Solved C++ linking mystery with lots of hackerygit checkout -b eric-l…

…ink-fix-messy!
modalai · May 21, 2024 · fe6a231 · fe6a231
1 parent ec9d4c1
commit fe6a231
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Showing 8 changed files with 167 additions and 32 deletions.
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -840,3 +840,36 @@ Copter copter;
 AP_Vehicle& vehicle = copter;
 
 AP_HAL_MAIN_CALLBACKS(&copter);
+
+#include <AP_HAL_QURT/interface.h>
+
+class ValueTest {
+public:
+	ValueTest(int val) : _value(val) {};
+	~ValueTest() {};
+
+	int getValue() const { return _value; }
+
+private:
+	int _value;
+};
+
+const ValueTest& get_ValueTest(int init) {
+    static const ValueTest *vt;
+    if (vt == nullptr) {
+        vt = new ValueTest(init);
+    }
+    return *vt;
+}
+
+const ValueTest& myValue = get_ValueTest(5);
+
+int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
+{
+	HAP_PRINTF("The address is %p", &myValue);
+	if (&myValue != nullptr) {
+		HAP_PRINTF("The value is %d", myValue.getValue());
+	}
+
+	return 0;
+}
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -1666,8 +1666,7 @@ def configure_env(self, cfg, env):
         super(QURT, self).configure_env(cfg, env)
 
         env.BOARD_CLASS = "QURT"
-        env.HEAXGON_APP = "libardupilot.so"
-        env.HEXAGON_LINKFLAGS = f"-march=hexagon -mcpu=hexagonv66 -fpic -shared -call_shared -mG0lib -G0 {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/initS.o -L{cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic -Bsymbolic {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/libgcc.a --wrap=malloc --wrap=calloc --wrap=free --wrap=realloc --wrap=memalign --wrap=__stack_chk_fail -lc -soname={env.HEXAGON_APP} --start-group --whole-archive OBJECT_LIST --end-group  --start-group -lgcc --end-group {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/finiS.o"
+        env.HEXAGON_APP = "libardupilot.so"
         env.INCLUDES += [cfg.env.HEXAGON_SDK_DIR + "/rtos/qurt/computev66/include/qurt"]
         env.INCLUDES += [cfg.env.HEXAGON_SDK_DIR + "/rtos/qurt/computev66/include/posix"]
         env.CXXFLAGS += ["-fPIC", "-MD"]
@@ -1696,16 +1695,33 @@ def configure_env(self, cfg, env):
             "--wrap=memalign",
             "--wrap=__stack_chk_fail",
             "-lc",
-            f"-soname={cfg.env.HEXAGON_APP}",
-            "--start-group",
-            "--whole-archive",
-            "--end-group",
-            "--start-group",
-            "-lgcc",
-            "--end-group",
-            cfg.env.TOOLCHAIN_DIR + "/target/hexagon/lib/v66/G0/pic/finiS.o"
+            "-lc++"
+#            "-lc++",
+#            "--start-group",
+#            "--whole-archive",
+#            "-lgcc",
+#            "--end-group",
+#            cfg.env.TOOLCHAIN_DIR + "/target/hexagon/lib/v66/G0/pic/finiS.o",
         ]
 
+# diff --git a/waflib/Tools/cxx.py b/waflib/Tools/cxx.py
+# index 705ec74d..202afcb2 100644
+# --- a/waflib/Tools/cxx.py
+# +++ b/waflib/Tools/cxx.py
+# @@ -25,7 +25,8 @@ class cxx(Task.Task):
+# 
+#  class cxxprogram(link_task):
+#         "Links object files into c++ programs"
+# -       run_str = '${LINK_CXX} ${LINKFLAGS} ${CXXLNK_SRC_F}${SRC} ${CXXLNK_TGT_F}${TGT[0].relpath()} ${RPATH_ST:RPATH} ${FRAMEWORKPATH_ST:FRAMEWORKPATH} ${FRAMEWORK_ST:FRAMEWORK} ${ARCH_ST:ARCH} ${STLIB_MARKER} ${STLIBPATH_ST:STLIBPATH} ${STLIB_ST:STLIB} ${SHLIB_MARKER} ${LIBPATH_ST:LIBPATH} ${LIB_ST:LIB} ${LDFLAGS}'
+# +       # run_str = '${LINK_CXX} ${LINKFLAGS} ${CXXLNK_SRC_F}${SRC} ${CXXLNK_TGT_F}${TGT[0].relpath()} ${RPATH_ST:RPATH} ${FRAMEWORKPATH_ST:FRAMEWORKPATH} ${FRAMEWORK_ST:FRAMEWORK} ${ARCH_ST:ARCH} ${STLIB_MARKER} ${STLIBPATH_ST:STLIBPATH} ${STLIB_ST:STLIB} ${SHLIB_MARKER} ${LIBPATH_ST:LIBPATH} ${LIB_ST:LIB} ${LDFLAGS}'
+# +       run_str = '${LINK_CXX} ${CXXLNK_TGT_F} ${TGT[0].relpath()} ${LINKFLAGS} ${STLIBPATH_ST:STLIBPATH} --start-group --whole-archive ${CXXLNK_SRC_F}${SRC} ${STLIB_ST:STLIB} --end-group --start-group -lgcc --end-group /opt/hexagon-sdk/4.1.0.4-lite/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/finiS.o'
+#         vars    = ['LINKDEPS']
+#         ext_out = ['.bin']
+#         inst_to = '${BINDIR}'
+
+
+        # cfg.env.LDPATH = "--end-group"
+
         if not cfg.env.DEBUG:
             env.CXXFLAGS += [
                 '-O2',

diff --git a/libraries/AP_HAL/AP_HAL_Main.h b/libraries/AP_HAL/AP_HAL_Main.h
@@ -35,7 +35,9 @@
 #define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \
     int AP_MAIN(int argc, char* const argv[]); \
     int AP_MAIN(int argc, char* const argv[]) { \
-        hal.run(argc, argv, CALLBACKS); \
+	    HAP_PRINTF("About to call hal.run %p", &hal); \
+        /* hal.run(argc, argv, CALLBACKS); */ \
+        AP_HAL::get_HAL().run(argc, argv, CALLBACKS); \
         return 0; \
     } \
     }
diff --git a/libraries/AP_HAL/board/qurt.h b/libraries/AP_HAL/board/qurt.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <AP_HAL_QURT/AP_HAL_QURT_Main.h>
+
 #define HAL_BOARD_NAME "QURT"
 #define HAL_CPU_CLASS HAL_CPU_CLASS_1000
 #define HAL_MEM_CLASS HAL_MEM_CLASS_1000

diff --git a/libraries/AP_HAL_QURT/AP_HAL_QURT_Main.h b/libraries/AP_HAL_QURT/AP_HAL_QURT_Main.h
@@ -13,3 +13,9 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #pragma once
+
+#ifdef AP_MAIN
+#undef AP_MAIN
+#endif
+
+#define AP_MAIN qurt_arducopter_main
diff --git a/libraries/AP_HAL_QURT/HAL_QURT_Class.cpp b/libraries/AP_HAL_QURT/HAL_QURT_Class.cpp
@@ -77,25 +77,31 @@ HAL_QURT::HAL_QURT() :
 
 void HAL_QURT::run(int argc, char* const argv[], Callbacks* callbacks) const
 {
-    assert(callbacks);
+	HAP_PRINTF("In HAL_QURT::run");
 
+    assert(callbacks);
+
     /* initialize all drivers and private members here.
      * up to the programmer to do this in the correct order.
      * Scheduler should likely come first. */
-    scheduler->init();
+	HAP_PRINTF("scheduler: %p", scheduler);
+	HAP_PRINTF("schedulerInstance: %p", &schedulerInstance);
+    // scheduler->init();
+	schedulerInstance.init();
     schedulerInstance.hal_initialized();
-    serial0Driver.begin(115200);
-    rcinDriver.init();
-    callbacks->setup();
-    scheduler->set_system_initialized();
+    // serial0Driver.begin(115200);
+    // rcinDriver.init();
+    // callbacks->setup();
+    // scheduler->set_system_initialized();
 
-    for (;;) {
-        callbacks->loop();
-    }
+    // for (;;) {
+    //     callbacks->loop();
+    // }
 }
 
 const AP_HAL::HAL& AP_HAL::get_HAL() {
     static const HAL_QURT *hal;
+	HAP_PRINTF("In HAL_QURT get_HAL. %p", hal);
     if (hal == nullptr) {
         hal = new HAL_QURT;
         HAP_PRINTF("allocated HAL_QURT of size %u", sizeof(*hal));

diff --git a/libraries/AP_HAL_QURT/Scheduler.cpp b/libraries/AP_HAL_QURT/Scheduler.cpp
@@ -28,6 +28,8 @@ Scheduler::Scheduler()
 
 void Scheduler::init()
 {
+	HAP_PRINTF("In Scheduler::init");
+
     _main_task_pid = getpid();
 
     // setup the timer thread - this will call tasks at 1kHz
@@ -36,28 +38,28 @@ void Scheduler::init()
 
 	pthread_attr_init(&thread_attr);
 	pthread_attr_setstacksize(&thread_attr, 40960);
-
+	
 	param.sched_priority = APM_TIMER_PRIORITY;
 	(void)pthread_attr_setschedparam(&thread_attr, &param);
-
+	
 	pthread_create(&_timer_thread_ctx, &thread_attr, &Scheduler::_timer_thread, this);
-
+	
     // the UART thread runs at a medium priority
 	pthread_attr_init(&thread_attr);
 	pthread_attr_setstacksize(&thread_attr, 40960);
-
+	
 	param.sched_priority = APM_UART_PRIORITY;
 	(void)pthread_attr_setschedparam(&thread_attr, &param);
-
+	
 	pthread_create(&_uart_thread_ctx, &thread_attr, &Scheduler::_uart_thread, this);
-
+	
     // the IO thread runs at lower priority
 	pthread_attr_init(&thread_attr);
 	pthread_attr_setstacksize(&thread_attr, 40960);
-
+	
 	param.sched_priority = APM_IO_PRIORITY;
 	(void)pthread_attr_setschedparam(&thread_attr, &param);
-
+	
 	pthread_create(&_io_thread_ctx, &thread_attr, &Scheduler::_io_thread, this);
 }
 

diff --git a/libraries/AP_HAL_QURT/replace.cpp b/libraries/AP_HAL_QURT/replace.cpp
@@ -9,6 +9,7 @@
 #include <pthread.h>
 #include "replace.h"
 #include "interface.h"
+#include <AP_HAL/AP_HAL.h>
 
 extern "C" {
 
@@ -133,10 +134,46 @@ int ArduPilot_main(int argc, const char *argv[])
 
 }
 
-int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
-{
-       return 0;
-}
+// class ValueTest {
+// public:
+// 	ValueTest(int val) : _value(val) {};
+// 	~ValueTest() {};
+// 
+// 	int getValue() const { return _value; }
+// 
+// private:
+// 	int _value;
+// };
+// 
+// const ValueTest& get_ValueTest(int init) {
+//     static const ValueTest *vt;
+//     if (vt == nullptr) {
+//         vt = new ValueTest(init);
+//     }
+//     return *vt;
+// }
+// 
+// const ValueTest& myValue = get_ValueTest(5);
+// 
+// extern "C" int qurt_arducopter_main(int argc, char* const argv[]);
+// int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
+// {
+// 	HAP_PRINTF("The address is %p", &myValue);
+// 	if (&myValue != nullptr) {
+// 		HAP_PRINTF("The value is %d", myValue.getValue());
+// 	}
+// 
+// 	// HAP_PRINTF("About to call HAL_QURT::run");
+// 	// 
+// 	// const AP_HAL::HAL &hal = AP_HAL::get_HAL();
+// 	// hal.run(0, 0, 0);
+// 
+// 	// HAP_PRINTF("About to call qurt_arducopter_main %p", &qurt_arducopter_main);
+// 	// 
+// 	// qurt_arducopter_main(0, NULL);
+// 
+// 	return 0;
+// }
 
 int px4muorb_topic_advertised(const char *name)
 {
@@ -162,3 +199,34 @@ float px4muorb_get_cpu_load(void)
 {
        return 0.0f;
 }
+
+extern "C" void free(void *ptr) {
+	return;
+}
+
+// malloc
+extern "C" void *malloc(size_t size) {
+	return NULL;
+}
+
+// posix_memalign
+extern "C" int posix_memalign(void **memptr, size_t alignment, size_t size) {
+	return 0;
+}
+
+// calloc
+extern "C" void *calloc(size_t nmemb, size_t size) {
+	return NULL;
+}
+
+
+// realloc
+extern "C" void *realloc(void *ptr, size_t size) {
+	return NULL;
+}
+
+// nanosleep
+#include <time.h>
+extern "C" int nanosleep(const struct timespec *req, struct timespec *_Nullable rem) {
+	return 0;
+}