Esp-idf: [TW#14952] How to use CMake compile library for esp32 (Project: open62541)

[Gfast2]

Hi esp-idf,

In the past two days I've spent many hours trying to port _open62541_ project to _esp32_ platform with no luck. 🦄

---

About this protocol: Besides _MQTT_ as communication protocol for IoT applications, many companys choose _OPC UA_ as their preferred choice. Because _OPC Classic_ is well adopted since late 90's as M2M protocol in industry. Till now this standard is going on developed, specified and well standardized as _IEC TR 62541_ by _opc foundation_ and meanwhile very well documented on its _online doc_. Big Players like _ABB_, _Bosch_, _Festo_, _KUKA_, _SAP_, _Siemens_, _Cisco_, _Microsoft_ ... are their paied members.

The "Problem" of _OPC UA_ is that its not easy to getting started with and not real open-source. For example, as far as I know/understand, even this in public domain hosted _UA-AnsiC Stack_ from _opc foundation_ will only cost free for their paied members. The Project _open62541_ on the opposite side is the single open source implementation of _OPC UA_ in C. (_List of Open Source _OPC UA_ Implementations_).

---

Right now this project deploy _CMake_ to build the library from its source. I've tested it on my linux boxes. I can build/use this library in Linux enviroment without any issue. Because _esp-idf_ uses _FreeRTOS+LWIP_ for _xtensa_ cores. I started from _this PR_ which is for _ST32_ (also _FreeRTOS+LWIP_ based). After 2 day long tweaking around, I've learned pretty much from it. ("_CMake Cross Compiling_", "_How does CMake works_"...). But I still can not get this job done...

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I've to say, it's beyond my right now skill range. I'll appreciate to any help from here. 🚀 🌝

_P.s:
Because I really don't know how far what I've done before it makes open62541 works on esp32, So I don't post my error logs here. If it did make sense, I will._

[Spritetm]

FWIW, that STM32 branch is a mess when it comes to the Makefile... toolchain-specific hacks (like the nano.spec, Windows-specific and install-specific paths hardcoded, ... I'm not surprised you couldn't get it to compile.

Actually, the vanilla project seems to almost compile given the correct makefile... I've whipped one up here: https://gist.github.com/Spritetm/3f0c30af13b92a06a91850996694997d . The only issue seems to be that the lwip bsd-socket implementation isn't entirely compatible. The library may need some mangling in the tcp connector, and you may be fine.

[Gfast2]

Hi @Spritetm ,

thanks for you explanation and _this Gist_ first! It enlight me to trying the other possible way to build up this library - _Using esp-idf's build system directly_ 💡
I'll checkout your _component.mk_ today later.

---

_P.s:
This let me come to another question: Though Uncle Google can tell me endless info about kconfig. But I still didn't get the core idea... Is it something similar to cmake, but very Linux kernel (and esp-idf) specilized?_ ❔

[Spritetm]

Actually, esp-idfs build system normally handles compiling and linking itself, but it can be persuaded to relegate those tasks to other build systems - like cmake. The component.mk file in the gist does just that: it sets up the environment for cmake to understand esp-idfs compiler and include paths, then just calls on cmake to do the hard work of compiling and linking.

Kconfig is the config file that is used in 'make menuconfig', most famously known from the Linux kernel. I don't know cmake too well, but I infer it also has a configuration mechanism that is somewhat alike to it, yes.

[Gfast2]

Hi @Spritetm. Cool thanks for your answer firstly. I'll update my working status here later! (Hopfully do even a pull request for this.) 😎
(Sorry for the Issue _close / repoen_, my 9 month baby loves my mouse 🍼 )

[Gfast2]

Hi ESP, I'm back. 🖐

I've tried the component.mk file with a clean open62541 source. I stucked here:

[ 50%] Building C object CMakeFiles/open62541-object.dir/open62541.c.obj

Because of the lack of library porting experience. Though I've invest another couple of hours, I still can't let cmake happy with _esp_idf_ ecosystem. I got two type of errors.

• First type:

/home/gfast2/esp/esp-idf/components/esp32/include/esp_intr_alloc.h:267:1: error: function declaration isn't a prototype [-Werror=strict-prototypes]
 void esp_intr_noniram_disable();

In my opinion it's the compiler restriction setting which controlled by cmake is somehow more servere then the implementations of _esp-idf_. There are two discussions about this: This and This. But I think these shouldn't be big deal for me. 🍈

• Second type:

/home/gfast2/workspace/open62541_compile/build/open62541/open62541.c:26684:25: fatal error: sys/select.h: No such file or directory

This is the point where I spend most of my time. According to This Question. I've tried to fake these files, but still with no luck. Is there some suggestions for me ❔

---

The only issue seems to be that the lwip bsd-socket implementation isn't entirely compatible. The library may need some mangling in the tcp connector, and you may be fine.

Is this means, even though I got succeed to port this library to _esp_idf_, I still need to fighting some incompatibilitys here. ♿️

---

If the full error log is needed, I'll post here. 😸

[igrr]

error: function declaration isn't a prototype [-Werror=strict-prototypes]

We don't use -Wstrict-prototypes when compiling IDF source code, so header files may contain constructs which are not compatible with this option.

fatal error: sys/select.h: No such file or directory

At the moment, there is no sys/select.h on this platform. There is LwIP select, but it can only be used with LwIP sockets. So you need to port that part of the library (i.e. modify it to use LwIP's select) if you want to use it in ESP-IDF.

[Gfast2]

Thanks @igrr ! 🥇
Right now when I compile this library with the marvelous component.mk by @Spritetm the first kind of error is through tweaking CMakeLists.txt beautifully solved.

I'm putting some effort to inlcude the right _header files_ for plugins/ua_network_tcp.c from this library. Till now cmake can nearly finish the job (_82%_ at the time). But get stucked by including sys/socket.h which I manually add into this file. Because esp-idf is none of _Linux_, _QNX_, _BSD_... If I don't include sys/socket.h, ESP-IDF won't throw fatal error: xx/xx.h: No such file or director, but only a pile of error: implicit declaration of function 'xxxx' (most of the missing functions can be found in LWIP's sys/socket.h)

No matter what I've tried - #include <sys/socket.h>, #include <socket.h>, or #include <posix/sys/socket.h>, it seems like the cmake won't include the header from esp-idf. Is that means in order to let cmake know which folder should be included, I should specify more detailed information in its component.mk or any tweaking in CMakeLists.txt for cmake?

Any suggestions are highly appreciated! 👼

[Gfast2]

Hi ESP-IDF,

The test ist going on here. 🌞
I tried to add the include directory where the #include <sys/socket> can be found by cmake in its library´s component.mk. (And I made this file as a Gist. And I defined INCLUDE_FIXUP_DIR as the path where this header file can be found directly.

---

My Question is somehow simplified:
_How can I known which included folders are being defined vendored by ESP-IDF to cmake?_

[Gfast2]

In case some one wanna see the compiling log of cmake:

(I made a small sorting for the compiling log)
## Part1:

-- Build files have been written to: /home/gfast2/workspace/ioc-110-ethernet/build/open62541
[  2%] Generating src_generated/ua_nodeids.h
[  5%] Generating src_generated/ua_types_generated.c, src_generated/ua_types_generated.h, src_generated/ua_types_generated_handling.h, src_generated/ua_types_generated_encoding_binary.h
[  7%] Generating src_generated/ua_transport_generated.c, src_generated/ua_transport_generated.h, src_generated/ua_transport_generated_handling.h, src_generated/ua_transport_generated_encoding_binary.h
[ 10%] Generating src_generated/ua_statuscode_descriptions.c
Scanning dependencies of target open62541-object
[ 12%] Building C object CMakeFiles/open62541-object.dir/src/ua_types.c.o
[ 15%] Building C object CMakeFiles/open62541-object.dir/src/ua_types_encoding_binary.c.o
[ 17%] Building C object CMakeFiles/open62541-object.dir/src_generated/ua_types_generated.c.o
[ 20%] Building C object CMakeFiles/open62541-object.dir/src_generated/ua_transport_generated.c.o
[ 22%] Building C object CMakeFiles/open62541-object.dir/src/ua_connection.c.o
[ 27%] Building C object CMakeFiles/open62541-object.dir/src/ua_session.c.o
[ 30%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_server.c.o
[ 32%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_server_binary.c.o
[ 35%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_server_utils.c.o
[ 37%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_server_worker.c.o
[ 40%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_securechannel_manager.c.o
[ 42%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_session_manager.c.o
[ 45%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_nodes.c.o
[ 47%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_nodestore.c.o
[ 50%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_nodestore_concurrent.c.o
[ 52%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_discovery.c.o
[ 55%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_securechannel.c.o
[ 57%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_session.c.o
[ 60%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_attribute.c.o
[ 62%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_nodemanagement.c.o
[ 65%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_view.c.o
[ 67%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_call.c.o
[ 70%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_subscription.c.o
[ 72%] Building C object CMakeFiles/open62541-object.dir/src/server/ua_services_subscription.c.o
[ 75%] Building C object CMakeFiles/open62541-object.dir/src/client/ua_client.c.o
[ 77%] Building C object CMakeFiles/open62541-object.dir/src/client/ua_client_highlevel.c.o
[ 80%] Building C object CMakeFiles/open62541-object.dir/src/client/ua_client_highlevel_subscriptions.c.o
[ 82%] Building C object CMakeFiles/open62541-object.dir/plugins/ua_network_tcp.c.o
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:21:25: fatal error: sys/socket.h: No such file or directory
compilation terminated.
CMakeFiles/open62541-object.dir/build.make:775: recipe for target 'CMakeFiles/open62541-object.dir/plugins/ua_network_tcp.c.o' failed
make[4]: *** [CMakeFiles/open62541-object.dir/plugins/ua_network_tcp.c.o] Error 1
CMakeFiles/Makefile2:168: recipe for target 'CMakeFiles/open62541-object.dir/all' failed
make[3]: *** [CMakeFiles/open62541-object.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make[2]: *** [all] Error 2
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/component.mk:42: recipe for target 'build' failed
make[1]: *** [build] Error 2
/home/gfast2/esp/esp-idf/make/project.mk:421: recipe for target 'component-open62541-build' failed
make: *** [component-open62541-build] Error 2
gfast2@gfast2-VirtualBox:~/workspace/ioc-110-ethernet$ 

## Part2:

CMakeFiles/Makefile2:33: warning: undefined variable 'VERBOSE'
CMakeFiles/Makefile2:168: warning: undefined variable 'COLOR'

[Gfast2]

Hi ESP-IDF,

It's far more complecated then I expected.

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The problem that cmake can't find sys/socket.h is caused by make clean can't clean the build folder. After I delete this folder manually, The result of compiling the same code looks different.

---

Now I believe I enter the next level of debugging. And I leave the result here:
(This is only for bug shooting of file compiling: ./plugins/ua_network_tcp.c)

gfast2@gfast2-VirtualBox:~/workspace/ioc-110-ethernet$ /home/gfast2/esp/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc  -DUA_DYNAMIC_LINKING_EXPORT -DUA_NO_AMALGAMATION -I/home/gfast2/esp/esp-idf/components/app_trace/include -I/home/gfast2/esp/esp-idf/components/app_update/include -I/home/gfast2/esp/esp-idf/components/aws_iot/include -I/home/gfast2/esp/esp-idf/components/aws_iot/aws-iot-device-sdk-embedded-C/include -I/home/gfast2/esp/esp-idf/components/bootloader_support/include -I/home/gfast2/esp/esp-idf/components/bt/include -I/home/gfast2/esp/esp-idf/components/coap/port/include -I/home/gfast2/esp/esp-idf/components/coap/port/include/coap -I/home/gfast2/esp/esp-idf/components/coap/libcoap/include -I/home/gfast2/esp/esp-idf/components/coap/libcoap/include/coap -I/home/gfast2/esp/esp-idf/components/console/. -I/home/gfast2/esp/esp-idf/components/cxx/include -I/home/gfast2/esp/esp-idf/components/driver/include -I/home/gfast2/esp/esp-idf/components/esp32/include -I/home/gfast2/esp/esp-idf/components/esp_adc_cal/include -I/home/gfast2/esp/esp-idf/components/ethernet/include -I/home/gfast2/esp/esp-idf/components/expat/port/include -I/home/gfast2/esp/esp-idf/components/expat/include/expat -I/home/gfast2/esp/esp-idf/components/fatfs/src -I/home/gfast2/esp/esp-idf/components/freertos/include -I/home/gfast2/esp/esp-idf/components/heap/include -I/home/gfast2/esp/esp-idf/components/jsmn/include -I/home/gfast2/esp/esp-idf/components/json/include -I/home/gfast2/esp/esp-idf/components/json/port/include -I/home/gfast2/esp/esp-idf/components/libsodium/port_include -I/home/gfast2/esp/esp-idf/components/libsodium/libsodium/src/libsodium/include -I/home/gfast2/esp/esp-idf/components/log/include -I/home/gfast2/esp/esp-idf/components/lwip/include/lwip -I/home/gfast2/esp/esp-idf/components/lwip/include/lwip/port -I/home/gfast2/esp/esp-idf/components/lwip/include/lwip/posix -I/home/gfast2/esp/esp-idf/components/lwip/apps/ping -I/home/gfast2/workspace/ioc-110-ethernet/main/. -I/home/gfast2/workspace/ioc-110-ethernet/main/minmea -I/home/gfast2/esp/esp-idf/components/mbedtls/port/include -I/home/gfast2/esp/esp-idf/components/mbedtls/include -I/home/gfast2/esp/esp-idf/components/mdns/include -I/home/gfast2/esp/esp-idf/components/micro-ecc/micro-ecc -I/home/gfast2/workspace/ioc-110-ethernet/components/mongoose/. -I/home/gfast2/esp/esp-idf/components/newlib/platform_include -I/home/gfast2/esp/esp-idf/components/newlib/include -I/home/gfast2/esp/esp-idf/components/nghttp/port/include -I/home/gfast2/esp/esp-idf/components/nghttp/nghttp2/lib/includes -I/home/gfast2/esp/esp-idf/components/nvs_flash/include -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/include -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/src_generated -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins -I/home/gfast2/esp/esp-idf/components/openssl/include -I/home/gfast2/esp/esp-idf/components/pthread/include -I/home/gfast2/esp/esp-idf/components/sdmmc/include -I/home/gfast2/esp/esp-idf/components/soc/esp32/include -I/home/gfast2/esp/esp-idf/components/soc/include -I/home/gfast2/esp/esp-idf/components/spi_flash/include -I/home/gfast2/esp/esp-idf/components/spiffs/include -I/home/gfast2/esp/esp-idf/components/tcpip_adapter/include -I/home/gfast2/esp/esp-idf/components/ulp/include -I/home/gfast2/esp/esp-idf/components/vfs/include -I/home/gfast2/esp/esp-idf/components/wear_levelling/include -I/home/gfast2/esp/esp-idf/components/wpa_supplicant/include -I/home/gfast2/esp/esp-idf/components/wpa_supplicant/port/include -I/home/gfast2/esp/esp-idf/components/wpa_supplicant/../esp32/include -I/home/gfast2/esp/esp-idf/components/xtensa-debug-module/include -I/home/gfast2/workspace/ioc-110-ethernet/build/include -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/include -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/src_generated -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins -I/home/gfast2/workspace/ioc-110-ethernet/build/open62541/src_generated -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/deps -I/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/src  -mlongcalls -nostdlib  -DWITH_POSIX -DMBEDTLS_CONFIG_FILE='"mbedtls/esp_config.h"' -DHAVE_CONFIG_H  -Wall -fPIC -o CMakeFiles/open62541-object.dir/plugins/ua_network_tcp.c.obj   -c /home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c: In function 'socket_write':
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:117:27: error: 'UA_Connection {aka struct UA_Connection}' has no member named 'lwip_close_r'
                 connection->close(connection);
                           ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c: In function 'socket_set_nonblocking':
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:214:37: error: macro "fcntl" requires 3 arguments, but only 2 given
     int opts = fcntl(sockfd, F_GETFL);
                                     ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:214:16: warning: initialization makes integer from pointer without a cast [-Wint-conversion]
     int opts = fcntl(sockfd, F_GETFL);
                ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c: In function 'ServerNetworkLayerTCP_start':
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:389:8: warning: implicit declaration of function 'gethostname' [-Wimplicit-function-declaration]
     if(gethostname(hostname, 255) == 0) {
        ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c: In function 'UA_ClientConnectionTCP':
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:693:21: error: storage size of 'hints' isn't known
     struct addrinfo hints, *server;
                     ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:703:17: warning: implicit declaration of function 'getaddrinfo' [-Wimplicit-function-declaration]
     int error = getaddrinfo(hostname, portStr, &hints, &server);
                 ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:707:34: warning: implicit declaration of function 'gai_strerror' [-Wimplicit-function-declaration]
                        hostname, gai_strerror(error));
                                  ^
In file included from /home/gfast2/esp/esp-idf/components/lwip/include/lwip/posix/sys/socket.h:33:0,
                 from /home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:49:
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:712:40: error: dereferencing pointer to incomplete type 'struct addrinfo'
     SOCKET clientsockfd = socket(server->ai_family, server->ai_socktype,
                                        ^
/home/gfast2/esp/esp-idf/components/lwip/include/lwip/lwip/sockets.h:555:63: note: in definition of macro 'socket'
 #define socket(domain,type,protocol)              lwip_socket(domain,type,protocol)
                                                               ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:721:9: warning: implicit declaration of function 'freeaddrinfo' [-Wimplicit-function-declaration]
         freeaddrinfo(server);
         ^
/home/gfast2/workspace/ioc-110-ethernet/components/open62541/open62541/plugins/ua_network_tcp.c:693:21: warning: unused variable 'hints' [-Wunused-variable]
     struct addrinfo hints, *server;
                     ^

[Gfast2]

Hi ESP-IDF,

yesterday, I forget to write down some extra problem/discovery here:
the cmake settings of open62541 (CMakeLists.txt) are trying to use -std=c99 as its compiling standard, which will triger the error that the xtensa compiler won't understand asm().

[Gfast2]

Hi ESP-IDF,

What is the Macro of ESP32 / ESP-IDF for #ifdef inclusion?, I saw _WIN32, __OpenBSD__ ...

[Gfast2]

Got the library up and running!

#1452

[Pro]

Note that support for ESP32 will be added through the PR #1595 (tested and working with my Adafruit ESP32 Board)

[Pro]

My example project for OPC UA on an ESP32 using Arduino is now available here:
https://github.com/pro/open62541-arduino

[xenotrax]

I try to compile your example project with Arduino .. but I got stuck with following errors..

sketch/open62541.c.o:(.literal.ServerNetworkLayerTCP_listen+0x34): undefined reference to getnameinfo' sketch/open62541.c.o:(.literal.ServerNetworkLayerTCP_start+0x30): undefined reference togethostname'

There is something wrong but I can't figure out what.
I use arduino-1.8.7-linux64.tar.xz , espressif/arduino-esp32 , and the actual open62541.c/h files