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移植BehaviorTree.CPP到OpenHarmony標準系統(tǒng)之一

作者：離北況歸
系統(tǒng) OpenHarmony
本篇將分享兩種移植方式，為 BehaviorTree.CPP 編寫B(tài)UILD.gn 進行Rom集成，移植后編譯出來的so和可執(zhí)行文件打包進入固件的方法，移植相關的文件ohos.build修改為bundle.json，ohos.build不再使用。

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1、為BehaviorTree.CPP編寫B(tài)UILD.gn進行Rom集成

  • Rom集成筆者開發(fā)環(huán)境：
  • wsl2+ubuntu18.04
  • OpenHarmony 3.2 release 源碼
  • 潤和大禹200開發(fā)板

2、修改build/subsystem_config.json，新增子系統(tǒng)behaviortree定義

在源碼/build/subsystem_config.json中增加子系統(tǒng)behaviortree。

"behaviortree": {
    "path": "third_party/behaviortree",
    "name": "behaviortree"
  }

3、修改vendor/hihope/rk3568/config.json文件將behaviortree添加至rk3568開發(fā)板

{
      "subsystem": "behaviortree",
      "components": [
        {
          "component": "behaviortree",
          "features": []
        }
      ]
    }

4、在OpenHarmony標準系統(tǒng)源碼下third_party下放置BehaviorTree.CPP源碼

  • BehaviorTree.CPP 源碼版本為4.1.1 ：https://github.com/BehaviorTree/BehaviorTree.CPP/tree/4.1.1。
  • 并且文件夾名稱修改為behaviortree。

5、third_party/behaviortree目錄下添加bundle.json文件

  • 特別說明：ohos.build不再使用，OpenHarmony源碼中全部使用bundle.json。
  • bundle.json文件:
{
  "name": "@ohos/behaviortree",
  "description": "",
  "version": "",
  "license": "",
  "publishAs": "",
  "segment": {
      "destPath": "third_party/behaviortree"
  },
  "dirs": {},
  "scripts": {},
  "readmePath": {
  },
  "component": {
      "name": "behaviortree",
      "subsystem": "behaviortree",
      "syscap": [],
      "features": [],
      "adapted_system_type": [],
      "rom": "",
      "ram": "",
      "deps": {
          "components": [],
          "third_party": []
      },
      "build": {
          "sub_component": [
            "http://third_party/behaviortree:lexy_file",
            "http://third_party/behaviortree:bt_sample_nodes",
            "http://third_party/behaviortree:behaviortree_cpp",
            "http://third_party/behaviortree:dummy_nodes_dyn",
            "http://third_party/behaviortree:crossdoor_nodes_dyn",
            "http://third_party/behaviortree:movebase_node_dyn",
            "http://third_party/behaviortree:t01_build_your_first_tree",
            "http://third_party/behaviortree:t02_basic_ports",
            "http://third_party/behaviortree:t03_generic_ports",
            "http://third_party/behaviortree:t05_crossdoor",
            "http://third_party/behaviortree:t04_reactive_sequence",
            "http://third_party/behaviortree:t06_subtree_port_remapping",
            "http://third_party/behaviortree:t07_load_multiple_xml",
            "http://third_party/behaviortree:t08_additional_node_args",
            "http://third_party/behaviortree:t09_scripting",
            "http://third_party/behaviortree:t10_observer",
            "http://third_party/behaviortree:t11_replace_rules",
            "http://third_party/behaviortree:ex01_wrap_legacy",
            "http://third_party/behaviortree:ex02_runtime_ports",
            "http://third_party/behaviortree:ex03_ncurses_manual_selector",
            "http://third_party/behaviortree:ex04_waypoints"
          ],
          "inner_kits": [],
          "test": []
      }
  }
}

6、BehaviorTree.CPP編譯gn化,在third_party/behaviortree下添加BUILD.gn腳本文件

  • third_party/behaviortree/BUILD.gn配置的模塊有
  • so
  • libbehaviortree_cpp.z.so
  • libmovebase_node_dyn.z.so
  • libcrossdoor_nodes_dyn.z.so
  • libdummy_nodes_dyn.z.so
  • .a
  • liblexy_file.a
  • libbt_sample_nodes.a
  • 可執(zhí)行文件
  • t01_build_your_first_tree
  • t02_basic_ports
  • t03_generic_ports
  • t04_reactive_sequence
  • t05_crossdoor
  • t06_subtree_port_remapping
  • t07_load_multiple_xml
  • t08_additional_node_args
  • t09_scripting
  • t10_observer
  • t11_replace_rules
  • ex01_wrap_legacy
  • ex02_runtime_ports
  • ex03_ncurses_manual_selector
  • ex04_waypoints
  • 模塊之間的依賴關系
  • libbehaviortree_cpp.z.so依賴lexy_file.a
  • libcrossdoor_nodes_dyn.z.so依賴libbehaviortree_cpp.z.so
  • libmovebase_node_dyn.z.so依賴libbehaviortree_cpp.z.so
  • 所有的可執(zhí)行文件都依賴libbt_sample_nodes.a和libbehaviortree_cpp.z.so
  • third_party/behaviortree/BUILD.gn文件如下：
import("http://build/ohos.gni")  
##############################################################################

# 公共配置

config("public_config"){
    ldflags = [
       #"-lstdc++",
       #用-lc++替代-lstdc++
       "-lc++",
       "-Wl",
       "-lm",
       "-lc",
       "-lpthread",
    ]

}
##############################################################################

# liblexy_file.a

config("lexy_file_config"){
    #cflags_cc是用來存儲專門針對 C++ 語言編譯器的選項，只會被 C++ 編譯器使用。
    cflags_cc = [
       "-O3",
       "-DNDEBUG",  
       "-Wpedantic", 
       "-pedantic-errors", 
       "-Werror", 
       "-Wall", 
       "-Wextra", 
       "-Wconversion", 
       "-Wsign-conversion", 
       "-Wno-parentheses", 
       "-Wno-unused-local-typedefs", 
       "-Wno-array-bounds", 
       "-Wno-maybe-uninitialized", 
       "-Wno-restrict", 
       "-std=gnu++20",
    ]
}

ohos_static_library("lexy_file") {
    output_name = "lexy_file" # 可選，模塊輸出名

    sources = [
         "http://third_party/behaviortree/3rdparty/lexy/src/input/file.cpp",
    ]

    defines = [
    ]

    configs = [ 
         ":lexy_file_config", 
         ":public_config",
    ] 

    include_dirs = [
         "3rdparty/lexy/include",
    ]

    part_name = "behaviortree"

    subsystem_name = "behaviortree"
}

##############################################################################

# libbt_sample_nodes.a

config("bt_sample_nodes_config"){
    #cflags_cc是用來存儲專門針對 C++ 語言編譯器的選項，只會被 C++ 編譯器使用。
     cflags_cc = [
        "-O3", 
        "-DNDEBUG",    
        "-Wpedantic",   
        "-std=gnu++17",

        # 為了消除編譯報錯添加的
        "-fexceptions",
        "-frtti",
        "-Wno-unused-function",
     ]
}

ohos_static_library("bt_sample_nodes") {
    sources = [
        "sample_nodes/crossdoor_nodes.cpp",
        "sample_nodes/dummy_nodes.cpp",
        "sample_nodes/movebase_node.cpp",
    ]

    defines = [
    ]

    configs = [ 
         ":bt_sample_nodes_config", 
         ":public_config",
    ] 

    include_dirs = [
         "include",
         "sample_nodes"
    ]

    part_name = "behaviortree"

    subsystem_name = "behaviortree"
}

##############################################################################

# libbehaviortree_cpp.so

config("behaviortreecpp_config"){
    cflags_cc = [
        # 為了編譯libbehaviortree_cpp.so原生庫中添加的編譯器標志
        "-O3", 
        "-DNDEBUG",  
        "-fPIC",    
        "-Wpedantic",  
        "-Wall",  
        "-Wextra",  
        "-std=gnu++20",

        # 為了消除shared_library.cpp編譯報錯添加-fexceptions
        "-fexceptions",
        "-frtti",
        "-Wno-deprecated-volatile",
        "-Wno-unused-lambda-capture",
    ]

    include_dirs = [
         ".",
         "include",
         "3rdparty",
         "3rdparty/lexy/include",
    ]

}

ohos_shared_library("behaviortree_cpp") {
    output_name = "behaviortree_cpp" # 可選，模塊輸出名

    sources = [
        "src/action_node.cpp",
        "src/basic_types.cpp",
        "src/behavior_tree.cpp",
        "src/blackboard.cpp",
        "src/bt_factory.cpp",
        "src/decorator_node.cpp",
        "src/condition_node.cpp",
        "src/control_node.cpp",
        "src/shared_library.cpp",
        "src/tree_node.cpp",
        "src/script_parser.cpp",
        "src/json_export.cpp",
        "src/xml_parsing.cpp",
        "src/actions/test_node.cpp",
        "src/decorators/inverter_node.cpp",
        "src/decorators/repeat_node.cpp",
        "src/decorators/retry_node.cpp",
        "src/decorators/subtree_node.cpp",
        "src/decorators/delay_node.cpp",
        "src/controls/if_then_else_node.cpp",
        "src/controls/fallback_node.cpp",
        "src/controls/parallel_node.cpp",
        "src/controls/reactive_sequence.cpp",
        "src/controls/reactive_fallback.cpp",
        "src/controls/sequence_node.cpp",
        "src/controls/sequence_star_node.cpp",
        "src/controls/switch_node.cpp",
        "src/controls/while_do_else_node.cpp",
        "src/loggers/bt_cout_logger.cpp",
        "src/loggers/bt_file_logger.cpp",
        "src/loggers/bt_minitrace_logger.cpp",
        "src/loggers/bt_observer.cpp",
        "3rdparty/tinyxml2/tinyxml2.cpp",
        "3rdparty/minitrace/minitrace.cpp",
        "src/shared_library_UNIX.cpp",
    ]

    defines = [
        "LEXY_HAS_UNICODE_DATABASE=1",
        "behaviortree_cpp_EXPORTS",
    ]

    configs = [ 
         ":behaviortreecpp_config", 
         ":public_config",
    ] 

    deps = [
         "http://third_party/behaviortree:lexy_file",
    ]
    
    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]

    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# libdummy_nodes_dyn.so

config("dummy_nodes_dyn_config"){
    cflags_cc = [
        # 為了編譯libbehaviortree_cpp.so原生庫中添加的編譯器標志
        "-O3", 
        "-DNDEBUG",  
        "-fPIC",    
        "-Wpedantic",   
        "-std=gnu++17",

        # 為了消除shared_library.cpp編譯報錯添加-fexceptions
        "-fexceptions",
        "-frtti",
        "-Wno-deprecated-volatile",
        "-Wno-unused-lambda-capture",
    ]

    include_dirs = [
         "include",
         "sample_nodes"
    ]

}

ohos_shared_library("dummy_nodes_dyn") {
    
    output_name = "dummy_nodes_dyn" # 可選，模塊輸出名

    sources = [
        "sample_nodes/dummy_nodes.cpp",
    ]

    defines = [
        "BT_PLUGIN_EXPORT",
        "dummy_nodes_dyn_EXPORTS",
    ]

    configs = [ 
         ":dummy_nodes_dyn_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# libcrossdoor_nodes_dyn.so

config("crossdoor_nodes_dyn_config"){
    cflags_cc = [
        # 為了編譯libbehaviortree_cpp.so原生庫中添加的編譯器標志
        "-O3", 
        "-DNDEBUG",  
        "-fPIC",    
        "-Wpedantic",   
        "-std=gnu++17",

        # 為了消除shared_library.cpp編譯報錯添加-fexceptions
        "-fexceptions",
        "-frtti",
        "-Wno-deprecated-volatile",
        "-Wno-unused-lambda-capture",
    ]

    include_dirs = [
         "include",
         "sample_nodes"
    ]

}

ohos_shared_library("crossdoor_nodes_dyn") {
    
    output_name = "crossdoor_nodes_dyn" # 可選，模塊輸出名

    sources = [
        "sample_nodes/crossdoor_nodes.cpp",
    ]

    defines = [
        "BT_PLUGIN_EXPORT",
        "crossdoor_nodes_dyn_EXPORTS",
    ]

    configs = [ 
         ":crossdoor_nodes_dyn_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
    ]
    
    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]

    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# libmovebase_node_dyn.so

config("movebase_node_dyn_config"){
    cflags_cc = [
        # 為了編譯libbehaviortree_cpp.so原生庫中添加的編譯器標志
        "-O3", 
        "-DNDEBUG",  
        "-fPIC",    
        "-Wpedantic",   
        "-std=gnu++17",

        # 為了消除shared_library.cpp編譯報錯添加-fexceptions
        "-fexceptions",
        "-frtti",
        "-Wno-deprecated-volatile",
        "-Wno-unused-lambda-capture",
    ]

    include_dirs = [
         "include",
         "sample_nodes"
    ]

}

ohos_shared_library("movebase_node_dyn") {
    
    output_name = "movebase_node_dyn" # 可選，模塊輸出名

    sources = [
        "sample_nodes/movebase_node.cpp",
    ]

    defines = [
        "BT_PLUGIN_EXPORT",
        "movebase_node_dyn_EXPORTS",
    ]

    configs = [ 
         ":movebase_node_dyn_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t01_build_your_first_tree

config("executable_public_config"){
    cflags_cc = [
        # 為了編譯libbehaviortree_cpp.so原生庫中添加的編譯器標志
        "-O3", 
        "-DNDEBUG",   
        "-Wpedantic",   
        "-std=gnu++17",

        # 為了消除shared_library.cpp編譯報錯添加-fexceptions
        "-fexceptions",
        "-frtti",
        "-Wno-deprecated-volatile",
        "-Wno-unused-lambda-capture",
    ]

    include_dirs = [
         "include",
         "sample_nodes"
    ]

}

ohos_executable("t01_build_your_first_tree") {
    
    output_name = "t01_build_your_first_tree" # 可選，模塊輸出名

    sources = [
        "examples/t01_build_your_first_tree.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]
    
    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]

    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t02_basic_ports

ohos_executable("t02_basic_ports") {
    
    output_name = "t02_basic_ports" # 可選，模塊輸出名

    sources = [
        "examples/t02_basic_ports.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t03_generic_ports

ohos_executable("t03_generic_ports") {
    
    output_name = "t03_generic_ports" # 可選，模塊輸出名

    sources = [
        "examples/t03_generic_ports.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]

    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t04_reactive_sequence

ohos_executable("t04_reactive_sequence") {
    
    output_name = "t04_reactive_sequence" # 可選，模塊輸出名

    sources = [
        "examples/t04_reactive_sequence.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t05_crossdoor

ohos_executable("t05_crossdoor") {
    
    output_name = "t05_crossdoor" # 可選，模塊輸出名

    sources = [
        "examples/t05_crossdoor.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t06_subtree_port_remapping

ohos_executable("t06_subtree_port_remapping") {
    
    output_name = "t06_subtree_port_remapping" # 可選，模塊輸出名

    sources = [
        "examples/t06_subtree_port_remapping.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t07_load_multiple_xml

ohos_executable("t07_load_multiple_xml") {
    
    output_name = "t07_load_multiple_xml" # 可選，模塊輸出名

    sources = [
        "examples/t07_load_multiple_xml.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t08_additional_node_args

ohos_executable("t08_additional_node_args") {
    
    output_name = "t08_additional_node_args" # 可選，模塊輸出名

    sources = [
        "examples/t08_additional_node_args.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t09_scripting

ohos_executable("t09_scripting") {
    
    output_name = "t09_scripting" # 可選，模塊輸出名

    sources = [
        "examples/t09_scripting.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t10_observer

config("t10_observer_config"){
    cflags_cc = [
        # 為了編譯libbehaviortree_cpp.so原生庫中添加的編譯器標志
        "-O3", 
        "-DNDEBUG",   
        "-Wpedantic",   
        "-std=gnu++17",

        # 為了消除shared_library.cpp編譯報錯添加-fexceptions
        "-fexceptions",
        "-frtti",
        "-Wno-deprecated-volatile",
        "-Wno-unused-lambda-capture",
        "-Wno-unused-variable",
    ]

    include_dirs = [
         "include",
         "sample_nodes"
    ]

}

ohos_executable("t10_observer") {
    
    output_name = "t10_observer" # 可選，模塊輸出名

    sources = [
        "examples/t10_observer.cpp",
    ]

    configs = [ 
         ":t10_observer_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# t11_replace_rules

ohos_executable("t11_replace_rules") {
    
    output_name = "t11_replace_rules" # 可選，模塊輸出名

    sources = [
        "examples/t11_replace_rules.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# ex01_wrap_legacy

ohos_executable("ex01_wrap_legacy") {
    
    output_name = "ex01_wrap_legacy" # 可選，模塊輸出名

    sources = [
        "examples/ex01_wrap_legacy.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# ex02_runtime_ports

ohos_executable("ex02_runtime_ports") {
    
    output_name = "ex02_runtime_ports" # 可選，模塊輸出名

    sources = [
        "examples/ex02_runtime_ports.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# ex03_ncurses_manual_selector

ohos_executable("ex03_ncurses_manual_selector") {
    
    output_name = "ex03_ncurses_manual_selector" # 可選，模塊輸出名

    sources = [
        "examples/ex03_ncurses_manual_selector.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

# ex04_waypoints

ohos_executable("ex04_waypoints") {
    
    output_name = "ex04_waypoints" # 可選，模塊輸出名

    sources = [
        "examples/ex04_waypoints.cpp",
    ]

    configs = [ 
         ":executable_public_config", 
         ":public_config",
    ] 

    deps = [
        "http://third_party/behaviortree:behaviortree_cpp",
        "http://third_party/behaviortree:bt_sample_nodes",
    ]

    install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]
    
    part_name = "behaviortree"

    subsystem_name = "behaviortree"

}

##############################################################################

7、對源碼進行增量編譯，推送編譯生成BehaviorTree.CPP的so以及可執(zhí)行文件到開發(fā)板上，驗證編譯結果

（1）對源碼進行增量編譯

  • 推薦使用如下命令對對源碼進行增量編譯，編譯生成BehaviorTree.CPP的so以及可執(zhí)行文件
./build.sh --product-name rk3568 --ccache --build-target=behaviortree --disable-post-build --disable-package-image --gn-args enable_notice_collection=false --gn-args load_test_config=false
  • 默認編譯的是32位，添加–target-cpu arm64參數編譯64位
--product-name rk3568 :表示編譯的產品是rk3568 (潤和大禹200)
--build-target=behaviortree ：編譯子系統(tǒng)behaviortree

以下這些都是加快編譯速度的選項
--ccache --build-target=behaviortree --disable-post-build --disable-package-image --gn-args enable_notice_collection=false --gn-args load_test_config=false

（2）推送編譯生成BehaviorTree.CPP的so以及可執(zhí)行文件到開發(fā)板上，驗證編譯結果

so和可執(zhí)行文件在out\rk3568\behaviortree目錄下：

liblexy_file.a、libbt_sample_nodes.a等靜態(tài)庫文件在out\rk3568\obj\third_party\behaviortree目錄下。

1、通過與ohos版本匹配的hdc_std工具,將編譯生成的庫以及測試用的可執(zhí)行文件推送到開發(fā)板system/lib (lib64)

  • 推送到開發(fā)板system/lib (lib64)，是因為運行需要鏈接該目錄下的libc++.so
  • 注意，不再是用hdc_std，改成了hdc
hdc shell               
mount -o remount,rw /	    ## 重新加載系統(tǒng)為可讀寫
chmod 777 t02_basic_ports
./t02_basic_ports

8、對源碼進行增量編譯全量編譯，燒錄固件驗證編譯結果。

  • 如果有將編譯生成BehaviorTree.CPP的so以及可執(zhí)行文件打包到固件，隨固件燒錄到開發(fā)板的需求。推薦進行全量編譯，執(zhí)行 ./build.sh --product-name rk3568 --ccache ，然后編譯燒錄固件到開發(fā)板上即可。
  • 編譯燒錄好固件到開發(fā)板后，so文件會在開發(fā)板system/lib(64位系統(tǒng)的話在system/lib64)，可執(zhí)行文件會在system/bin。
  • hdc shell進入開發(fā)板后，在任意目錄層級下執(zhí)行可執(zhí)行文件都可以。

  • 將編譯生成BehaviorTree.CPP的so以及可執(zhí)行文件打包到固件，在上文third_party/behaviortree/BUILD.gn中已經添加相關代碼。
install_enable = true
    
    install_images = [
         "system",
         "ramdisk",
         "updater",
    ]

想了解更多關于開源的內容，請訪問：

51CTO 開源基礎軟件社區(qū)

https://ost.51cto.com

責任編輯：jianghua 來源： 51CTO 開源基礎軟件社區(qū)
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