Re: [Xenomai-help] Xenomai with µClibc

[Jan Kiszka <jan.kiszka@domain.hid>]

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Perrine Martignoni wrote:
> I compiled cyclictest with this command line and it works with no problem :
> 
> 
> arm-linux-gcc -I/usr/xenomai_arm-2.3.1uClibc/include -I/usr/xenomai_arm-
> 2.3.1uClibc/include/posix -D_GNU_SOURCE -D_REENTRANT -D__XENO__
> -D__IN_XENO__ -Wstrict-prototypes -DIPIPE_TRACE=1 -g cyclictest.c -c -o
> cyclictest.o
> 
> arm-linux-gcc -Wl,--wrap,pthread_create -Wl,--wrap,pthread_setschedparam
> -Wl,--wrap,pthread_getschedparam -Wl,--wrap,pthread_yield
> -Wl,--wrap,sched_yield -Wl,--wrap,sem_init -Wl,--wrap,sem_destroy
> -Wl,--wrap,sem_post -Wl,--wrap,sem_timedwait -Wl,--wrap,sem_wait
> -Wl,--wrap,sem_trywait -Wl,--wrap,sem_getvalue -Wl,--wrap,sem_open
> -Wl,--wrap,sem_close -Wl,--wrap,sem_unlink -Wl,--wrap,clock_getres
> -Wl,--wrap,clock_gettime -Wl,--wrap,clock_settime
> -Wl,--wrap,clock_nanosleep
> -Wl,--wrap,nanosleep -Wl,--wrap,pthread_mutexattr_init
> -Wl,--wrap,pthread_mutexattr_destroy -Wl,--wrap,pthread_mutexattr_gettype
> -Wl,--wrap,pthread_mutexattr_settype
> -Wl,--wrap,pthread_mutexattr_getprotocol
> -Wl,--wrap,pthread_mutexattr_setprotocol
> -Wl,--wrap,pthread_mutexattr_getpshared
> -Wl,--wrap,pthread_mutexattr_setpshared -Wl,--wrap,pthread_mutex_init
> -Wl,--wrap,pthread_mutex_destroy -Wl,--wrap,pthread_mutex_lock
> -Wl,--wrap,pthread_mutex_trylock -Wl,--wrap,pthread_mutex_timedlock
> -Wl,--wrap,pthread_mutex_unlock -Wl,--wrap,pthread_condattr_init
> -Wl,--wrap,pthread_condattr_destroy -Wl,--wrap,pthread_condattr_getclock
> -Wl,--wrap,pthread_condattr_setclock -Wl,--wrap,pthread_condattr_getpshared
> -Wl,--wrap,pthread_condattr_setpshared -Wl,--wrap,pthread_cond_init
> -Wl,--wrap,pthread_cond_destroy -Wl,--wrap,pthread_cond_wait
> -Wl,--wrap,pthread_cond_timedwait -Wl,--wrap,pthread_cond_signal
> -Wl,--wrap,pthread_cond_broadcast -Wl,--wrap,mq_open -Wl,--wrap,mq_close
> -Wl,--wrap,mq_unlink -Wl,--wrap,mq_getattr -Wl,--wrap,mq_setattr
> -Wl,--wrap,mq_send -Wl,--wrap,mq_timedsend -Wl,--wrap,mq_receive
> -Wl,--wrap,mq_timedreceive -Wl,--wrap,mq_notify -Wl,--wrap,open
> -Wl,--wrap,socket -Wl,--wrap,close -Wl,--wrap,ioctl -Wl,--wrap,read
> -Wl,--wrap,write -Wl,--wrap,recvmsg -Wl,--wrap,sendmsg -Wl,--wrap,recvfrom
> -Wl,--wrap,sendto -Wl,--wrap,recv -Wl,--wrap,send -Wl,--wrap,getsockopt
> -Wl,--wrap,setsockopt -Wl,--wrap,bind -Wl,--wrap,connect -Wl,--wrap,listen
> -Wl,--wrap,accept -Wl,--wrap,getsockname -Wl,--wrap,getpeername
> -Wl,--wrap,shutdown -Wl,--wrap,timer_create -Wl,--wrap,timer_delete
> -Wl,--wrap,timer_settime -Wl,--wrap,timer_getoverrun
> -Wl,--wrap,timer_gettime -Wl,--wrap,ftruncate -Wl,--wrap,close
> -Wl,--wrap,shm_open -Wl,--wrap,shm_unlink -Wl,--wrap,mmap -Wl,--wrap,munmap
> -L/usr/xenomai_arm-2.3.1uClibc/lib cyclictest.o -lpthread_rt -lpthread -lrt
> -o cyclictest
> 

That remains mysterious for me as well. Xenomai trunk fails to build
against ELDK 4.1 arm-uclibc due to two reasons. One is missing
pthread_spin_xxx support in their environment which we need for the new
clocktest (we need to find some workaround for this - separate issue),
the other one is well known:

[...]
l,--wrap -Wl,ftruncate -Wl,--wrap -Wl,close -Wl,--wrap -Wl,shm_open -Wl,--wrap -Wl,shm_unlink -Wl,--wrap -Wl,mmap -Wl,--wrap -Wl,munmap clocktest-clocktest.o  ../../skins/posix/.libs/libpthread_rt.a -lpthread -lrt
clocktest-clocktest.o: In function `check_time_warps':
clocktest.c:(.text+0x28): undefined reference to `pthread_spin_lock'
clocktest.c:(.text+0x5c): undefined reference to `pthread_spin_unlock'
clocktest-clocktest.o: In function `main':
clocktest.c:(.text+0x16c): undefined reference to `pthread_spin_init'
/home/kiszka/eldk/usr/../arm/lib/libpthread.so: undefined reference to `__wrap_mmap'
/home/kiszka/eldk/usr/../arm/lib/librt.so: undefined reference to `__wrap_close'
/home/kiszka/eldk/usr/../arm/lib/libpthread.so: undefined reference to `__wrap_munmap'
collect2: ld returned 1 exit status


I noticed that linking like this

arm-linux-gcc ...<flags> <object>.o -lpthread -lrt -lpthread_rt ...

doesn't raise the error. But linking like this

arm-linux-gcc `xeno-config --posix-ldflags` <object>.o -o <target>

ie. the standard way for external Xenomai POSIX apps, causes even more
problems with this toolchain (it's fine here for native builds). Anyone
any comments? Maybe Wolfgang?

Jan


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