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modify code to allow shared object used independently and some minor changes #7

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f29ee7b
modify code to allow shared object used independently and some minor …
hwyao Mar 30, 2024
981c628
fixing missing and duplicated PUBLIC/PRIVATE
hwyao Apr 1, 2024
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53 changes: 20 additions & 33 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -188,7 +188,11 @@ ExternalProject_Add(
INSTALL_COMMAND cp ${CMAKE_BINARY_DIR}/external/src/qpoases/bin/libqpOASES.so ${CMAKE_INSTALL_PREFIX}/lib/libqpOASES.so
)

set(qpoases_lib "-L${CMAKE_BINARY_DIR}/lib -lqpOASES")
add_library(qpoases_lib SHARED IMPORTED)
set_target_properties(qpoases_lib PROPERTIES
IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}qpOASES${CMAKE_SHARED_LIBRARY_SUFFIX}
IMPORTED_NO_SONAME TRUE
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@hwyao hwyao Mar 30, 2024 •
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Comment 1:
The IMPORTED_NO_SONAME TRUE for qpOASES is that, libqpOASES.so has no SONAME. This might be a reason that here we directly uses the Makefile instead of CMakeLists.txt provided by the repo.
(SONAME can be check with readelf -d <library-name> | head -10 to compare libosqp.so and libqpOASES.so)

> readelf -d libosqp.so | head -10
Dynamic section at offset 0x1ad90 contains 27 entries:
  Tag        Type                         Name/Value
 0x0000000000000001 (NEEDED)             Shared library: [libm.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [libdl.so.2]
 0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]
 0x000000000000000e (SONAME)             Library soname: [libosqp.so]
 0x000000000000000c (INIT)               0x4000
> readelf -d libqpOASES.so | head -10
Dynamic section at offset 0x75d38 contains 27 entries:
  Tag        Type                         Name/Value
 0x0000000000000001 (NEEDED)             Shared library: [libstdc++.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [libm.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [libgcc_s.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]
 0x000000000000000c (INIT)               0x14000

When not using the IMPORTED_NO_SONAME, the runtime dynamic linking of the library is based on the relative path, instead of the rpath. Simply speaking, when you try to run the library / executable in a folder that is not the folder that you run make command, the loading will be failed.

We can inspect this by running the ldd over the built liblcqpow.so:
(no fixing) inside build folder:

>~/Git/LCQPow/build$ ldd ./lib/liblcqpow.so 
        linux-vdso.so.1 (0x00007ffc4808e000)
        lib/libqpOASES.so (0x00007f62c680d000)
        ...

(no fixing) in some other folder:

>~/Git/LCQPow/build/lib$ ldd ./liblcqpow.so 
        linux-vdso.so.1 (0x00007ffe1cbef000)
        lib/libqpOASES.so => not found

(fixed) everywhere:

>:~/Git/LCQPow/build/lib$ ldd ./liblcqpow.so 
        linux-vdso.so.1 (0x00007ffca27b1000)
        libqpOASES.so => <HOME FOLDER>/Git/LCQPow/build/lib/libqpOASES.so (0x00007f8eeeb6f000)

Some helpful references:
https://cmake.org/cmake/help/latest/prop_tgt/IMPORTED_NO_SONAME.html
https://stackoverflow.com/questions/10199045/c-linker-missing-library-when-running-soname-behavior
https://stackoverflow.com/questions/68164903/cmake-to-link-external-library-with-import-soname-ro-import-location

)
set(qpoases_include "${CMAKE_BINARY_DIR}/external/src/qpoases/include")

# 2) OSQP
Expand All @@ -203,7 +207,10 @@ ExternalProject_Add(
INSTALL_COMMAND cp ${CMAKE_BINARY_DIR}/external/src/osqp-build/out/libosqp.so ${CMAKE_INSTALL_PREFIX}/lib/libosqp.so
)

set(osqp_lib "-L${CMAKE_BINARY_DIR}/lib -losqp")
add_library(osqp_lib SHARED IMPORTED)
set_target_properties(osqp_lib PROPERTIES
IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}osqp${CMAKE_SHARED_LIBRARY_SUFFIX}
)
set(osqp_include "${CMAKE_BINARY_DIR}/external/src/osqp/include")

# 3) googletest
Expand Down Expand Up @@ -244,27 +251,13 @@ set_target_properties(
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
)

# Add the external projects as depenedncies for our project
add_dependencies(
${PROJECT_NAME}-static
qpoases
osqp
)

if (${QPOASES_SCHUR})
target_link_libraries(
${PROJECT_NAME}-static
PRIVATE ${Matlab_LIBRARIES}
)
endif()


# Add include directories of dependencies: qpOASES, OSQP
include_directories(${PROJECT_NAME}
SYSTEM ${qpoases_include}
SYSTEM ${osqp_include}
)

# create shared lib
add_library(${PROJECT_NAME}-shared SHARED ${SRC_FILES})
set_target_properties(
Expand All @@ -275,16 +268,17 @@ set_target_properties(
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
)

# Add the external projects as depenedncies for our project
add_dependencies(
${PROJECT_NAME}-shared
qpoases
osqp
target_include_directories(${PROJECT_NAME}-shared SYSTEM
PUBLIC ${qpoases_include}
PUBLIC ${osqp_include}
)
target_link_libraries(${PROJECT_NAME}-shared
PUBLIC qpoases_lib
PUBLIC osqp_lib
)

if (${QPOASES_SCHUR})
target_link_libraries(
${PROJECT_NAME}-shared
target_link_libraries(${PROJECT_NAME}-shared
PRIVATE ${Matlab_LIBRARIES}
)

Expand Down Expand Up @@ -318,7 +312,8 @@ if (${BUILD_EXAMPLES})
target_link_libraries(
${EXAMPLE_NAME}
PUBLIC ${PROJECT_NAME}-shared
PRIVATE ${qpoases_lib} ${osqp_lib}
#PUBLIC ${PROJECT_NAME}-static
#PRIVATE qpoases_lib osqp_lib
)

if (${QPOASES_SCHUR})
Expand Down Expand Up @@ -484,13 +479,6 @@ if (${UNIT_TESTS})
# Add Unit testing source file
add_executable(RunUnitTests test/RunUnitTests.cpp)

add_dependencies(
RunUnitTests
qpoases
osqp
gtest
)

set_target_properties(
RunUnitTests
PROPERTIES
Expand All @@ -501,7 +489,7 @@ if (${UNIT_TESTS})
target_link_libraries(
RunUnitTests
PUBLIC ${PROJECT_NAME}-shared
PRIVATE ${qpoases_lib} ${osqp_lib} ${gtest_lib} ${LIB_SOLVER}
PRIVATE ${gtest_lib} ${LIB_SOLVER}
PRIVATE -lpthread
)

Expand All @@ -522,7 +510,6 @@ if (${UNIT_TESTS})
target_link_libraries(
${EXAMPLE_TEST_NAME}
PUBLIC ${PROJECT_NAME}-shared
PRIVATE ${qpoases_lib} ${osqp_lib}
)

if (${QPOASES_SCHUR})
Expand Down