2011/3/1 Willy Lambert <lambert [dot] willy [..] ...>

>
>
> 2011/3/1 Peter Soetens <peter [..] ...>
>
>> On Tuesday 01 March 2011 00:37:07 Willy Lambert wrote:
>>
>> > Hi all,
>> >
>> > I am trying to build a component library (composed of several
>> components).
>> > The compilation failed with a stanged error that I don't understand :
>> > -> undefined reference to `RTT::(anonymous
>> > namespace)::ComponentFactories::Factories'
>> >
>> > After reading the result of the verbose make command, the compiler
>> command
>> > seems strange when linking components :
>> > -> /usr/bin/c++ [..] -larp-core-gnulinux
>> >
>> /home/ard/ros/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.s
>> > o.2.2.1 -lSUSI-3.02 [...]
>> >
>> > By the way, there is 2 Component.hpp files : one in rtt, and one in ocl.
>> > Which is the rigth one ? If one is no more used, could the API be
>> > depracated ?
>>
>> Both are valid and identical, you only need to include one, we recommend
>> including the RTT one for new components though (see:
>>
>> http://www.orocos.org/stable/documentation/rtt/v2.3.x/doc-xml/orocos-rtt...
>>
>> The error you get is explained by the fact that you didn't write
>> ORO_CREATE_COMPONENT_TYPE()
>> in your library sources. In 2.3, this macro is renamed to
>> ORO_CREATE_COMPONENT_LIBRARY() (old name also st stilll available).
>>
>> See also:
>> http://www.orocos.org/stable/documentation/ocl/v2.x/doc-xml/orocos-deplo...
>> "Section 3: Setting up a deployable component library"
>>
>>
> I was used to separate my code in the following way (with
> ocl/Component.hpp) :
> _ on component per ComponentXXX.cpp in which I have a
> ORO_LIST_COMPONENT_TYPE(XXX)
> _ one Lib.cpp in which there is only ORO_CREATE_COMPONENT_TYPE
>
> I tried something : orocreate xx something, copy the xx-component.*pp in
> xx-component2.*pp, changed the name of the component class to Xx2 and the
> defines at the top of the header. I modifiied the Cmakelist to compile the
> two sources in the component library, and edit the cpp to have
>
> ORO_CREATE_COMPONENT_LIBRARY()
> // *For the ComponentX type*:
> ORO_LIST_COMPONENT_TYPE( Xx)
>
> in one and :
>
> ORO_LIST_COMPONENT_TYPE( Xx2)
>
> The compilation went well.
> BUT, if I change the #include "ocl/Component.hpp" in #include
> "rtt/Component.hpp" , make clean and rebuild, it failed with the same error
> as I had in my project !! This is easy to reproduce. Do you want me to
> create a bug ticket ?
>
> orocreate-pkg is really usefull for debugging, I can create a new project a
> compare in a simple way if it works in a minimal configuration so I can
> avoid spamming with dummy errors :)
>
> You should modify the orocreate tool to include the rtt/Component by
> default as it is the official.
>
>
I do not have the same problem with the 2.3, linking with rtt/Component.hpp
is OK in a multiple component library

>
>
> BTW , when you orocreat-pkg a package named "test" (which is tempting ^^)
> It doesn't works properly because test must be a predifined target. Maybe
> you should refuse this package name when parsing the options. I send the
> patch I used even if they are dummy modification it's more to play with git
> than to be usefull (it tooks me age to produce it ^^)
> ard@ard-host-v5:/media/DD_data/home/ard/ros/ard/test$ make
> mkdir -p bin
> cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
> rosbuild`/rostoolchain.cmake ..
> [rosbuild] Building package test
> including user's config file:
> /media/DD_data/home/ard/ros/ros/rosconfig.cmake
> [rosbuild] Including
> /media/DD_data/home/ard/ros/ros_comm/clients/rospy/cmake/rospy.cmake
> [rosbuild] Including
> /media/DD_data/home/ard/ros/ros_comm/clients/roslisp/cmake/roslisp.cmake
> [rosbuild] Including
> /media/DD_data/home/ard/ros/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake
> Orocos-RTT found in
> /home/ard/ros/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
> -- Found orocos-rtt 2.2.1 for the gnulinux target. Available transports:
> mqueue
> Building component test in library test-gnulinux
> -- Configuring done
> WARNING: Target "test" has EXCLUDE_FROM_ALL set and will not be built by
> default but an install rule has been provided for it. CMake does not define
> behavior for this case.
> -- Generating done
> -- Build files have been written to:
> /media/DD_data/home/ard/ros/ard/test/build
> cd build && make
> make[1]: entrant dans le répertoire «
> /media/DD_data/home/ard/ros/ard/test/build »
> make[1]: quittant le répertoire «
> /media/DD_data/home/ard/ros/ard/test/build »
>
>
>

On Tuesday 01 March 2011 14:33:18 Willy Lambert wrote:
> 2011/3/1 Peter Soetens <peter [..] ...>
>
> > On Tuesday 01 March 2011 00:37:07 Willy Lambert wrote:
> > > Hi all,
> > >
> > > I am trying to build a component library (composed of several
> >
> > components).
> >
> > > The compilation failed with a stanged error that I don't understand :
> > > -> undefined reference to `RTT::(anonymous
> > > namespace)::ComponentFactories::Factories'
> > >
> > > After reading the result of the verbose make command, the compiler
> >
> > command
> >
> > > seems strange when linking components :
> > > -> /usr/bin/c++ [..] -larp-core-gnulinux
> >
> > /home/ard/ros/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux
> > .s
> >
> > > o.2.2.1 -lSUSI-3.02 [...]
> > >
> > > By the way, there is 2 Component.hpp files : one in rtt, and one in
> > > ocl. Which is the rigth one ? If one is no more used, could the API be
> > > depracated ?
> >
> > Both are valid and identical, you only need to include one, we recommend
> > including the RTT one for new components though (see:
> >
> > http://www.orocos.org/stable/documentation/rtt/v2.3.x/doc-xml/orocos-rtt-
> > changes.html
>
> thanks
>
> > The error you get is explained by the fact that you didn't write
> > ORO_CREATE_COMPONENT_TYPE()
> > in your library sources. In 2.3, this macro is renamed to
> >
> > ORO_CREATE_COMPONENT_LIBRARY() (old name also st stilll available).
> >
> > See also:
> > http://www.orocos.org/stable/documentation/ocl/v2.x/doc-xml/orocos-deploy
> > ment.html "Section 3: Setting up a deployable component library"
>
> hum... I am surprised as it is a port of the code I used to compile in the
> standalone orocos toolchain and I am now trying to "copy paste" it in my
> project done in the orocos_toolchain_ros. I must have forgot something
> somewhere, I'll have a look.
>
> I don't know if it is technically possible to change this error output
> text, but it is not direct to switch from
>
> PCM3362.cpp:(.text+0x1cff): undefined reference to `RTT::(anonymous
> namespace)::ComponentFactories::Factories'
> /usr/bin/ld: CMakeFiles/arp-hml.dir/PCM3362.cpp.o: relocation R_386_GOTOFF
> against undefined symbol `RTT::(anonymous
> namespace)::ComponentFactories::Factories' can not be used when making a
> shared object
>
> to "Oh god I forgot once again the macros" :p

Well, that's an idea. We can't have it happen like this, but maybe we could
have component libraries link to a tiny rtt library that contains only this
symbol. You could still opt-in, ie, OR you use the macro yourself, OR you link
against this library. The UseOrocos-RTT.cmake macros could even do this
automatically, and disable the ORO_CREATE_COMPONENT_LIBRARY macro
if that's the case...

This could then 'deprecate' the ORO_CREATE_COMPONENT macro all-together,
leaving less confusions for users, ie, only one macro to use & know.

>
> > > Extract of make VERBOSE=2 result :
> > >
> > > Linking CXX shared library ../../lib/libarp-hml-gnulinux.so
> > > cd /media/DD_data/home/ard/ros/ard/arp_hml/build/src && /usr/bin/cmake
> > > -E cmake_link_script CMakeFiles/arp-hml.dir/link.txt --verbose=2
> > > /usr/bin/c++ -fPIC -DRTT_COMPONENT -Os -DNDEBUG -Wl,-z,defs -shared
> > > -Wl,-soname,libarp-hml-gnulinux.so -o ../../lib/libarp-hml-gnulinux.so
> > > CMakeFiles/arp-hml.dir/HML.cpp.o CMakeFiles/arp-hml.dir/PCM3362.cpp.o
> > > CMakeFiles/arp-hml.dir/can/dictionnary/CanARD.c.o
> > > CMakeFiles/arp-hml.dir/can/CanOpen.cpp.o
> > > CMakeFiles/arp-hml.dir/joystick/Joystick.cpp.o
> > > CMakeFiles/arp-hml.dir/joystick/GamepadPS1.cpp.o
> > > CMakeFiles/arp-hml.dir/joystick/DefaultJoystick.cpp.o
> > > -L/media/DD_data/home/ard/ros/ard/arp_core/lib
> > > -L/home/ard/ros/orocos_toolchain_ros/ocl/lib
> > > -L/home/ard/ros/orocos_toolchain_ros/log4cpp/install/lib
> > > -L/home/ard/ros/orocos_toolchain_ros/rtt/install/lib*
> > > -larp-core-gnulinux
> >
> > /home/ard/ros/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux
> > .s
> >
> > > o.2.2.1 -lSUSI-3.02* -lcanfestival_unix -lcanfestival
> >
> > -lboost_filesystem-mt
> >
> > > -lboost_system-mt -lboost_serialization-mt -lpthread -lrt -ldl
> >
> > -Wl,-rpath,/media/DD_data/home/ard/ros/ard/arp_core/lib:/home/ard/ros/oro
> > co
> >
> > s_toolchain_ros/ocl/lib:/home/ard/ros/orocos_toolchain_ros/log4cpp/instal
> > l/
> >
> >
lib:/home/ard/ros/orocos_toolchain_ros/rtt/install/lib:::::::::::::::::::::
> > > CMakeFiles/arp-hml.dir/PCM3362.cpp.o: In function `global constructors
> > > keyed to PCM3362.cpp':
> > > PCM3362.cpp:(.text+0x1cff): undefined reference to `RTT::(anonymous
> > > namespace)::ComponentFactories::Factories'
> > > /usr/bin/ld: CMakeFiles/arp-hml.dir/PCM3362.cpp.o: relocation
> >
> > R_386_GOTOFF
> >
> > > against undefined symbol `RTT::(anonymous
> > > namespace)::ComponentFactories::Factories' can not be used when making
> > > a shared object
> > > /usr/bin/ld: final link failed: Bad value
> > > collect2: ld returned 1 exit status
> > >
> > > Here is the export part of my manifest :
> > > <export>
> > >
> > > <cpp cflags="-I${prefix}/src" lflags="-Wl,-rpath,${prefix}/lib
> > >
> > > -L${prefix}/lib -larp-core-gnulinux"/>
> > >
> > > <rosbuild cmake_directory="${prefix}/cmake" />
> > >
> > > <export>
> > >
> > > Here is the Cmake code :
> > > file(
> > >
> > > GLOB_RECURSE
> > > source_files
> > > *.c*
> > >
> > > )
> > >
> > > orocos_component(arp-hml ${source_files})
> > > target_link_libraries(arp-hml SUSI-3.02)
> > > #target_link_libraries(arp-hml arp-hml-can-dico)
> > > target_link_libraries(arp-hml canfestival_unix)
> > > target_link_libraries(arp-hml canfestival)
> >
> > Peter

Peter