6. QNX 7.1 installation from sources¶
The instructions for installing Fast DDS library and running examples and tests on QNX 7.1 are provided in this page. It is organized as follows:
6.1. Fast DDS library installation¶
This section provides the instructions for installing eProsima Fast DDS for QNX 7.1 in a Ubuntu environment from sources. The following packages will be installed:
foonathan_memory_vendor, an STL compatible C++ memory allocator library.fastcdr, a C++ library that serializes according to the standard CDR serialization mechanism.fastrtps, the core library of eProsima Fast DDS library.
See also
For further information about Fast DDS library dependencies, as well as for the corresponding versions of other related products, please refer to the Fast DDS Library dependencies section.
The Requirements detailed below needs to be met first.
6.1.1. Requirements¶
Users must be in a Ubuntu environment to cross-compile for QNX 7.1. It is recommended that users use Ubuntu 20.04. The installation of eProsima Fast DDS in a Ubuntu environment from sources requires the following tools to be installed in the system:
6.1.1.1. QNX SDP 7.1¶
QNX SDP 7.1 is required to be installed in the user’s Ubuntu environment. QNX SDP is QNX’s Software Development Platform which contains tools and files which are needed to cross-compile for QNX.
For the purpose of these instructions, QNX SDP 7.1 is assumed to be installed at ~/qnx710. If this is not the case, please adjust the paths accordingly.
See also
For further information about Fast DDS build system dependencies regarding QNX 7.1, please refer to the Fast DDS Build system dependencies section.
6.1.1.2. CMake, pip3, git, dos2unix, and automake¶
These packages provide the tools required to install eProsima Fast DDS and its dependencies from command line.
sudo apt install cmake python3-pip git dos2unix automake
6.1.2. Build and Installation¶
Open a terminal and clone eProsima Fast DDS:
git clone https://github.com/eProsima/Fast-DDS.git && cd Fast-DDS WORKSPACE=$PWD
Initialize git submodules for Asio, Fast-CDR and TinyXML2 and apply QNX patches to them:
Note
OpenSSL is already installed in the QNX SDP 7.1.
cd $WORKSPACE # Initialize git submodules git submodule update --init $WORKSPACE/thirdparty/asio/ $WORKSPACE/thirdparty/fastcdr $WORKSPACE/thirdparty/tinyxml2/ # Apply QNX patch to Asio. cd $WORKSPACE/thirdparty/asio git apply $WORKSPACE/build_qnx/qnx_patches/asio_qnx.patch # Apply QNX patch to Fast-CDR. cd $WORKSPACE/thirdparty/fastcdr git apply $WORKSPACE/build_qnx/qnx_patches/fastcdr_qnx.patch # Apply QNX patch to TinyXML2. # TinyXML2's CMakeLists.txt has CRLF, so use unix2dos to convert the patch to CRLF. cd $WORKSPACE/thirdparty/tinyxml2 unix2dos $WORKSPACE/build_qnx/qnx_patches/tinyxml2_qnx.patch git apply $WORKSPACE/build_qnx/qnx_patches/tinyxml2_qnx.patch
Get foonathan_memory_vendor:
cd $WORKSPACE git clone https://github.com/eProsima/foonathan_memory_vendor.git
Optional: clone GoogleTest and apply QNX patch to it:
Note
GoogleTest is required for building Fast-DDS tests.
cd $WORKSPACE git clone https://github.com/google/googletest.git && cd googletest git checkout v1.13.0 git apply $WORKSPACE/build_qnx/qnx_patches/googletest_qnx.patch
Source the QNX environment script:
source ~/qnx710/qnxsdp-env.sh
Build and install Fast-DDS and its dependencies:
Note
To build examples, set COMPILE_EXAMPLES to ON in $WORKSPACE/build_qnx/common.mk.To build tests, set EPROSIMA_BUILD_TESTS to ON in $WORKSPACE/build_qnx/common.mk.Note
All libraries will be installed to $(QNX_TARGET)/$(CPUVARDIR)/usr/lib.All examples will be installed to $(QNX_TARGET)/$(CPUVARDIR)/usr/examples.All tests will be installed to $(QNX_TARGET)/$(CPUVARDIR)/usr/bin/Fast-DDS_test.QNX_TARGET is where the QNX SDP 7.1 installation’s target folder is.If QNX SDP 7.1 is installed at ~/qnx710, the QNX_TARGET will be at ~/qnx710/target/qnx7.CPUVARDIR is a directory for a specific target architecture e.g. aarch64le and x86_64.For example, libraries compiled for an aarch64 target will be at ~/qnx710/target/qnx7/aarch64le/usr/lib assuming QNX SDP 7.1 is installed at ~/qnx710.cd $WORKSPACE/build_qnx make install -j 4
6.2. Run Examples and Tests on a QNX 7.1 Target¶
6.2.1. Move Libraries, Examples, and Tests to the QNX Target¶
Move the built libraries to the QNX target:
The following steps assume that $(QNX_TARGET) is ~/qnx710/target/qnx7 and that $(CPUVARDIR) is aarch64le. Adjust the values if this is not the case.
# Move Fast-CDR library to the QNX target scp ~/qnx710/target/qnx7/aarch64le/usr/lib/libfastcdr.so* root@<target-ip-address>:/usr/lib # Move Fast-DDS library to the QNX target scp ~/qnx710/target/qnx7/aarch64le/usr/lib/libfastrtps.so* root@<target-ip-address>:/usr/lib # Move Foonathan Memory library to the QNX target scp ~/qnx710/target/qnx7/aarch64le/usr/lib/libfoonathan_memory* root@<target-ip-address>:/usr/lib # Move TinyXML2 library to the QNX target scp ~/qnx710/target/qnx7/aarch64le/usr/lib/libtinyxml2.so* root@<target-ip-address>:/usr/lib # Move GoogleTest library to the QNX target scp ~/qnx710/target/qnx7/aarch64le/usr/lib/libgtest* root@<target-ip-address>:/usr/lib scp ~/qnx710/target/qnx7/aarch64le/usr/lib/libgmock* root@<target-ip-address>:/usr/lib
Move examples and tests to the QNX target:
# Move Fast-CDR library to the QNX target scp -r ~/qnx710/target/qnx7/aarch64le/usr/examples root@<target-ip-address>:/var # Move Fast-DDS library to the QNX target scp -r ~/qnx710/target/qnx7/aarch64le/usr/bin/Fast-DDS_test root@<target-ip-address>:/var
6.2.2. Run DDSHelloWorldExample¶
Open a terminal and run a subscriber:
# ssh into the QNX target ssh root@<target-ip-address> # Run a subscriber /var/examples/cpp/dds/HelloWorldExample/bin/DDSHelloWorldExample subscriber
Open another terminal and run a publisher:
# ssh into the QNX target ssh root@<target-ip-address> # Run a publisher /var/examples/cpp/dds/HelloWorldExample/bin/DDSHelloWorldExample publisher
The following output will be shown in the subscriber terminal:
Starting Subscriber running. Please press enter to stop the Subscriber Subscriber matched. Message HelloWorld 1 RECEIVED Message HelloWorld 2 RECEIVED Message HelloWorld 3 RECEIVED Message HelloWorld 4 RECEIVED Message HelloWorld 5 RECEIVED Message HelloWorld 6 RECEIVED Message HelloWorld 7 RECEIVED Message HelloWorld 8 RECEIVED Message HelloWorld 9 RECEIVED Message HelloWorld 10 RECEIVED Subscriber unmatched.
The following output will be shown for the publisher:
Starting Publisher running 10 samples. Publisher matched. Message: HelloWorld with index: 1 SENT Message: HelloWorld with index: 2 SENT Message: HelloWorld with index: 3 SENT Message: HelloWorld with index: 4 SENT Message: HelloWorld with index: 5 SENT Message: HelloWorld with index: 6 SENT Message: HelloWorld with index: 7 SENT Message: HelloWorld with index: 8 SENT Message: HelloWorld with index: 9 SENT Message: HelloWorld with index: 10 SENT
6.2.3. Run a Test¶
Because test binaries compiled for QNX cannot be run on Ubuntu, test binaries must be run on a target which is running QNX.
# ssh into the QNX target ssh root@<target-ip-address> # Run a test cd /var/Fast-DDS_test/unittest/dds/core/entity ./EntityTests
The following test output for EntityTests will be shown:
[==========] Running 5 tests from 1 test suite. [----------] Global test environment set-up. [----------] 5 tests from EntityTests [ RUN ] EntityTests.entity_constructor [ OK ] EntityTests.entity_constructor (0 ms) [ RUN ] EntityTests.entity_enable [ OK ] EntityTests.entity_enable (0 ms) [ RUN ] EntityTests.entity_get_instance_handle [ OK ] EntityTests.entity_get_instance_handle (0 ms) [ RUN ] EntityTests.entity_equal_operator [ OK ] EntityTests.entity_equal_operator (0 ms) [ RUN ] EntityTests.get_statuscondition [ OK ] EntityTests.get_statuscondition (0 ms) [----------] 5 tests from EntityTests (0 ms total) [----------] Global test environment tear-down [==========] 5 tests from 1 test suite ran. (0 ms total) [ PASSED ] 5 tests.