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I want to use OPEN on microcontroller, ideally on some Cortex-M4 or Cortex-M33 core. Firstly I'm trying to compile project for something diffrent than my computer (x86_64-unknown-linux-gnu). I saw that in main README there is mentioned Raspberry Pi Pico, so I go for it first.
Using python interface i designed my optimizer and it works perfectly using TCP/IP interface in another python test app. I remove TCP/IP interface generation, add C binding generation option and specify target.
# for python test app#build = og.config.BuildConfiguration() \# .with_build_mode('release') \# .with_tcp_interface_config()# for RPIbuild=og.config.BuildConfiguration() \
.with_target_system('arm-unknown-linux-gnueabihf') \
.with_build_mode('release') \
.with_build_c_bindings()
After compilation I expected static linked library for RPI architecture and no errors, but instead I receive many liner errors from Rust:
[INFO] --- Initialising builder: 'open_optimizer'
[INFO] Checking user parameters
[INFO] Creating necessary folders
[INFO] Copying icasadi interface to target directory
[INFO] Generating icasadi's Cargo.toml
[INFO] Generating Cargo.toml for target optimizer
[INFO] Generating icasadi Rust library file
[INFO] Defining CasADi functions and generating C code
[INFO] Defining function psi(u, xi, p) and its gradient
[INFO] Function psi and its gradient (C code)
[INFO] Defining function F1(u, p)
[INFO] Mapping F1 (C code)
[INFO] Defining function F2(u, p)
[INFO] Mapping F2 (C code)
[INFO] Defining preconditioning functions
[INFO] Generating casadi_memory.h
[INFO] Generating intercafe.c (C interface)
[INFO] Generating main code for target optimizer (lib.rs)
[INFO] Generating build.rs for target optimizer
[INFO] Generating YAML configuration file
[INFO] Making CasADi functions static
[INFO] Building optimizer
error: linking with `cc` failed: exit status: 1
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= note: LC_ALL="C" PATH="/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin:/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin:/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin:/opt/drake/bin:/usr/local/texlive/2024/bin/x86_64-linux:/home/emozdzen/xtensa-lx106-elf/bin:/home/emozdzen/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi/bin:/opt/drake/bin:/opt/ros/iron/bin:/usr/local/texlive/2024/bin/x86_64-linux:/home/emozdzen/xtensa-lx106-elf/bin:/home/emozdzen/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi/bin:/home/emozdzen/.cargo/bin:/home/emozdzen/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin" VSLANG="1033" "cc" "-Wl,--version-script=/tmp/rustcfQt8jp/list" "-Wl,--no-undefined-version" "/tmp/rustcfQt8jp/symbols.o" 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= note: /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
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/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
/usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: error adding symbols: file in wrong format
collect2: error: ld returned 1 exit status
error: could not compile `open_optimizer` (lib) due to 1 previous error
Traceback (most recent call last):
File "/home/emozdzen/repos/uav-tvc-goose/software/simulation/mpc-gen.py", line 117, in <module>
builder.build()
File "/home/emozdzen/.local/lib/python3.10/site-packages/opengen/builder/optimizer_builder.py", line 874, in build
self.__build_optimizer() # build overall project
File "/home/emozdzen/.local/lib/python3.10/site-packages/opengen/builder/optimizer_builder.py", line 577, in __build_optimizer
raise Exception('Rust build failed')
Exception: Rust build failed
System information:
Ubuntu 22.04
python 3.10.12
opengen 0.9.2 (installed via pip)
cargo 1.82
rustup 1.27.1
rustc 1.82
after typing rustup show I see:
Default host: x86_64-unknown-linux-gnu
rustup home: /home/emozdzen/.rustup
installed targets for active toolchain
--------------------------------------
arm-unknown-linux-gnueabihf
thumbv7em-none-eabi
thumbv8m.main-none-eabi
x86_64-unknown-linux-gnu
active toolchain
----------------
stable-x86_64-unknown-linux-gnu (default)
rustc 1.82.0 (f6e511eec 2024-10-15)
The text was updated successfully, but these errors were encountered:
Describe the bug
I want to use OPEN on microcontroller, ideally on some Cortex-M4 or Cortex-M33 core. Firstly I'm trying to compile project for something diffrent than my computer (x86_64-unknown-linux-gnu). I saw that in main README there is mentioned Raspberry Pi Pico, so I go for it first.
Using python interface i designed my optimizer and it works perfectly using TCP/IP interface in another python test app. I remove TCP/IP interface generation, add C binding generation option and specify target.
After compilation I expected static linked library for RPI architecture and no errors, but instead I receive many liner errors from Rust:
System information:
after typing
rustup show
I see:The text was updated successfully, but these errors were encountered: