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Cross-compiling for Raspberry Pi

The following instructions have been used to cross-compile nmos-cpp and all its dependencies for the Raspberry Pi, from a Linux (Ubuntu 14.04 LTS) box.

Set up Raspberry Pi Tools

First, create a directory to install the Raspberry Pi Tools and required components. For the rest of these instructions, the directory ~/rpi is assumed.

mkdir ~/rpi
cd ~/rpi

# Get the Raspberry Pi Tools.
git clone https://github.com/raspberrypi/tools.git

# Set up environment variables for the Raspberry Pi Tools.
cd ~/rpi
export RPI_ROOT=$(pwd)
export RPI_LIBS=${RPI_ROOT}/libs
export RPI_TOOLS_DIR=${RPI_ROOT}/tools
export PATH=$PATH:${RPI_ROOT}/tools/arm-bcm2708/arm-linux-gnueabihf/bin

# Set up environment variable for package configuration
export PKG_CONFIG_PATH=${RPI_ROOT}/lib/pkgconfig

# Set up environment variables for cross-compiling those dependencies not using CMake.
export CROSS=arm-linux-gnueabihf
export CC=${CROSS}-gcc
export LD=${CROSS}-ld
export AS=${CROSS}-as
export AR=${CROSS}-ar

An example CMake toolchain file is provided in this repo. Copy it to ~/rpi.

Dependencies

As described in the main Dependencies notes, the nmos-cpp codebase utilizes a number of other open-source projects. In addition to the Boost C++ Libraries, C++ REST SDK which need to be built for most platforms, when cross-compiling for Raspberry Pi, a number of other libraries probably need to be built. They are OpenSSL, Avahi, and its dependencies (Expat, libdaemon and D-Bus). All cross-compiled components will be stored in the directory specified by ${RPI_LIBS}, e.g. ~/rpi/libs.

OpenSSL

# Fetch the library.
cd ~
git clone https://github.com/openssl/openssl.git

# Configure for cross-compiling.
cd openssl
./Configure linux-generic32 --prefix=${RPI_LIBS} --openssldir=${RPI_LIBS}/openssl

# Cross-compile and install into ${RPI_LIBS}.
make
make install

Boost C++ Libraries

# Download and unpack the libraries.
cd ~
wget https://boostorg.jfrog.io/artifactory/main/release/1.78.0/source/boost_1_78_0.tar.gz 
tar -xf boost_1_78_0.tar.gz

# Prepare Boost tools.
cd boost_1_78_0
./bootstrap.sh

# Configure for cross-compiling.
echo "import option ; import feature ; using gcc : arm : arm-linux-gnueabihf-g++ ;" > ~/user-config.jam

# Cross-compile required Boost libraries, and install into ${RPI_LIBS}.
./b2 install toolset=gcc-arm \
  --prefix=${RPI_LIBS} \
  --with-atomic \
  --with-chrono \
  --with-date_time \
  --with-filesystem \
  --with-random \
  --with-regex \
  --with-system \
  --with-thread \
  --stagedir=. stage

C++ REST SDK

# Fetch the library.
cd ~
git clone --recurse-submodules https://github.com/Microsoft/cpprestsdk.git

# Configure for cross-compiling.
cd cpprestsdk/Release
mkdir build.rpi
cd build.rpi
cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DCPPREST_EXCLUDE_COMPRESSION=1 \
  -DWERROR=0 \
  -DCMAKE_TOOLCHAIN_FILE=${RPI_ROOT}/Toolchain-rpi.cmake \
  -DCMAKE_INSTALL_PREFIX=${RPI_LIBS} \
  -DBUILD_SAMPLES=0 \
  -DBUILD_TESTS=0

# Cross-compile and install into ${RPI_LIBS}.
make
make install

Expat

This XML parser library is required by Avahi.

# Download and unpack the library.
cd ~
wget https://github.com/libexpat/libexpat/releases/download/R_2_2_5/expat-2.2.5.tar.bz2
tar -xf expat-2.2.5.tar.bz2

# Configure for cross-compiling.
cd expat-2.2.5
./configure --host=arm-linux-gnueabihf --prefix=${RPI_LIBS} ac_cv_func_setpgrp_void=yes 

# Cross-compile and install into ${RPI_LIBS}.
make
make install

libdaemon

This library for writing daemons is required by Avahi.

# Download and unpack the library.
cd ~
wget http://0pointer.de/lennart/projects/libdaemon/libdaemon-0.14.tar.gz
tar -xf libdaemon-0.14.tar.gz

# Configure for cross-compiling.
cd libdaemon-0.14
./configure --host=arm-linux-gnueabihf --prefix=${RPI_LIBS} ac_cv_func_setpgrp_void=yes

# Cross-compile and install into ${RPI_LIBS}.
make
make install

D-Bus

This library for interprocess communication is required by Avahi.

# Download and unpack the library.
cd ~
wget https://dbus.freedesktop.org/releases/dbus/dbus-1.12.8.tar.gz
tar -xf dbus-1.12.8.tar.gz

# Configure for cross-compiling.
cd dbus-1.12.8
./configure --host=arm-linux-gnueabihf --prefix=${RPI_LIBS} \
  CPPFLAGS=-I${RPI_LIBS}/include \
  LDFLAGS=-L${RPI_LIBS}/lib \
  EXPAT_CFLAGS=" " \
  EXPAT_LIBS=-lexpat

# Cross-compile and install into ${RPI_LIBS}.
make
make install

Avahi

Although Avahi is pre-installed on the Raspberry Pi, the optional avahi-compat-libdns_sd library must be built.

# Download and unpack the library.
cd ~
wget https://github.com/lathiat/avahi/releases/download/v0.7/avahi-0.7.tar.gz
tar -xf avahi-0.7.tar.gz

# Configure for cross-compiling.
cd avahi-0.7
./configure --host=arm-linux-gnueabihf --prefix=${RPI_LIBS} \
   CPPFLAGS=-I${RPI_LIBS}/include \
   LDFLAGS=-L${RPI_LIBS}/lib \
   --with-distro=none \
   --disable-glib --disable-gobject --disable-gdbm --disable-qt3 --disable-qt4 --disable-gtk --disable-gtk3 --disable-mono --disable-monodoc --disable-python \
   --enable-compat-libdns_sd \
   --with-systemdsystemunitdir=no \
   LIBDAEMON_CFLAGS=" " \
   LIBDAEMON_LIBS=-ldaemon

# Cross-compile and install into ${RPI_LIBS}.
make
make install

Building nmos-cpp

For more detailed instructions about building nmos-cpp itself, see the main Getting Started instructions.

# Fetch the library.
cd ~
git clone https://github.com/sony/nmos-cpp.git

# Configure for cross-compiling.
cd ~/nmos-cpp/Development
mkdir build.rpi
cd build.rpi
cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_TOOLCHAIN_FILE=${RPI_ROOT}/Toolchain-rpi.cmake \
  -DWEBSOCKETPP_INCLUDE_DIR:PATH="~/cpprestsdk/Release/libs/websocketpp" \
  -DNMOS_CPP_USE_SUPPLIED_JSON_SCHEMA_VALIDATOR=1 \
  -DNMOS_CPP_USE_SUPPLIED_JWT_CPP=1 \
  -DNMOS_CPP_USE_AVAHI=1 \
  -DAvahi_INCLUDE_DIR=${RPI_LIBS}/include/avahi-compat-libdns_sd

# Cross-compile the library.
make

Note that the following error may be reported after linking nmos-cpp-test.

nmos-cpp-test: Syntax error: word unexpected (expecting ")")

It is because the dynamic test discovery attempts to run the cross-compiled nmos-cpp-test, which of course doesn't work.

Prepare the Raspberry Pi

  1. On the Raspberry Pi, prepare directories for the software 
    cd ~
mkdir bin
mkdir lib
  2. Enable SSH
    • Choose menu Preferences > Raspberry Pi Configuration
    • Under the Interfaces tab, select the "SSH: Enabled" option
    • Click OK to reboot the Pi
      Note: Default username: pi, password: raspberry
  3. Set a static IP address for the Pi 
    sudo nano /etc/dhcpcd.conf
    • Uncomment the following lines under "Example static IP configuration" 
      static ip_address=192.168.0.10/24 
static routers=192.168.0.1 
static domain_name_servers=192.168.0.1 8.8.8.8
    • Uncomment the following line under "fallback to static profile on eth0" 
      interface eth0

    sudo reboot
    The Pi is now configured with 192.168.0.10 as its static IP address.
  4. Set up the host Linux machine's network interface
    • Set an appropriate mask and address, e.g. 192.168.0.20, to be able to communicate with the Pi
    • Confirm the Pi responds to a ping via this interface
  5. Transfer nmos-cpp and dependences to the Pi with scp 
    cd nmos-cpp/Development/build.rpi
scp nmos-cpp-registry nmos-cpp-node [email protected]:/home/pi/bin
scp ~/rpi/libs/lib/* [email protected]:/home/pi/lib

Start an NMOS Registry and Node on the Raspberry Pi

Now try running the NMOS Registry and an NMOS Node provided by nmos-cpp. See the Tutorial for more information.

On the Raspberry Pi, open a terminal:

  • Ensure avahi-daemon is running, ps -e | grep avahi-daemon; if not running, do sudo avahi-daemon &
  • Start the NMOS Registry 
    cd ~/bin
export LD_LIBRARY_PATH=~/lib
./nmos-cpp-registry "{\"http_port\":8080}"

Open a second terminal to run an NMOS Node.

  • Start the NMOS Node 
    cd ~/bin
export LD_LIBRARY_PATH=~/lib
./nmos-cpp-node "{\"http_port\":1080}"

The Node should register successfully with the Registry.