fredericmorin/cross-compiling-workshop

Experiment with different methods of cross compiling for aarch64 linux target

Run

• compile app natively
  • ./build-native-manual.sh
  • ./build-native-cmake.sh
• compile using docker build env
  • ./build-native-with-docker.sh
• cross compile app
  • ./build-aarch64-with-qemu.sh
  • ./build-aarch64-with-cmake.sh
• cross compile using docker qemu
  • ./build-aarch64-with-docker.sh
• cross compile using toolchain in a docker generated rootfs
  • ./build-aarch64-with-native-docker.sh

Benchmark

script	target(1)	compiler runtime	suitable for CI(2)	first run(3)	after clean(4)	rebuild
build-native-manual.sh	amd64	host	no	0.315s	0.307s	0.302s
build-native-cmake.sh	amd64	host	no	0.572s	0.594s	0.033s
build-ubuntu20-native-with-docker.sh	amd64	host (inside docker)	yes	43.458s	2.239s	1.464s
build-ubuntu20-aarch64-with-cmake.sh	aarch64	host	no	31.527s	30.661s	0.040s
build-ubuntu20-aarch64-with-qemu.sh	aarch64	aarch64 (inside proot)	no	94.758s	93.816s	2.990s
build-ubuntu20-aarch64-with-docker.sh	aarch64	aarch64 (inside docker)	yes	173.833s	13.854s	5.226s
build-ubuntu20-aarch64-with-native-docker.sh	aarch64	host (inside docker)	yes	74.967s	2.239s	1.965s
build-rpi-armhf-with-cmake.sh	armhf	host	no	71.621s	73.514s	0.060s

1. assumes host to be a amd64 platform
2. for CI using docker to standardise build env accross builders
3. using rm -rf workspace-build* && docker system prune --all --force to wipe cache
4. using rm -rf workspace-build*. Typical of a jenkins workspace cleanup

The App

Just a simple c++ pcap packet counter application.

Usage: app <pcapfile>
 pcapfile     pcap capture file with imu and lidar udp traffic

Deps

• Docker

• Docker 19.03+ (for scripts *-docker.sh)

  Docker version 19.03 or more recent is required cpu run CPU emulated container using docker buildx.

  See https://docs.docker.com/engine/install/ for installation instructions

• Additional host dependencies required (for scripts without -docker in their name)

  On ubuntu:

  sudo apt install -y \
    build-essential \
    cmake \
    g++-aarch64-linux-gnu \
    g++-arm-linux-gnueabihf \
    proot \
    qemu-user

  Adapt for other distros

Run all

./scripts/build-all.sh --clean

CI

To emulate a jenkins CI build environment locally prepend your command with ./scripts/ci/shell.sh.

./scripts/ci/shell.sh ./scripts/build-all.sh --clean