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Support cross compilation to aarch64 #151

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Support cross compilation to aarch64 #151

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2b1e965
Support cross compilation to aarch64
henriksod Jul 29, 2023
7353899
Merge branch 'main' into feature/aarch64_support
henriksod Jul 30, 2023
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4 changes: 4 additions & 0 deletions .bazelrc
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Expand Up @@ -30,6 +30,10 @@ build:clang --repo_env=CC=clang
build:clang --repo_env=CXX=clang++
build:clang --linkopt="-fuse-ld=lld"

# To cross-compile towards aarch64, invoke Bazel with `--config=aarch64_linux_gcc`.
build:platform_build --incompatible_enable_cc_toolchain_resolution
build:aarch64_linux_gcc --config=platform_build --platforms=@aspect_gcc_toolchain//platforms:aarch64_linux

# Load any settings specific to the current user.
# user.bazelrc should appear in .gitignore so that settings are not shared with
# team members. This needs to be last statement in this config,
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28 changes: 28 additions & 0 deletions WORKSPACE
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Expand Up @@ -46,3 +46,31 @@ load(
)

install_rules_ros2_resolver_deps()

load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")

http_archive(
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This is nothing that we strictly need in the global WORKSPACE file, as it is only used to test cross compilation. I'd prefer adding that to the examples workspace or even create a new WORKSPACE for this.

@mvukov What do you think?

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Hi! I suggest it is run through CI anyways, to ensure compilation towards aarch64 doesn't break.

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@ahans ahans Jul 30, 2023 •
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Yes, I'm all for running it in CI, just setup a bit differently. We already have two jobs, one for the main workspace and one for examples. Would be easy to add a third. To trigger aarch64 compilation you need an extra job anyway.

name = "aspect_gcc_toolchain",
sha256 = "8850373f24d3f8bb6e8f36e3e8e7edc93d948964f8f201e920af2c8ffba2002c",
strip_prefix = "gcc-toolchain-4bd1f94536ee92b7c49673931773038d923ee86e",
url = "https://github.com/aspect-build/gcc-toolchain/archive/4bd1f94536ee92b7c49673931773038d923ee86e.tar.gz",
)

load("@aspect_gcc_toolchain//toolchain:repositories.bzl", "gcc_toolchain_dependencies")

gcc_toolchain_dependencies()

load("@bazel_skylib//:workspace.bzl", "bazel_skylib_workspace")

bazel_skylib_workspace()

load("@aspect_bazel_lib//lib:repositories.bzl", "aspect_bazel_lib_dependencies")

aspect_bazel_lib_dependencies()

load("@aspect_gcc_toolchain//toolchain:defs.bzl", "ARCHS", "gcc_register_toolchain")

gcc_register_toolchain(
name = "gcc_toolchain_aarch64",
target_arch = ARCHS.aarch64,
)
45 changes: 43 additions & 2 deletions repositories/openssl.BUILD.bazel
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@@ -1,5 +1,40 @@
load("@bazel_skylib//lib:selects.bzl", "selects")
load("@rules_foreign_cc//foreign_cc:defs.bzl", "configure_make")

# support cross-compilation
# otherwise openssl will configure towards the host system
selects.config_setting_group(
name = "linux_aarch64",
match_all = [
"@platforms//os:linux",
"@platforms//cpu:aarch64",
],
)

selects.config_setting_group(
name = "linux_x86_64",
match_all = [
"@platforms//os:linux",
"@platforms//cpu:x86_64",
],
)

selects.config_setting_group(
name = "macos_x86_64",
match_all = [
"@platforms//os:macos",
"@platforms//cpu:x86_64",
],
)

selects.config_setting_group(
name = "macos_aarch64",
match_all = [
"@platforms//os:macos",
"@platforms//cpu:aarch64",
],
)

filegroup(
name = "all_srcs",
srcs = glob(
Expand All @@ -17,11 +52,17 @@ filegroup(
configure_make(
name = "openssl",
args = ["-j4"],
configure_command = "config",
configure_command = "Configure",
configure_options = [
"no-shared",
"--libdir=lib",
],
] + select({
":linux_x86_64": ["linux-x86_64"],
":linux_aarch64": ["linux-aarch64"],
":macos_x86_64": ["darwin64-x86_64-cc"],
":macos_aarch64": ["darwin64-arm64-cc"],
"//conditions:default": [],
}),
lib_source = ":all_srcs",
linkopts = ["-ldl"],
out_static_libs = [
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27 changes: 27 additions & 0 deletions repositories/patches/cyclonedds_remove_flto.patch
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@@ -0,0 +1,27 @@
diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
index a4bd15ef..f68174f2 100644
--- a/src/core/CMakeLists.txt
+++ b/src/core/CMakeLists.txt
@@ -28,14 +28,14 @@ if(ENABLE_SSL AND OPENSSL_FOUND)
endif()
endif()

-include(CheckIPOSupported)
-check_ipo_supported(RESULT ipo_supported OUTPUT error)
-if(ipo_supported)
- set_property(TARGET ddsc PROPERTY INTERPROCEDURAL_OPTIMIZATION_RELEASE TRUE)
- set_property(TARGET ddsc PROPERTY INTERPROCEDURAL_OPTIMIZATION_MINSIZEREL TRUE)
- #-flto and debugging info do not seem to go well together
- #set_property(TARGET ddsc PROPERTY INTERPROCEDURAL_OPTIMIZATION_RELWITHDEBINFO TRUE)
-endif()
+#include(CheckIPOSupported)
+#check_ipo_supported(RESULT ipo_supported OUTPUT error)
+#if(ipo_supported)
+# set_property(TARGET ddsc PROPERTY INTERPROCEDURAL_OPTIMIZATION_RELEASE TRUE)
+# set_property(TARGET ddsc PROPERTY INTERPROCEDURAL_OPTIMIZATION_MINSIZEREL TRUE)
+# #-flto and debugging info do not seem to go well together
+# #set_property(TARGET ddsc PROPERTY INTERPROCEDURAL_OPTIMIZATION_RELWITHDEBINFO TRUE)
+#endif()

# Support the OMG DDS Security within ddsc adds quite a bit of code.
if(ENABLE_SECURITY)
2 changes: 2 additions & 0 deletions repositories/ros2_repositories_impl.bzl
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Expand Up @@ -43,6 +43,8 @@ def ros2_repositories_impl():
http_archive,
name = "cyclonedds",
build_file = "@com_github_mvukov_rules_ros2//repositories:cyclonedds.BUILD.bazel",
patch_args = ["-p1"],
patches = ["@com_github_mvukov_rules_ros2//repositories/patches:cyclonedds_remove_flto.patch"],
sha256 = "b2ae16fa6a1812e453f5bf31e4dcb7ce263e486279c0530565a33a49c71c74b8",
strip_prefix = "cyclonedds-0.9.1",
url = "https://github.com/eclipse-cyclonedds/cyclonedds/archive/refs/tags/0.9.1.tar.gz",
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