync-dev \
libxcb-sync0-dev \
libxcb-util-dev \
libxcb-xfixes0-dev \
libxcb-xinerama0-dev \
libxcb-xkb-dev \
libxcb1-dev \
libxext-dev \
libxfixes-dev \
libxi-dev \
libxkbcommon-dev \
libxkbcommon-x11-0 \
libxkbcommon-x11-dev \
libxrender-dev \
libxslt1-dev \
lsb-release \
make \
mesa-common-dev \
ninja-build \
openssl \
pigz \
pkg-config \
python3-pip \
python3 \
rsync \
subversion \
tar \
texinfo \
unzip \
vim \
wget \
x11vnc \
xauth \
zlib1g-dev && \
mkdir /build && \
mkdir /src && \
mkdir /repos && \
apt-get clean
CMD ["/usr/bash"]
#pip3 install openpyxl==2.6.4 && \
#pip3 install xlrd==1.2.0 && \
#libgli-mesa-dev \
#libglul-mesa-dev \
|
上面dockerfile用到的替换apt源的脚本，用于把镜像的apt源替换为我们公司的apt缓存
set_aptsource.sh
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#!/bin/bash
OldSource=`grep ^deb /etc/apt/sources.list|awk '{print $2}'|sort |uniq |sed '/security.ubuntu.com/d'`
NewSource="-apt.deepvision-tech.net/repository/apt-"
OsVer=`cat /etc/issue|awk -F'[ .]+' '{print $2}'`
cp -f /etc/apt/sources.list /etc/apt/sources.list.bak
echo ""
echo -e "${YELOW}** Old apt sources backup to [/etc/apt/sources.list.bak] **${RES}"
sed -i "s#${OldSource}#http://hz${NewSource}${OsVer}/#g" /etc/apt/sources.list
echo -e "${YELOW}** new apt source replaced by [http://hz${NewSource}${OsVer}] **${RES}"
echo -e "${YELOW}** Please run command [sudo apt update],Let config become effective **${RES}"
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把它们俩放在同一目录，然后在进入目录，执行
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docker build build_dev_env.docker . -t dockerRepoName:tag
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这样就能构建docker镜像了
2. 编译arm64 Qt5.15.11
2.1 Qt5.15 源码获取
如果你对qt的版本历史熟悉的话，应该知道，从官方网站上能下载到的最后一个开源版本的安装包是是Qt 5.14,再往后，需要下载Qt的在线安装器，在线安装， 由于我们将在编译服务器的docker容器中进行编译,默认情况下是没有gui支持的 ，所以用图形化的安装会多做一些步骤，虽然韩博已经有写过相关的文档，也可以做到，但我们还是更倾向于使用源码编译Qt5.15，因为在编译服务器160核的加持下，编译一个Qt5只需要大概十分钟左右
所以需要获取Qt5.15的源码，
从vcpkg源码中可以获取到qt5的源码下载路径，(不直接使用vcpkg是因为qt编译选项比较多，直接编译比较灵活)
在qt_download_submodule.cmake这个文件中这几行中，可以看到获取到伯克利大学提供的qt源码
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set(FULL_VERSION "${QT_MAJOR_MINOR_VER}.${QT_PATCH_VER}")
set(ARCHIVE_NAME "${NAME}-everywhere-opensource-src-${FULL_VERSION}.tar.xz")
set(URLS
"https://download.qt.io/archive/qt/${QT_MAJOR_MINOR_VER}/${FULL_VERSION}/submodules/${ARCHIVE_NAME}"
"https://mirrors.ocf.berkeley.edu/qt/archive/qt/${QT_MAJOR_MINOR_VER}/${FULL_VERSION}/submodules/${ARCHIVE_NAME}"
)
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也可以从浏览器直接进入 OCF Mirrors (berkeley.edu)
如果要完整的源码，下载single目录下的tar包
如果只是要编译某个子模块，下载submodules里的具体模块的tar包
2.2 配置编译选项
树莓上有两种gui模式，一种是系统只有一个窗口，需要qt编译选项egfls，一种传统桌面系统，需要qt对应的编译选项是x11或wayland模式
eglfs的特点是系统除了命令行窗口，这种情况下适合使用qt quick controls 2 + opengl es开发，因为qt quick controls 2本身就是混合渲染的，控件不会创建系统原生窗口,
相对于eglfs， x11或wayland 通常每个控件都会创建单独的系统原生窗口， qt quick controls 1 和 qt widget都是这个模式，
配置qt的树霉交叉编译选项时，主要这个需要注意
其他的都是模块选项，安装目录之类的，这里主要还是参考韩博之前写的文档的脚本
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#!/bin/bash
# vim: tabstop=4 shiftwidth=4 softtabstop=4
# -*- sh-basic-offset: 4 -*-
set -exuo pipefail
BUILD_TARGET=/build
SRC=/src
# Note: If changing the QT_BRANCH to a lower version, modify line 43 for the correct path
QT_BRANCH="5.15.11"
DEBIAN_VERSION=$(lsb_release -cs)
MAKE_CORES=64
/usr/games/cowsay -f tux 'Building QT version $QT_BRANCH.'
function patch_qt () {
local QMAKE_FILE='/src/qt5/qtbase/mkspecs/devices/linux-rasp-pi4-v3d-g++/qmake.conf'
echo "" > "$QMAKE_FILE"
echo 'include(../common/linux_device_pre.conf)' >> "$QMAKE_FILE"
echo 'QMAKE_INCDIR_OPENGL_ES2 = $${QMAKE_INCDIR_EGL}' >> "$QMAKE_FILE"
echo 'QMAKE_LIBS_OPENGL_ES2 = $${VC_LINK_LINE} -lGLESv2' >> "$QMAKE_FILE"
echo 'QMAKE_LIBS_EGL = $${VC_LINK_LINE} -lEGL -lGLESv2' >> "$QMAKE_FILE"
#echo 'QMAKE_LIBDIR_BCM_HOST = $$VC_LIBRARY_PATH' >> "$QMAKE_FILE"
#echo 'QMAKE_INCDIR_BCM_HOST = $$VC_INCLUDE_PATH' >> "$QMAKE_FILE"
#echo 'QMAKE_LIBS_BCM_HOST = -lbcm_host' >> "$QMAKE_FILE"
echo 'QMAKE_CFLAGS = -march=armv8-a' >> "$QMAKE_FILE"
echo 'QMAKE_CXXFLAGS = $$QMAKE_CFLAGS' >> "$QMAKE_FILE"
echo 'QT_QPA_DEFAULT_PLATFORM = xcb' >> "$QMAKE_FILE"
#echo 'EGLFS_DEVICE_INTEGRATION= eglfs_kms' >> "$QMAKE_FILE"
echo 'load(qt_config)' >> "$QMAKE_FILE"
}
function fetch_qt5 () {
pushd /src
if [ ! -d "qt5" ]; then
mkdir qt5
tar xf /src/qt-everywhere-opensource-src-"$QT_BRANCH".tar.xz -C ./qt5 --strip-components=1
fi
popd
}
function build_qt () {
local SRC_DIR="/src/$1"
if [ ! -f "$BUILD_TARGET/qt5-$QT_BRANCH-$DEBIAN_VERSION-$1.tar.gz" ]; then
/usr/games/cowsay -f tux "Building QT for $1"
fetch_qt5
mkdir -p "$SRC_DIR"
pushd "$SRC_DIR"
patch_qt
/src/qt5/configure \
-device linux-rasp-pi4-v3d-g++ \
-opengl es2 \
-egl \
-qpa xcb \
-xcb \
-eglfs \
-opensource \
-confirm-license \
-device-option CROSS_COMPILE=aarch64-linux-gnu- \
-extprefix "$SRC_DIR/qt5pi" \
-pkg-config \
-qt-pcre \
-no-pch \
-evdev \
-system-freetype \
-fontconfig \
-glib \
-make libs \
-no-compile-examples \
-no-cups \
-no-gtk \
-no-use-gold-linker \
-nomake examples \
-nomake tests \
-prefix /usr/local/qt5pi \
-release \
-skip qtwebengine \
-skip qtandroidextras \
-skip qtgamepad \
-skip qtlocation \
-skip qtlottie \
-skip qtmacextras \
-skip qtpurchasing \
-skip qtscxml \
-skip qtsensors \
-skip qtserialbus \
-skip qtserialport \
-skip qtspeech \
-skip qttools \
-skip qttranslations \
-skip qtvirtualkeyboard \
-skip qtwayland \
-skip qtwebview \
-skip qtwinextras \
-skip wayland \
-sysroot /sysroot \
-no-feature-eglfs_brcm \
-recheck \
-platform linux-g++-64 \
-L/sysroot/lib/aarch64-linux-gnu \
-L/sysroot/usr/lib/aarch64-linux-gnu \
-I/sysroot/usr/include/ \
-L/sysroot/lib/mesa-diverted/aarch64-linux-gnu \
-I/sysroot/usr/include/GLES2 \
-I/sysroot/usr/include/GLES
/usr/games/cowsay -f tux "Making Qt..."
make -j"$MAKE_CORES"
/usr/games/cowsay -f tux "Installing Qt..."
make install
pushd "$SRC_DIR"
tar cfz "$BUILD_TARGET/qt5-$QT_BRANCH-$DEBIAN_VERSION-$1.tar.gz" qt5pi
popd
pushd "$BUILD_TARGET"
sha256sum "qt5-$QT_BRANCH-$DEBIAN_VERSION-$1.tar.gz" > "qt5-$QT_BRANCH-$DEBIAN_VERSION-$1.tar.gz.sha256"
popd
else
echo "QT Build already exist."q
fi
}
# Fix relative paths for Raspberry Pi Sysroot
build_qt "pi5"
|
3. cmake交叉编译树莓派的工具链配置
toolchain-arm64-raspberrypie.cmake
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#参考文档 https://cmake.org/cmake/help/latest/manual/cmake-toolchains.7.html#cross-compiling-for-linux
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm64)
#树莓派sysroot目录
set(CMAKE_SYSROOT /sysroot)
#安装目录
set(CMAKE_STAGING_PREFIX /repos/dv_app_solution/vcpkg_installed/arm64-linux)
#指定编译器
set(tools /usr)
set(CMAKE_C_COMPILER ${tools}/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER ${tools}/bin/aarch64-linux-gnu-g++)
#手动指定arm64的qt cmake模块
set(QT_DIR /src/pi5/qt5pi/lib/cmake/Qt5)
set(Qt5_DIR /src/pi5/qt5pi/lib/cmake/Qt5)
set(ENV{QT_DIR} /src/pi5/qt5pi/lib/cmake/Qt5)
set(ENV{QT_DIR} /src/pi5/qt5pi/lib/cmake/Qt5)
set(QT_QMAKE_EXECUTABLE /src/pi5/qt5pi/bin/qmake)
set(Qt5Core_DIR /src/pi5/qt5pi/lib/cmake/Qt5Core)
set(Qt5Gui_DIR /src/pi5/qt5pi/lib/cmake/Qt5Gui)
set(Qt5Widgets_DIR /src/pi5/qt5pi/lib/cmake/Qt5Widgets)
set(Qt5Quick_DIR /src/pi5/qt5pi/lib/cmake/Qt5Quick)
set(Qt5QuickControls2_DIR /src/pi5/qt5pi/lib/cmake/Qt5QuickControls2)
set(Qt5QmlModels_DIR /src/pi5/qt5pi/lib/cmake/Qt5QmlModels)
set(Qt5Qml_DIR /src/pi5/qt5pi/lib/cmake/Qt5Qml)
set(Qt5Network_DIR /src/pi5/qt5pi/lib/cmake/Qt5Network)
set(Qt5LinguistTools_DIR /src/pi5/qt5pi/lib/cmake/Qt5LinguistTools)
#因为是交叉编译，所以主机里有arm64的库也有amd64的库，下面这几行设置不让cmake自己在目录中搜索库，
#而是通过手动设置库的路径，防止编译错误
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
#cmake prefix
set(CMAKE_PREFIX_PATH /src/pi5/qt5pi;/repos/dv_app_solution/vcpkg_installed/arm64-linux)
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4.meson交叉编译配置
toolchain-arm64-raspberrypie-messon.cross
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#参考文档1 https://mesonbuild.com/Cross-compilation.html
#参考文档2 https://github.com/mesonbuild/meson/blob/master/docs/markdown/Reference-tables.md#cpu-families
[binaries]
c = '/usr/bin/aarch64-linux-gnu-gcc'
cpp = '/usr/bin/aarch64-linux-gnu-g++'
ar = '/usr/bin/aarch64-linux-gnu-ar'
strip = '/usr/bin/aarch64-linux-gnu-strip'
[properties]
sys_root = '/sysroot'
c_args = ['-march=armv8-a', '-mtune=cortex-a53', '-marm'] #
cpp_args = ['-std=c++17','-march=armv8-a', '-mtune=cortex-a53', '-marm'] #
#pkg_config_libdir = '/repos/dv_app_solution/vcpkg_installed/arm64-linux'
#sizeof_int = 4
#sizeof_wchar_t = 4
#sizeof_void* = 4
#
#alignment_char = 1
#alignment_void* = 4
#alignment_double = 4
#
#has_function_printf = true
#c_args = ['-march=armv8-a', '-mtune=cortex-a53', '-marm','-I/src/pi5/qt5pi/include','-I/repos/dv_app_solution/vcpkg_installed/arm64-linux/include'] #
#cpp_args = ['-march=armv8-a', '-mtune=cortex-a53', '-marm','-I/src/pi5/qt5pi/include','-I/repos/dv_app_solution/vcpkg_installed/arm64-linux/include'] #
#library_dirs = ['/src/pi5/qt5pi/lib','/repos/dv_app_solution/vcpkg_installed/arm64-linux/lib']
#/repos/dv_app_solution/vcpkg_installed/arm64-linux/include/glib-2.0/glib-object.h
[build_machine]
system = 'linux'
cpu_family = 'x86_64'
cpu = 'x86_64'
endian = 'little'
[host_machine]
system = 'linux'
cpu_family = 'x86_64'
cpu = 'x86_64'
endian = 'little'
[target_machine]
system = 'linux'
cpu_family = 'aarch64'
cpu = 'aarch64'
endian = 'little'
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5. vcpkg配置
5.1 使用本地的qt，绕过下载qt,编译qt的步骤
使用custom-ports
例如，想用vcpkg安装vtk，但vtk中依赖了qt，这时可以复制一份vtk在vcpkg中的配置
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cp -rf path2vcpkg/ports/vtk/ ~/my-custom-vtk-port
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然后把 ~/my-custom-vtk-port/vcpkg.json 中的dependency json 数组 结点中的qt相关的条目删除掉
然后 vcpkg install的时候加上 --overlay-ports=~/my-custom-vtk-port
或者直接修改vcpkg的源码，在原来的port/vcpkg.json中直接删除qt相关的条目
安装时不用--overlay-ports也不会下载 编译 qt
5.2 为vcpkg设置交叉编译工具链
使用custom-triplet
复制一份vcpkg源码下的triplet
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cp -rf path2vcpkg/triplits ~/my-custom-triplets
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然后修改~/my-custom-triplets/community/arm64-linux.cmake
内容改为
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set(VCPKG_TARGET_ARCHITECTURE arm64)
set(VCPKG_CRT_LINKAGE dynamic)
set(VCPKG_LIBRARY_LINKAGE static)
set(VCPKG_CMAKE_SYSTEM_NAME Linux)
set(VCPKG_BUILD_TYPE release)
set(QT_DIR /src/pi5/qt5pi/lib/cmake)
set(ENV{QT_DIR} /src/pi5/qt5pi/lib/cmake)
set(Qt5_DIR /src/pi5/qt5pi/lib/cmake)
set(ENV{Qt5_DIR} /src/pi5/qt5pi/lib/cmake)
set(VCPKG_ENV_PASSTHROUGH QT_DIR Qt5_DIR)
set(CMAKE_TOOLCHAIN_FILE /repos/vcpkg/toolchains/arm64-raspberrypie.cmake)
set(ENV{CMAKE_TOOLCHAIN_FILE} /repos/vcpkg/toolchains/arm64-raspberrypie.cmake)
set(VCPKG_MESON_CROSS_FILE /repos/vcpkg/toolchains/arm64-raspberrypie-meson.cross)
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由于我们在5.1中已经 设置了vcpkg不下载编译qt5，所以我们在这个triplet文件中，设置了qt5的本地路径，然后
然后设置CMAKE_TOOLCHAIN_FILE为步骤3中写的cmake 工具链
设置VCPKG_MESON_CROSS_FILE为步骤4中的meson交叉编译配置文件
然后在使用使用配置好的交叉编译的triplet进行安装
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vcpkg install --overlay-triplets=~/my-custom-triplets --triplet=arm64-linux --host-triplet=x64-linux
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这样所安装的库就会按配置进行交叉编译了
6 编译我们自己的cmake工程
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cd dv_app_solution #进入我们的工程
mkdir build && cd build
cmake -DCMAKE_TOOLCHAIN_FILE=~/path/to/toolchain-arm64-raspberrypie.cmake \
-DCMAKE_PREFIX_PATH=/path/to/pi5/qt5pi/lib/cmake;/repos/dv_app_solution/vcpkg_installed/arm64-linux \
..
cmake --build . --target=install
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其中/repos/dv_app_solution/vcpkg_installed/arm64-linux 为vcpkg 库安装的目录，写在步骤3中的toolchain-arm64-raspberrypie.cmake中
注意
dv_app_solution首次编译时，如果没有把所有子模块发布到vcpkg，通过vcpkg安装依赖项，则需要手动逐个编译子模块，
否则会因为cmake 的find_package找不到依赖，导致编译失败 ，编译安装顺序为
- prism
- prism_container
- prism_qt_modular
- prism_qt_core
- prism_qt_ui
- dv_algorithm
- dv_tools
- dv_common
- dv_camera
- dv_app
后续会参考其他开源项目的常用做法，编写bash和powershell的初始化编译脚本
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