Add soemJavaNativeLibrary and support cross compilation for aarch64

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5.1)
 project(ihmcsoemwrapper)
 
 add_subdirectory(swig)

Dockerfile-arm64_cross

@@ -0,0 +1,72 @@
+# Do not publish to dockerhub
+FROM ubuntu:20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get --yes update  \
+ && apt-get --yes install \
+    nano \
+    git \
+    wget \
+    curl \
+    unzip \
+    locales \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    software-properties-common \
+    sudo \
+    build-essential \
+    swig \
+    cmake \
+    openjdk-17-jdk \
+    gcc-aarch64-linux-gnu \
+    binutils-aarch64-linux-gnu \
+    g++-aarch64-linux-gnu \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
+ENV PATH=$PATH:$JAVA_HOME/bin
+
+# Installing SOEM
+WORKDIR /opt
+RUN git clone https://github.com/OpenEtherCATsociety/SOEM.git
+WORKDIR /opt/SOEM
+RUN mkdir build && cd build
+WORKDIR /opt/SOEM/build
+RUN cmake -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc \
+    -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ \
+    -DCMAKE_FIND_ROOT_PATH=/usr/aarch64-linux-gnu \
+    -DCMAKE_PROGRAM_PATH=/usr/aarch64-linux-gnu/bin \
+    -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr \
+    -DCMAKE_POSITION_INDEPENDENT_CODE=true \
+    -DCMAKE_BUILD_TYPE=Release \
+    ..
+RUN make
+RUN make install
+
+# Setup a robotlab user as the development user, to avoid using root.
+# Allows using sudo with robotlab user without a password.
+RUN addgroup robotlab \
+ && adduser --uid 1000 --gid 1000 --home /home/robotlab --disabled-password robotlab \
+ && chown -R robotlab /home/robotlab \
+ && adduser robotlab sudo \
+ && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER robotlab
+WORKDIR /home/robotlab
+
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/build
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/src
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/swig
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/build
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/src
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/swig
+WORKDIR /home/robotlab/dev/ihmc-ethercat-master
+
+ENTRYPOINT ["/bin/bash"]
+CMD ["build-arm64_cross.sh"]

Dockerfile-x86_64

@@ -0,0 +1,62 @@
+# Do not publish to dockerhub
+FROM ubuntu:20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get --yes update  \
+ && apt-get --yes install \
+    nano \
+    git \
+    wget \
+    curl \
+    unzip \
+    locales \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    software-properties-common \
+    sudo \
+    build-essential \
+    swig \
+    cmake \
+    openjdk-17-jdk \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
+ENV PATH=$PATH:$JAVA_HOME/bin
+
+# Installing SOEM
+WORKDIR /opt
+RUN git clone https://github.com/OpenEtherCATsociety/SOEM.git
+WORKDIR /opt/SOEM
+RUN mkdir build && cd build
+WORKDIR /opt/SOEM/build
+RUN cmake -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=true -DCMAKE_BUILD_TYPE=Release ..
+RUN make
+RUN make install
+
+# Setup a robotlab user as the development user, to avoid using root.
+# Allows using sudo with robotlab user without a password.
+RUN addgroup robotlab \
+ && adduser --uid 1000 --gid 1000 --home /home/robotlab --disabled-password robotlab \
+ && chown -R robotlab /home/robotlab \
+ && adduser robotlab sudo \
+ && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER robotlab
+WORKDIR /home/robotlab
+
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/build
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/src
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/swig
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/build
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/src
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/swig
+WORKDIR /home/robotlab/dev/ihmc-ethercat-master
+
+ENTRYPOINT ["/bin/bash"]
+CMD ["build-x86_64.sh"]

build-arm64_cross.sh

@@ -0,0 +1,11 @@
+#!/bin/sh
+export AARCH64_CROSS=1
+
+# Build for arm64
+mkdir -p build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../linux-aarch64-toolchain.cmake ..
+make
+../gradlew publishToMavenLocal -Ptarget=JAVA
+../gradlew publishToMavenLocal -Ptarget=PLATFORM
+cd ..

build.sh → build-x86_64.sh

@@ -1,13 +1,9 @@
-#!/bin/bash
-# Uncomment for debugging this script
-set -o xtrace
-
+#!/bin/sh
+# Build for native platform (probably x86_64)
+mkdir -p build
 cd build
-
 cmake -DCMAKE_BUILD_TYPE=Release ..
 make
-
-pwd
-ls ..
 ../gradlew publishToMavenLocal -Ptarget=JAVA
 ../gradlew publishToMavenLocal -Ptarget=PLATFORM
+cd ..

build.gradle.kts

@@ -17,8 +17,9 @@ ihmc {
 app.entrypoint("SlaveInfo", "us.ihmc.etherCAT.master.SlaveInfo")
 
 mainDependencies {
-   api("us.ihmc:soem:1.4.0-ihmc1")
-   api("us.ihmc:soem-platform-linux:1.4.0-ihmc1")
+   api("us.ihmc:soem:1.5.0")
+   api("us.ihmc:soem-platform-linux-x86_64:1.5.0")
+   api("us.ihmc:soem-platform-linux-arm64:1.5.0")
    api("us.ihmc:ihmc-native-library-loader:2.0.3")
    api("us.ihmc:ihmc-realtime:1.6.0")
 }

buildDockerImages.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+docker build -f Dockerfile-x86_64 -t ihmcrobotics/soem-compile-x86_64:0.1 .
+docker build -f Dockerfile-arm64_cross -t ihmcrobotics/soem-compile-arm64_cross:0.1 .

buildWithDocker.sh

@@ -1,34 +1,49 @@
-#!/bin/bash
-# Uncomment for debugging this script
-set -o xtrace
+#!/bin/sh
+rm -rf buildDocker
+mkdir -p buildDocker
 
-# Make sure it works one way or the other to reduce possible errors
-if (( EUID == 0 )); then
-    echo "Run without sudo." 1>&2
-    exit 1
-fi
+echo "Building soemJava x86_64"
+sudo docker run \
+    --rm \
+    --tty \
+    --interactive \
+    --network host \
+    --dns=1.1.1.1 \
+    --volume "$(pwd)/buildDocker":/home/robotlab/dev/ihmc-ethercat-master/build \
+    --volume "$(pwd)/src":/home/robotlab/dev/ihmc-ethercat-master/src \
+    --volume "$(pwd)/swig":/home/robotlab/dev/ihmc-ethercat-master/swig \
+    --volume "$(pwd)/build.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/build.gradle.kts \
+    --volume "$(pwd)/gradle.properties":/home/robotlab/dev/ihmc-ethercat-master/gradle.properties \
+    --volume "$(pwd)/settings.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/settings.gradle.kts \
+    --volume "$(pwd)/CMakeLists.txt":/home/robotlab/dev/ihmc-ethercat-master/CMakeLists.txt \
+    --volume "$(pwd)/build-x86_64.sh":/home/robotlab/dev/ihmc-ethercat-master/build-x86_64.sh \
+    --volume "$(pwd)/gradlew":/home/robotlab/dev/ihmc-ethercat-master/gradlew \
+    --volume "$(pwd)/gradle/wrapper":/home/robotlab/dev/ihmc-ethercat-master/gradle/wrapper \
+    --volume "$HOME/.m2":/home/robotlab/.m2 \
+    ihmcrobotics/soem-compile-x86_64:0.1
 
+sleep 1
+rm -rf buildDocker
 mkdir -p buildDocker
+sleep 1
 
-if [ ! "$(sudo -u root docker ps -a | grep ethercat-master)" ]; then
-    echo "ethercat-master not found. Running new container."
-    sudo -u root docker run \
-        --tty \
-        --interactive \
-        --name ethercat-master \
-        --network host \
-        --dns=1.1.1.1 \
-        --volume "$(pwd)/buildDocker":/home/robotlab/dev/ihmc-ethercat-master/build \
-        --volume "$(pwd)/src":/home/robotlab/dev/ihmc-ethercat-master/src \
-        --volume "$(pwd)/swig":/home/robotlab/dev/ihmc-ethercat-master/swig \
-        --volume "$(pwd)/build.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/build.gradle.kts \
-        --volume "$(pwd)/gradle.properties":/home/robotlab/dev/ihmc-ethercat-master/gradle.properties \
-        --volume "$(pwd)/settings.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/settings.gradle.kts \
-        --volume "$(pwd)/CMakeLists.txt":/home/robotlab/dev/ihmc-ethercat-master/CMakeLists.txt \
-        --volume "$(pwd)/build.sh":/home/robotlab/dev/ihmc-ethercat-master/build.sh \
-	--volume "$(pwd)/gradlew":/home/robotlab/dev/ihmc-ethercat-master/gradlew \
-	--volume "$(pwd)/gradle/wrapper":/home/robotlab/dev/ihmc-ethercat-master/gradle/wrapper \
-        ihmcrobotics/ethercat-master:0.2
-else
-    sudo -u root docker start --attach ethercat-master
-fi
+echo "Building soemJava arm64 (cross compiling)"
+sudo docker run \
+    --rm \
+    --tty \
+    --interactive \
+    --network host \
+    --dns=1.1.1.1 \
+    --volume "$(pwd)/buildDocker":/home/robotlab/dev/ihmc-ethercat-master/build \
+    --volume "$(pwd)/src":/home/robotlab/dev/ihmc-ethercat-master/src \
+    --volume "$(pwd)/swig":/home/robotlab/dev/ihmc-ethercat-master/swig \
+    --volume "$(pwd)/build.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/build.gradle.kts \
+    --volume "$(pwd)/gradle.properties":/home/robotlab/dev/ihmc-ethercat-master/gradle.properties \
+    --volume "$(pwd)/settings.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/settings.gradle.kts \
+    --volume "$(pwd)/CMakeLists.txt":/home/robotlab/dev/ihmc-ethercat-master/CMakeLists.txt \
+    --volume "$(pwd)/linux-aarch64-toolchain.cmake":/home/robotlab/dev/ihmc-ethercat-master/linux-aarch64-toolchain.cmake \
+    --volume "$(pwd)/build-arm64_cross.sh":/home/robotlab/dev/ihmc-ethercat-master/build-arm64_cross.sh \
+    --volume "$(pwd)/gradlew":/home/robotlab/dev/ihmc-ethercat-master/gradlew \
+    --volume "$(pwd)/gradle/wrapper":/home/robotlab/dev/ihmc-ethercat-master/gradle/wrapper \
+    --volume "$HOME/.m2":/home/robotlab/.m2 \
+    ihmcrobotics/soem-compile-arm64_cross:0.1

linux-aarch64-toolchain.cmake

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.5.1)
+
+set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER aarch64-linux-gnu-g++)
+set(CMAKE_FIND_ROOT_PATH /usr/aarch64-linux-gnu)
+set(CMAKE_PROGRAM_PATH /usr/aarch64-linux-gnu/bin)
+
+set(ENV{AARCH64_CROSS} "1")

readme.md

@@ -131,14 +131,17 @@ The gradle build files for the SOEM wrapper and native libraries are created by
 
 To build and publish run the following commands. Note that the gradle commands are ran from within the build directory.
 
-
-- cd ihmc-ethercat-master
-- mkdir build
-- cd build
-- cmake -DCMAKE_BUILD_TYPE=Release ..
-- make
-- ../gradlew publishToMavenLocal -Ptarget=JAVA
-- ../gradlew publishToMavenLocal -Ptarget=PLATFORM
+```
+cd ihmc-ethercat-master
+mkdir build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+# Cross compile for arm64 using the toolchain
+# cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../linux-aarch64-toolchain.cmake ..
+make
+../gradlew publishToMavenLocal -Ptarget=JAVA
+../gradlew publishToMavenLocal -Ptarget=PLATFORM
+```
 
 Note that if you want to publish multiple platform libraries you only have to run target=JAVA on a single platform
 
@@ -149,16 +152,6 @@ Note that if you want to publish multiple platform libraries you only have to ru
 
 ### Compiling with Docker
 
-Run `./buildWithDocker.sh`
-
-The Docker image is hosted at [https://hub.docker.com/r/ihmcrobotics/ethercat-master]().
-
-If changes to the Dockerfile are needed, build it with the following command, incrementing the version.
-Then, increment the version in the buildWithDocker.sh file before running.
-
-```
-# docker build --tag ihmcrobotics/ethercat-master:0.X .
-# docker rm ethercat-master
-```
+Build the docker images first with: `./buildDockerImages.sh`
 
-For more about IHMC Robotics's usage of Docker, see [https://github.com/ihmcrobotics/ihmc-open-robotics-software/tree/develop/docker]().
+Then run: `./buildWithDocker.sh` to build the artifacts, they will be copied to the host's local maven repository.