Week 7 :

Build core-master/x86: meta-ros + agl-demo-platform + YDLIDAR core dependencies support

  • Kindly go through build process of AGL and building for x86 for detailed reference to setup and initialize AGL workspace.

    # After setting up AGL workspace

# Clone the meta-ros layer, skip if already cloned
$ cd $AGL_TOP/master/external
$ git clone https://github.com/ros/meta-ros.git
$ cd meta-ros
$ git checkout -b dunfell

# Setup build directory
$ cd $AGL_TOP/master/
$ source meta-agl/scripts/aglsetup.sh -b core-build-x86-meta-ros-demo agl-demo agl-devel
$ ln -sf $AGL_TOP/site.conf conf/
$ ls -alh conf/
      
# Edit the following conf files :

$ vim conf/local.conf #add the following to the bottom, to save error logs for future debugging
# local.conf
  INHERIT += "buildhistory"
  BUILDHISTORY_COMMIT = "1"
  IMAGE_INSTALL_append = " packagegroup-ros-world-foxy"
  PACKAGE_EXCLUDE = "psplash"

$ vim conf/bblayers.conf #Replace the following chunk
# bblayers.conf
  AGL_META_NETWORKING ?= ""
  AGL_META_PYTHON = "${METADIR}/external/meta-openembedded/meta-python"
  AGL_META_ROS = " \
    ${METADIR}/external/meta-ros/meta-ros-common \
    ${METADIR}/external/meta-ros/meta-ros-backports-gatesgarth \
    ${METADIR}/external/meta-ros/meta-ros2 \
    ${METADIR}/external/meta-ros/meta-ros2-foxy \
    "
  AGL_OTHER_DEPENDENCY_LAYERS = " \
    ${AGL_META_NETWORKING} \
    ${AGL_META_PYTHON} \
    ${AGL_META_ROS} \
    "

# Edit launcher and homescreen recipe to include agl-compositor recipe

$ cd $AGL_TOP/master/meta-agl-demo/recipes-demo
$ vim launcher/launcher_git.bb
# add this to the bottom
  DEPENDS += 'agl-compositor'
$ vim homescreen/homescreen_git.bb
# add this to the bottom
  DEPENDS += 'agl-compositor'

# Build the image

$ cd $AGL_TOP/master/core-build-x86-meta-ros-weston/
$ source agl-init-build-env #if not sourced
$ bitbake -p ros-core #build ros-core first, to check all layers are added.
$ time bitbake agl-demo-platform #wait for the build process to finish.

Run core-master/x86: meta-ros + agl-demo-platform + YDLIDAR core dependencies support

  • Kindly use pre-built image agl-demo-core-qemux86-64, if you want to skip the building process.

  • Kindly go through using prebuilt x86 images for detailed reference to setup and initialize AGL workspace.

    # gdrive : https://drive.google.com/drive/folders/1kYX5AnVYgJDGceBEKjdNJ6YeYFLHcYjq?usp=sharing

# Install the dependencies
$ apt-get install qemu
$ sudo apt install vinagre
$ sudo apt install qemu-system-x86

# Copy image and kernel files
$ cp ~/Downloads/agl-demo-platform-qemux86-64.ext4 ./
$ cp ~/Downloads/bzImage ./
$ sync

# Run
$ vim startup.sh
  # attach YDLIDAR to the host system.
  #-device usb-host,hostbus=1,hostport=4, change accordingly to ydlidar usb port `lsusb -t` 

    ( sleep 5 && vinagre --vnc-scale localhost ) > /tmp/vinagre.log 2>&1 &
        qemu-system-x86_64 -device virtio-net-pci,netdev=net0,mac=52:54:00:12:35:02 -netdev user,id=net0,hostfwd=tcp::2222-:22 \
        -drive file=agl-demo-platform-qemux86-64.ext4,if=virtio,format=raw -show-cursor -usb -usbdevice tablet -device virtio-rng-pci \
        -device usb-host,hostbus=1,hostport=4 -vga virtio \
        -vnc :0 -soundhw hda -machine q35 -cpu host -enable-kvm \
        -m 2048 -serial mon:vc -serial mon:stdio -serial null -kernel bzImage \
        -append 'root=/dev/vda rw console=tty0 mem=2048M ip=dhcp oprofile.timer=1 console=ttyS0,115200n8 verbose fstab=no debug psplash=false'

$ sudo ./startup.sh

# Boots up
qemu-system-x86_64: -usbdevice tablet: '-usbdevice' is deprecated, please use '-device usb-...' instead
qemu-system-x86_64: warning: host doesn't support requested feature: CPUID.80000001H:ECX.svm [bit 2]

  • At this stage, there are still some bugs to be fixed and the demo-image doesn’t boot up sucessfully. In the process to debug and fix these issues. demo-image-error

Setup AGL SDK to develop apps & services

  • Kindly go through setting up AGL SDK for detailed reference to setup and initialize AGL SDK.

  • Download prebuilt sdk x86_64 to help quickstart the service and application development process.

    # agl sdk x86-64 : https://download.automotivelinux.org/AGL/snapshots/master/latest/qemux86-64/deploy/sdk/poky-agl-glibc-x86_64-agl-demo-platform-crosssdk-corei7-64-qemux86-64-toolchain-12.90.0+snapshot.sh

# Create application developmment directory and copy SDK into them
$ mkdir ~/Documents/agl-app
$ cp ~/Downloads/poky-agl-glibc-x86_64-agl-demo-platform-crosssdk-corei7-64-qemux86-64-toolchain-12.90.0+snapshot.sh ~/Documents/agl-app/
$ cd ~/Documents/agl-app

# Install the downloaded SDK
$ chmod +x poky-agl-glibc-x86_64-agl-demo-platform-crosssdk-corei7-64-qemux86-64-toolchain-12.90.0+snapshot.sh 
$ mkdir agl-sdk-x86/
$ ./poky-agl-glibc-x86_64-agl-demo-platform-crosssdk-corei7-64-qemux86-64-toolchain-12.90.0+snapshot.sh 
  # Select target directory for SDK : ~/Documents/agl-app/agl-sdk-x86/
      
  Automotive Grade Linux SDK installer version 12.90.0+snapshot
  =============================================================
  Enter target directory for SDK (default: /opt/agl-sdk/12.90.0+snapshot-corei7-64): ~/Documents/agl-app/agl-sdk-x86
  You are about to install the SDK to "/home/boron/Documents/agl-app/agl-sdk-x86". Proceed [Y/n]? Y
  Extracting SDK................................................................................................................................................done
  Setting it up...done
  SDK has been successfully set up and is ready to be used.
  Each time you wish to use the SDK in a new shell session, you need to source the environment setup script e.g.
  . /home/boron/Documents/agl-app/agl-sdk-x86/environment-setup-corei7-64-agl-linux

# Source the SDK environment setup, each time you wish to use the SDK in a new shell session
$ source ~/Documents/agl-app/agl-sdk-x86/environment-setup-corei7-64-agl-linux

Create test application

  • Kindly go through Creating a New Application for detailed reference to on Creating a New Application from scratch.

    # Create new project development directory
$ cd ~/Documents/agl-app
$ mkdir newtestapp/
$ cd newtestapp/

# Source the SDK environment setup
$ source ~/Documents/agl-app/agl-sdk-x86/environment-setup-corei7-64-agl-linux

# Copy initial CMAKE configuration templates
$ mkdir -p conf.d/cmake
$ cp ${OECORE_NATIVE_SYSROOT}/usr/share/doc/CMakeAfbTemplates/samples.d/config.cmake.sample conf.d/cmake/config.cmake
$ cp ${OECORE_NATIVE_SYSROOT}/usr/share/doc/CMakeAfbTemplates/samples.d/CMakeLists.txt.sample CMakeLists.txt

# Edit CMAKE configuration template

$ vim conf.d/cmake/config.cmake

  ###########################################################################
  # Copyright 2021 
  #
  # author: Shankho Boron Ghosh <shankhoghosh123@gmail.com>
  #
  # Licensed under the Apache License, Version 2.0 (the "License");
  # you may not use this file except in compliance with the License.
  # You may obtain a copy of the License at
  #
  #     http://www.apache.org/licenses/LICENSE-2.0
  #
  # Unless required by applicable law or agreed to in writing, software
  # distributed under the License is distributed on an "AS IS" BASIS,
  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  # See the License for the specific language governing permissions and
  # limitations under the License.
  ###########################################################################

  # Project Info
  # ------------------
  set(PROJECT_NAME hellocount) #INSERT NEW PROJECT NAME
  set(API_NAME hellocount) #INSERT NEW PROJECT NAME
  set(PROJECT_PRETTY_NAME "getting started with app dev") #INSERT PRETTY NAME
  set(PROJECT_DESCRIPTION "getting started with app dev") #INSERT CONCISE PROJECT DESCRIPTION
  set(PROJECT_URL "https://not-relevant") #INSERT VCS
  set(PROJECT_ICON "icon.png")
  set(PROJECT_AUTHOR "Ghosh, Shankho Boron") #INSERT AUTHOR NAME
  set(PROJECT_AUTHOR_MAIL "shankhoghosh123@gmail.com") #INSERT AUTHOR EMAIL
  set(PROJECT_LICENSE "APL2.0")
  set(PROJECT_LANGUAGES "C")
  set(PROJECT_VERSION "1.0.0") #INSERT PROJECT VERSION

  # Which directories inspect to find CMakeLists.txt target files
  # set(PROJECT_SRC_DIR_PATTERN "*")

  # Where are stored the project configuration files
  # relative to the root project directory
  set(PROJECT_CMAKE_CONF_DIR "conf.d")

  # Compilation Mode (DEBUG, RELEASE, COVERAGE or PROFILING)
  # ----------------------------------
  set(BUILD_TYPE "DEBUG") #SELECT BUILD TYPE
  #set(USE_EFENCE 1)

  # Kernel selection if needed. You can choose between a
  # mandatory version to impose a minimal version.
  # Or check Kernel minimal version and just print a Warning
  # about missing features and define a preprocessor variable
  # to be used as preprocessor condition in code to disable
  # incompatibles features. Preprocessor define is named
  # KERNEL_MINIMAL_VERSION_OK.
  #
  # NOTE*** FOR NOW IT CHECKS KERNEL Yocto environment and
  # Yocto SDK Kernel version.
  # -----------------------------------------------
  #set (kernel_mandatory_version 4.8)
  #set (kernel_minimal_version 4.8)

  # Compiler selection if needed. Impose a minimal version.
  # -----------------------------------------------
  set (gcc_minimal_version 4.9)

  # PKG_CONFIG required packages
  # -----------------------------
  set (PKG_REQUIRED_LIST
    json-c
    afb-daemon
  )

  # You can also consider to include libsystemd
  # -----------------------------------
  #list (APPEND PKG_REQUIRED_LIST libsystemd>=222)

  # Prefix path where will be installed the files
  # Default: /usr/local (need root permission to write in)
  # ------------------------------------------------------
  #set(INSTALL_PREFIX /opt/AGL CACHE PATH "INSTALL PREFIX PATH")

  # Customize link option
  # -----------------------------
  #list(APPEND link_libraries -an-option)

  # Compilation options definition
  # Use CMake generator expressions to specify only for a specific language
  # Values are prefilled with default options that is currently used.
  # Either separate options with ";", or each options must be quoted separately
  # DO NOT PUT ALL OPTION QUOTED AT ONCE , COMPILATION COULD FAILED !
  # ----------------------------------------------------------------------------
  #set(COMPILE_OPTIONS
  # -Wall
  # -Wextra
  # -Wconversion
  # -Wno-unused-parameter
  # -Wno-sign-compare
  # -Wno-sign-conversion
  # -Werror=maybe-uninitialized
  # -Werror=implicit-function-declaration
  # -ffunction-sections
  # -fdata-sections
  # -fPIC
  # CACHE STRING "Compilation flags")
  #set(C_COMPILE_OPTIONS "" CACHE STRING "Compilation flags for C language.")
  #set(CXX_COMPILE_OPTIONS "" CACHE STRING "Compilation flags for C++ language.")
  #set(PROFILING_COMPILE_OPTIONS
  # -g
  # -O0
  # -pg
  # -Wp,-U_FORTIFY_SOURCE
  # CACHE STRING "Compilation flags for PROFILING build type.")
  #set(DEBUG_COMPILE_OPTIONS
  # -g
  # -ggdb
  # CACHE STRING "Compilation flags for DEBUG build type.")
  #set(COVERAGE_COMPILE_OPTIONS
  # -g
  # -O0
  # --coverage
  # CACHE STRING "Compilation flags for COVERAGE build type.")
  #set(RELEASE_COMPILE_OPTIONS
  # -O2
  # -pipe
  # -D_FORTIFY_SOURCE=2
  # -fstack-protector-strong
  # -Wformat -Wformat-security
  # -Werror=format-security
  # -feliminate-unused-debug-types
  # -Wl,-O1
  # -Wl,--hash-style=gnu
  # -Wl,--as-needed
  # -fstack-protector-strong
  # -Wl,-z,relro,-z,now
  # CACHE STRING "Compilation flags for RELEASE build type.")

  # Location for config.xml.in template file.
  #
  # If you keep them commented then it will build with a default minimal widget
  # template which is very simple and it is highly probable that it will not suit
  # to your app.
  # -----------------------------------------
  #set(WIDGET_ICON "conf.d/wgt/${PROJECT_ICON}" CACHE PATH "Path to the widget icon")
  set(WIDGET_CONFIG_TEMPLATE "${CMAKE_CURRENT_SOURCE_DIR}/conf.d/wgt/config.xml.in" CACHE PATH "Path to widget config file template (config.xml.in)") # UNCOMMENT WIDGET_CONFIG_TEMPLATE
  #set(TEST_WIDGET_CONFIG_TEMPLATE "${CMAKE_CURRENT_SOURCE_DIR}/conf.d/wgt/test-config.xml.in" CACHE PATH "Path to the test widget config file template (test-config.xml.in)")

  # Mandatory widget Mimetype specification of the main unit
  # --------------------------------------------------------------------------
  # Choose between :
  #- text/html : HTML application,
  #	content.src designates the home page of the application
  #
  #- application/vnd.agl.native : AGL compatible native,
  #	content.src designates the relative path of the binary.
  #
  # - application/vnd.agl.service: AGL service, content.src is not used.
  #
  #- ***application/x-executable***: Native application,
  #	content.src designates the relative path of the binary.
  #	For such application, only security setup is made.
  #
  set(WIDGET_TYPE application/vnd.agl.service)    # UNCOMMENT WIDGET_TYPE

  # Mandatory Widget entry point file of the main unit
  # --------------------------------------------------------------
  # This is the file that will be executed, loaded,
  # at launch time by the application framework.
  #

  set(WIDGET_ENTRY_POINT testingboron)    # UNCOMMENT WIDGET_ENTRY_POINT

  # Optional dependencies order
  # ---------------------------
  #set(EXTRA_DEPENDENCIES_ORDER)

  # Optional Extra global include path
  # -----------------------------------
  #set(EXTRA_INCLUDE_DIRS)

  # Optional extra libraries
  # -------------------------
  #set(EXTRA_LINK_LIBRARIES)

  # Optional force binding Linking flag
  # ------------------------------------
  # set(BINDINGS_LINK_FLAG LinkOptions )

  # Optional force package prefix generation, like widget
  # -----------------------------------------------------
  # set(PKG_PREFIX DestinationPath)

  # Optional Application Framework security token
  # and port use for remote debugging.
  #------------------------------------------------------------
  set(AFB_TOKEN   ""     CACHE PATH "Default binder security token")
  set(AFB_REMPORT "1234" CACHE PATH "Default binder listening port")

  # Print a helper message when every thing is finished
  # ----------------------------------------------------
  set(CLOSING_MESSAGE "Typical binding launch: cd ${CMAKE_BINARY_DIR}/package \\&\\& afb-daemon --port=${AFB_REMPORT} --workdir=. --ldpaths=lib --roothttp=htdocs  --token=\"${AFB_TOKEN}\" --tracereq=common --verbose")
  set(PACKAGE_MESSAGE "Install widget file using in the target : afm-util install ${PROJECT_NAME}.wgt")

  # Optional schema validator about now only XML, LUA and JSON
  # are supported
  #------------------------------------------------------------
  #set(LUA_CHECKER "luac" "-p" CACHE STRING "LUA compiler")
  #set(XML_CHECKER "xmllint" CACHE STRING "XML linter")
  #set(JSON_CHECKER "json_verify" CACHE STRING "JSON linter")

  include(CMakeAfbTemplates)

# Copy WGT configuration template
$ mkdir -p conf.d/wgt
$ cp ${OECORE_NATIVE_SYSROOT}/usr/share/doc/CMakeAfbTemplates/samples.d/config.xml.in.sample conf.d/wgt/config.xml.in

# Run CMAKE and Generate autobuild
$ mkdir build/
$ cd build/
$ cmake ..
$ make autobuild

# Create app directory
$ cd ..
$ mkdir app/
$ cd app/

## This app directory holds the C++, qrc, qml code & CMakeLists.txt

$ vim main.cpp

/*
  * Copyright (C) 2021 The Linux Foundation # INSERT YEAR & ORG
  *               
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

  #include <QGuiApplication>
  #include <QtCore/QCommandLineParser>
  #include <QtCore/QUrlQuery>
  #include <QtGui/QGuiApplication>
  #include <QtQml/QQmlContext>
  #include <QtQml/QQmlApplicationEngine>
  #include <QtQml/qqml.h>
  #include <QDebug>

  int main(int argc, char *argv[])
  {
          QGuiApplication app(argc, argv);
          app.setDesktopFileName("Hellocount");

      QQmlApplicationEngine engine;
      QQmlContext *context = engine.rootContext();

      QCommandLineParser parser;
      parser.addPositionalArgument("port", app.translate("main", "port for binding"));
      parser.addPositionalArgument("secret", app.translate("main", "secret for binding"));
      parser.addHelpOption();
      parser.addVersionOption();
      parser.process(app);
      QStringList positionalArguments = parser.positionalArguments();

      if (positionalArguments.length() == 2) {
    int port = positionalArguments.takeFirst().toInt();
    QString secret = positionalArguments.takeFirst();

    QUrl bindingAddress;
    QUrlQuery query;

    bindingAddress.setScheme(QStringLiteral("ws"));
    bindingAddress.setHost(QStringLiteral("localhost"));
    bindingAddress.setPort(port);
    bindingAddress.setPath(QStringLiteral("/api"));


    query.addQueryItem(QStringLiteral("token"), secret);
    bindingAddress.setQuery(query);
    context->setContextProperty(QStringLiteral("bindingAddress"), bindingAddress);
      }

      engine.load(QUrl(QStringLiteral("qrc:/Hellocount.qml")));
          return app.exec();

  }

$ vim Hellocount.qml

  /*
  * Copyright 2021 The Linux Foundation # INSERT YEAR & ORG
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

  import QtQuick 2.6
  import QtQuick.Layouts 1.1
  import QtQuick.Controls 2.0
  import AGL.Demo.Controls 1.0

  import QtQuick.Window 2.13

  ApplicationWindow {

      // ----- Setup
      id: root
      width: Window.width * roles.scale
      height: Window.height * roles.scale

      // ----- Childs
      Label {
    id: title
    font.pixelSize: 48
    text: "Hello World Counter"
    anchors.horizontalCenter: parent.horizontalCenter
      }

  }

$ vim Hellocount.qrc

  <RCC>
      <qresource prefix="/">
          <file>Hellocount.qml</file>
      </qresource>
  </RCC>

$ vim CMakeLists.txt

  set(CMAKE_INCLUDE_CURRENT_DIR ON)
  set(CMAKE_AUTOMOC ON)
  set(CMAKE_AUTORCC ON)
  set(CMAKE_CXX_STANDARD 14)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
  set(OE_QMAKE_PATH_EXTERNAL_HOST_BINS $ENV{OE_QMAKE_PATH_HOST_BINS})

  find_package(Qt5 COMPONENTS Core Gui QuickControls2 QuickWidgets WebSockets REQUIRED)

  PROJECT_TARGET_ADD(hellocount)

  add_executable(hellocount
      "main.cpp"
      "Hellocount.qrc"
  )

  set_target_properties(hellocount PROPERTIES
      LABELS "EXECUTABLE"
      PREFIX ""
      COMPILE_FLAGS " -DFOR_AFB_BINDING"
      LINK_FLAGS "${BINDINGS_LINK_FLAG}"
      OUTPUT_NAME "${TARGET_NAME}"
  )

  target_link_libraries(hellocount
      Qt5::WebSockets
      Qt5::QuickWidgets
      Qt5::QuickControls2
      json-c
      libafb-helpers-qt.a
  )

# Build and Package wgt using autobuild
$ cd ..
$ ./autobuild/agl/autobuild build
$ ./autobuild/agl/autobuild package
## The hellocount-debug.wgt file is packaged and available at ~/Documents/agl-app/newtestapp/build.
  • We need the agl-demo-image (with core dependencies for ROS2 + YDLIDAR) instead of agl-weston-image due to presence of app-framework and qt peripherals.