-
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
-
笔者去年分享过如何移植C/C++三方库到OpenHarmony标准系统，在此篇文章将不再重复分享相关内容。想学习移植细节的可以前往查看一下内容：
- 为 BehaviorTree.CPP 编写BUILD.gn 进行Rom集成
- 移植后编译出来的so和可执行文件打包进入固件的方法
- 移植相关的文件ohos.build修改为bundle.json，ohos.build不再使用。
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
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
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
-
liblexy_file.a、libbt_sample_nodes.a等静态库文件在out\rk3568\obj\third_party\behaviortree目录下
-
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
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
- 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",
]
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