In this tutorial, you will learn how to build your projects using pre-compiled packages.
Using Aldebaran toolchains¶
Aldebaran C++ SDKs and cross-toolchains are, by definition, toolchains.
Using them is done with
$ qitoolchain create <name> /path/to/toolchain.xml
Adding packages to a toolchain¶
The requirements for this tutorial are the same as in the Managing dependencies between projects tutorial.
You should have:
- a properly configured qiBuild worktree
- two projects, world and hello, with hello depending on the world library.
You can find these two projects here
The goal of this tutorial is to manage to compile
hello, using a pre-compiled
Creating the world package¶
Generating a package for the
world project is done with:
$ qibuild package world
This will create a package named
world.tar.gz on windows)
Inside the package, you will have:
include |__ world |__ world.hpp lib |__ libworld.so share cmake |__ world-config.cmake package.xml
The archive generated by qibuild does not contain
a top directory, so be careful if you extract the archive
qitoolchain extract-package to put the extracted files
in a properly named directory
The LFS hierarchy is still preserved, and it is the same as in
world-config.cmake is a standard CMake file, but it can be used even after
installing the world package, because it only uses relative paths.
So the world package is usable anywhere.
The world-config.cmake does not even requires qibuild to be used by an other CMake project, all it does is calling standard CMake functions.
Create a toolchain from scratch¶
If you are already using a Aldebaran toolchain, you can skip this section.
Otherwise, you have to create a toolchain from scratch for qibuild to use:
$ qitoolchain create <TOOLCHAIN_NAME>
You are free to choose any name for your toolchain, but it is advised to pick one from this set of configurations:
Here we will assume you chose
This will create a directory looking like:
where every packages will be put.
You can check that your toolchain has been created with:
$ qitoolchain info Toolchain linux32 No feed No packages
Adding the world package to the toolchain¶
Now you can use:
$ qitoolchain add-package -c linux32 /path/to/worktree/package/world.tar.gz
You can check that your package has been added with:
$ qitoolchain info Toolchain linux32 No feed Packages: world in /home/user/.local/share/qi/toolchains/linux32/world
This will simply:
- copy the
worldpackage somewhere in you toolchain directory.
- configure some files so that qibuild knows that the
linux32toolchain can provide the
When resolving dependencies of the
hello project, qibuild will see that you
use a toolchain called
linux32 and that this toolchain provides the
world project, so it’s enough to set
The next step is to create a build config that matches the toolchain for qibuild to use:
qibuild add-config linux32 --toolchain linux32
You can now remove the project
world from your worktree, and
hello using the
linux32 build config:
qisrc remove world qibuild configure -c linux32 hello
Creating toolchain feeds¶
Now, that you have a nice local toolchain, and a
you may want other people to be able to use the
without them having to recompile it from source.
So here we are going to create a remote configuration file, so
that other developers can simply download the
world package from
We will assume you have access to a FTP or a HTTP sever.
First, upload the world package, so that is accessible with the url:
Next, create a
feed.xml accessible with the url:
http://example.com/feed.xml, looking like
<toolchain> <package name="world" url = "http://example.com/packages/world.tar.gz" /> </toolchain>
Then, from an other machine, run
$ qitoolchain create linux32 http://example.com/feed.xml Getting package world from http://example.com/packages/world.tar.gz Toolchain linux32: adding package world
You can see that the feed has been stored in your qibuild configuration:
$ qitoolchain info Toolchain linux32 Using feed from http://example.com/feed.xml Packages: foo in /home/user/.local/share/qi/toolchains/linux32/world
Note: if you HTTP or FTP server is protected by a password, you can put
the username and password in the
.config/qi/qibuild.xml configuration file.
See the section qibuild.xml configuration file syntax for details.
You can also add the Aldebaran C++ SDKs or cross toolchains as if they were packages. (This sound a bit weird, but it works)
For instance, assuming you were using the atom cross-toolchain and cross-compiled the world package, you can create a feed looking like
<toolchain> <package name="atom-ctc" url="http://example.com/packages/aldebaran-ctc.tar.gz" toolchain_file="cross-config.cmake" /> <package name="hello" url="http://example.com/packages/world.tar.gz" /> </toolchain>
Don’t forget the
toolchain_file attribute of the
atom-ctc package, though.
Full feed.xml specification¶
The full specification can be found in the Toolchain feed syntax section
Just for fun¶
You can always add something like
<?xml version="1.0" encoding="utf-8"?> <?xml-stylesheet type="text/xsl" href="../xsl/toolchain.xsl"?>
With an xsl looking like
<html xsl:version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform" xmlns="http://www.w3.org/1999/xhtml"> <body > <h2> Packages </h2> <ul> <xsl:for-each select="toolchain/package"> <li> <a> <xsl:attribute name="href"> <xsl:value-of select="@url" /> </xsl:attribute> <xsl:value-of select="@name" /> </a> </li> </xsl:for-each> </ul> <h2> Feeds </h2> <ul> <xsl:for-each select="toolchain/feed"> <li> <a> <xsl:attribute name="href"> <xsl:value-of select="@url" /> </xsl:attribute> <xsl:value-of select="@url" /> </a> </li> </xsl:for-each> </ul> </body> </html>