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标题: 移植BehaviorTree.CPP到OpenHarmony标准系统 [打印本页]

作者: 离北况归 时间: 2023-10-17 15:34
标题: 移植BehaviorTree.CPP到OpenHarmony标准系统
[md]- 笔者最近将BehaviorTree.CPP移植到OpenHarmony标准系统上，并且将移植成果开源。相关成果已经合并至
  OpenHarmony-SIG仓库tpc_c_cplusplus：https://gitee.com/openharmony-sig/tpc_c_cplusplus/pulls/313

## 1. 为BehaviorTree.CPP编写BUILD.gn进行Rom集成

- Rom集成笔者开发环境：
  - wsl2+ubuntu18.04
  - OpenHarmony 3.2 release 源码
  - 润和大禹200开发板

### 1.2 修改build/subsystem_config.json，新增子系统behaviortree定义

在源码/build/subsystem_config.json中增加子系统behaviortree

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

### 1.3 修改vendor/hihope/rk3568/config.json文件将behaviortree添加至rk3568开发板

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

### 1.4 在OpenHarmony标准系统源码下third_party下放置BehaviorTree.CPP源码

- BehaviorTree.CPP 源码版本为4.1.1 ：https://github.com/BehaviorTree/BehaviorTree.CPP/tree/4.1.1
- 并且文件夹名称修改为behaviortree
  ![image.png](https://dl-harmonyos.51cto.com/i ... rocess=image/resize,w_807,h_364)

### 1.5 third_party/behaviortree目录下添加bundle.json文件

- 特别说明：ohos.build不再使用，OpenHarmony源码中全部使用bundle.json
- [bundle.json](https://gitee.com/from-north-to- ... iortree/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": [
         "//third_party/behaviortree:lexy_file",
         "//third_party/behaviortree:bt_sample_nodes",
         "//third_party/behaviortree:behaviortree_cpp",
         "//third_party/behaviortree:dummy_nodes_dyn",
         "//third_party/behaviortree:crossdoor_nodes_dyn",
         "//third_party/behaviortree:movebase_node_dyn",
         "//third_party/behaviortree:t01_build_your_first_tree",
         "//third_party/behaviortree:t02_basic_ports",
         "//third_party/behaviortree:t03_generic_ports",
         "//third_party/behaviortree:t05_crossdoor",
         "//third_party/behaviortree:t04_reactive_sequence",
         "//third_party/behaviortree:t06_subtree_port_remapping",
         "//third_party/behaviortree:t07_load_multiple_xml",
         "//third_party/behaviortree:t08_additional_node_args",
         "//third_party/behaviortree:t09_scripting",
         "//third_party/behaviortree:t10_observer",
         "//third_party/behaviortree:t11_replace_rules",
         "//third_party/behaviortree:ex01_wrap_legacy",
         "//third_party/behaviortree:ex02_runtime_ports",
         "//third_party/behaviortree:ex03_ncurses_manual_selector",
         "//third_party/behaviortree:ex04_waypoints"
      ],
      "inner_kits": [],
      "test": []
   }
  }
}
```

### 1.6 BehaviorTree.CPP编译gn化,在third_party/behaviortree下添加BUILD.gn脚本文件

- third_party/behaviortree/[BUILD.gn](https://gitee.com/from-north-to- ... haviortree/BUILD.gn)配置的模块有

  - 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
  - 可执行文件
- 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
- 模块之间的依赖关系

  - libbehaviortree_cpp.z.so依赖lexy_file.a
  - libcrossdoor_nodes_dyn.z.so依赖libbehaviortree_cpp.z.so
  - libmovebase_node_dyn.z.so依赖libbehaviortree_cpp.z.so
  - 所有的可执行文件都依赖libbt_sample_nodes.a和libbehaviortree_cpp.z.so
- third_party/behaviortree/[BUILD.gn](https://gitee.com/from-north-to- ... haviortree/BUILD.gn)文件如下：

```
import("//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是用来存储专门针对 C++ 语言编译器的选项，只会被 C++ 编译器使用。
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" # 可选，模块输出名

sources = [
      "//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是用来存储专门针对 C++ 语言编译器的选项，只会被 C++ 编译器使用。
   cflags_cc = [
      "-O3",
      "-DNDEBUG",
      "-Wpedantic",
      "-std=gnu++17",

      # 为了消除编译报错添加的
      "-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 = [
      # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志
      "-O3",
      "-DNDEBUG",
      "-fPIC",
      "-Wpedantic",
      "-Wall",
      "-Wextra",
      "-std=gnu++20",

      # 为了消除shared_library.cpp编译报错添加-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" # 可选，模块输出名

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 = [
      "//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 = [
      # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志
      "-O3",
      "-DNDEBUG",
      "-fPIC",
      "-Wpedantic",
      "-std=gnu++17",

      # 为了消除shared_library.cpp编译报错添加-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" # 可选，模块输出名

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

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

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

deps = [
      "//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 = [
      # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志
      "-O3",
      "-DNDEBUG",
      "-fPIC",
      "-Wpedantic",
      "-std=gnu++17",

      # 为了消除shared_library.cpp编译报错添加-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" # 可选，模块输出名

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

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

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

deps = [
      "//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 = [
      # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志
      "-O3",
      "-DNDEBUG",
      "-fPIC",
      "-Wpedantic",
      "-std=gnu++17",

      # 为了消除shared_library.cpp编译报错添加-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" # 可选，模块输出名

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

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

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

deps = [
      "//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 = [
      # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志
      "-O3",
      "-DNDEBUG",
      "-Wpedantic",
      "-std=gnu++17",

      # 为了消除shared_library.cpp编译报错添加-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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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 = [
      # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志
      "-O3",
      "-DNDEBUG",
      "-Wpedantic",
      "-std=gnu++17",

      # 为了消除shared_library.cpp编译报错添加-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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

deps = [
      "//third_party/behaviortree:behaviortree_cpp",
      "//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" # 可选，模块输出名

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

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

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

install_enable = true

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

part_name = "behaviortree"

subsystem_name = "behaviortree"

}

##############################################################################
```

### 1.7 对源码进行增量编译，推送编译生成BehaviorTree.CPP的so以及可执行文件到开发板上，验证编译结果

#### 1.7.1 对源码进行增量编译

- 推荐使用如下命令对对源码进行增量编译，编译生成BehaviorTree.CPP的so以及可执行文件

```
./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
```

- 默认编译的是32位，添加--target-cpu arm64参数编译64位

```
--product-name rk3568 :表示编译的产品是rk3568 (润和大禹200)
--build-target=behaviortree ：编译子系统behaviortree

以下这些都是加快编译速度的选项
--ccache --build-target=behaviortree --disable-post-build --disable-package-image --gn-args enable_notice_collection=false --gn-args load_test_config=false
```

#### 1.7.2 推送编译生成BehaviorTree.CPP的so以及可执行文件到开发板上，验证编译结果

- so和可执行文件在out\rk3568\behaviortree目录下
  ![image.png](https://dl-harmonyos.51cto.com/i ... rocess=image/resize,w_699,h_788)
- liblexy_file.a、libbt_sample_nodes.a等静态库文件在out\rk3568\obj\third_party\behaviortree目录下
  ![image.png](https://dl-harmonyos.51cto.com/i ... rocess=image/resize,w_820,h_359)
- 1、通过与ohos版本匹配的hdc_std工具,将编译生成的库以及测试用的可执行文件推送到开发板system/lib (lib64)

  - 推送到开发板system/lib (lib64)，是因为运行需要链接该目录下的libc++.so
  - 注意，不再是用hdc_std，改成了hdc

```
hdc shell
mount -o remount,rw /       ## 重新加载系统为可读写
chmod 777 t02_basic_ports
./t02_basic_ports
```

![image.png](https://dl-harmonyos.51cto.com/i ... rocess=image/resize,w_697,h_284)

### 1.8  对源码进行增量编译全量编译，烧录固件验证编译结果。

- 如果有将编译生成BehaviorTree.CPP的so以及可执行文件打包到固件，随固件烧录到开发板的需求。推荐进行全量编译，执行 ./build.sh --product-name rk3568 --ccache ，然后编译烧录固件到开发板上即可。
- 编译烧录好固件到开发板后，so文件会在开发板system/lib(64位系统的话在system/lib64)，可执行文件会在system/bin
- hdc shell进入开发板后，在任意目录层级下执行可执行文件都可以
  ![image.png](https://dl-harmonyos.51cto.com/i ... rocess=image/resize,w_820,h_1817)
- 将编译生成BehaviorTree.CPP的so以及可执行文件打包到固件，在上文third_party/behaviortree/BUILD.gn中已经添加相关代码

```
install_enable = true

install_images = [
      "system",
      "ramdisk",
      "updater",
]
```

[/md]

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