【久久派】工程框架编写

最新推荐文章于 2026-07-01 09:44:26 发布

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龙芯2K0300久久派

工程框架编写

本文档基于wu的 wuwusama_icar_project , 实现添加动态库、输出多个可执行文件、编译完成自动下载到开发板功能。

下载源码,后进入工程，用 code 打开

git clone https://gitee.com/Wuwu129/SmartCar_99Pai_OpenSource.git
cd ./SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project
code .

1 、安装必要的软件

vscode 提示安装 CMake Tools ----------- 安装

安装 Ninja库，专门用于加速构建过程，与其他生成工具（如CMake）配合使用。安装命令：

sudo apt-get install -y ninja-build

交叉编译 libserial生成 libserial库（前人已经编译好了）

交叉编译 OpenCV , 生成 opencv库

交叉编译 json, 生成 json库

交叉编译 ncnn, 生成 ncnn库

2、修改工程

1 、使用Ninja 编译添加预配置

在根目录下新建CMakeUserPresets.json文件。它是CMake 从 3.21 开始支持的一个配置文件，其允许我们在项目目录下自定义构建配置，而不需要每次手动输入命令行参数。这里我们用它来配置编译器99pi.cmake 生成可执行文件目录 out.

CMakeUserPresets.json文件内容：

{
    "version": 8,
    "configurePresets": [
        {
            "name": "Configure preset using toolchain file",
            "displayName": "Configure preset using toolchain file",
            "description": "Sets Ninja generator, build and install directory",
            "generator": "Ninja",
            "binaryDir": "${sourceDir}/out/build/${presetName}",
            "cacheVariables": {
                "CMAKE_BUILD_TYPE": "Debug",
                "CMAKE_TOOLCHAIN_FILE": "99pi.cmake",
                "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
            }
        }
    ]
}

与交叉编译工具相关的放到 99pi.cmake

# 交叉编译工具链配置  99pi.cmake
# 设置为 ON 表示交叉编译，OFF 表示本地编译
option(CROSS_COMPILE "Enable cross-compilation" ON)

if(CROSS_COMPILE)
    # 基本系统信息
    set(CMAKE_SYSTEM_NAME Linux)
    set(CMAKE_SYSTEM_PROCESSOR loongarch64)
    # 工具链路径
    set(TOOLCHAIN_DIR /opt/loongson-gnu-toolchain-13.2/)#交叉编译器目录
    # 编译器路径
    set(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/bin/loongarch64-unknown-linux-gnu-gcc)
    set(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/bin/loongarch64-unknown-linux-gnu-g++)
 
    # 系统根目录设置
    set(CMAKE_FIND_ROOT_PATH "${TOOLCHAIN_DIR}")
    # 查找规则设置
    set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
    set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
    set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
    set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

endif()

这样就只需要修改99pi.cmake 的工具链的位置了。

修改好工程后，点击铁三角，点击配置 [选择工具包] 中右边的笔，配置由Nijia生成
在这里插入图片描述

最后到项目大纲，点击图标生成main

在这里插入图片描述

最终的项目结构

在这里插入图片描述

2 、单独输出可执行文件 /out/bin

由于可执行文件不需要与二进制文件混合存放，在 main 程序的 CMakeLists.txt 文件顶部，添加以下语句，实现所有的可执行文件的单独存放。

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/out/bin)

3 、添加测试代码文件，可编译多个可执行文件

不习惯复制替换 main.c , 这里根据修改添加测试工程，添加子目录 test,

修改生成 main 程序的 CMakeLists.txt, 在底部添加：

# 添加所有子目录 (使用变量 )
set(SUBDIRS
    test )
foreach(subdir ${SUBDIRS})
    add_subdirectory(${subdir})
endforeach()

将所有的测试文件复制到 test目录下：

├── smartCar
│   ├── code
│   │   ├── 本文件夹说明.txt
│   │   ├── music.cc
│   │   └── music.h
│   ├── include
│   │   ├── font.h
│   │   ├── ......
│   │   ├── ww_timerThread.h
│   │   └── ww_vl53l0x.h
│   ├── main.cc
│   └── wuwu_library
│       ├── font.cc
│       ├── ww_brushless.cc
│       ├── ......
│       └── ww_vl53l0x.cc
└── test
    ├── buzzer_main.cc
    ├── camera_server_main.cc
    ├── CMakeLists.txt
    ├── encoder_main.cc
    ├── icm42688_main.cc
    ├── Lcd_main.cc
    ├── Motor_main.cc
    ├── ncnn_yolov5n_example
    │   ├── CMakeLists.txt
    │   ├── test.jpg
    │   ├── yolov5n.ncnn.bin
    │   ├── yolov5n_ncnn_main.cc
    │   └── yolov5n.ncnn.param
    ├── tcp_client_main.cc
    └── test_hello.cpp

test目录下添加 CmakeLists.txt

# 添加所有文件 (使用变量 )
file(GLOB_RECURSE MYSRC
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.c
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.c
)

# 添加所有库 (使用变量 )
set(SUBLIB
    opencv_core 
    opencv_imgcodecs
    opencv_imgproc
    opencv_videoio
    jsoncpp
    ncnn
    serial
    gomp )

add_executable(test_hello test_hello.cpp ) 
target_link_libraries(test_hello PRIVATE 
                        ${SUBLIB})

add_executable(buzzer_main buzzer_main.cc ${MYSRC}) 
target_link_libraries(buzzer_main PRIVATE 
                        ${SUBLIB})
# 后面可生成若干个 可执行文件

用图标来执行编译
在这里插入图片描述

4 . 编译完成即自动上传

修改生成 main 程序的 CMakeLists.txt, 在底部添加：

# ===================== 编译完成后 自动执行SCP上传 核心配置 =====================
# 配置开发板的SSH信息【修改这3个参数为你的开发板信息即可！】
set(BOARD_IP "192.168.3.99")        # 你的开发板/龙芯设备的IP地址
set(BOARD_USER "root")               # 开发板的登录用户名 (一般是root)
set(BOARD_TARGET_DIR "/root/app") # 上传到开发板的目标目录

# 编译主程序smartcar完成后，自动执行scp上传
add_custom_command(
    TARGET main  # 绑定你的主程序目标名，编译完这个程序就执行下面的命令
    POST_BUILD       # 执行时机：编译完成后(POST_BUILD)，编译失败则不执行
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
    COMMENT "编译完成！正在自动上传 main 到开发板: ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}"
)

5 、添加库

在编译时使用了动态链接库，即 cross_lib下的 *.so 文件；最后把交叉编译环境下（PC 端）的所有依赖动态链接库，完整复制到开发板，并让开发板系统成功识别、加载这些库，最终让程序能正常运行。

查看编译成功的 main 是否共享库：

$ loongarch64-unknown-linux-gnu-objdump -x main | grep -i opencv
  NEEDED               libopencv_core.so.410
  NEEDED               libopencv_imgcodecs.so.410
  NEEDED               libopencv_imgproc.so.410
  NEEDED               libopencv_videoio.so.410
  RPATH                
  /loongarch64-unknown-linux-gnu/lib:
/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/opencv/lib:
/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/json/lib:
/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/ncnn/lib:
/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/libserial/lib

loongarch64-unknown-linux-gnu-objdump -x main | grep -i json
  NEEDED               libjsoncpp.so.27
  RPATH                /loongarch64-unknown-linux-gnu/lib:/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/opencv/lib:/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/json/lib:/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/ncnn/lib:/home/wuwu/Downloads/SmartCar_99Pai_OpenSource/WuwuSama_Icar_Project/cross_lib/libserial/lib

在根文件系统的 opt目录，存放着编译完成的 动态库

这里添加一个新库： libserial

在这里插入图片描述

3 最后main.cc 同级目录 CMakeLists.txt 如下

cmake_minimum_required(VERSION 3.10)

project(SMARTCAR)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/out/bin)

set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")

# 查找线程库
find_package(Threads REQUIRED)

include_directories(${PROJECT_SOURCE_DIR}/smartCar/code)
include_directories(${PROJECT_SOURCE_DIR}/smartCar/include)
include_directories(${PROJECT_SOURCE_DIR}/smartCar/wuwu_library)

#编译的库已经放在工程里啦
include_directories(${PROJECT_SOURCE_DIR}/cross_lib/opencv/include/opencv4)
include_directories(${PROJECT_SOURCE_DIR}/cross_lib/json/include)
include_directories(${PROJECT_SOURCE_DIR}/cross_lib/ncnn/include/ncnn)
include_directories(${PROJECT_SOURCE_DIR}/cross_lib/libserial/include/libserial)

file(GLOB_RECURSE MYSRC
    ${PROJECT_SOURCE_DIR}/smartCar/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/*.c
)

link_directories(${CROSSTOOL_DIR}/loongarch64-unknown-linux-gnu/lib)
link_directories(${PROJECT_SOURCE_DIR}/cross_lib/opencv/lib)
link_directories(${PROJECT_SOURCE_DIR}/cross_lib/json/lib)
link_directories(${PROJECT_SOURCE_DIR}/cross_lib/ncnn/lib)
link_directories(${PROJECT_SOURCE_DIR}/cross_lib/libserial/lib)

add_executable(main ${MYSRC})
target_link_libraries(main PRIVATE 
                        opencv_core 
                        opencv_imgcodecs
                        opencv_imgproc
                        opencv_videoio
                        jsoncpp
                        ncnn
                        gomp
                        serial) #添加了serial库

# 添加所有子目录 (使用变量 )
set(SUBDIRS
    test 
    test/ncnn_yolov5n_example)
foreach(subdir ${SUBDIRS})
    add_subdirectory(${subdir})
endforeach()

# ===================== 编译完成后 自动执行SCP上传 核心配置 =====================
# 配置开发板的SSH信息【修改这3个参数为你的开发板信息即可！】
set(BOARD_IP "192.168.3.99")        # 你的开发板/龙芯设备的IP地址
set(BOARD_USER "root")               # 开发板的登录用户名 (一般是root)
set(BOARD_TARGET_DIR "/root/app") # 上传到开发板的目标目录

# 编译主程序smartcar完成后，自动执行scp上传
add_custom_command(
    TARGET main  # 绑定你的主程序目标名，编译完这个程序就执行下面的命令
    POST_BUILD       # 执行时机：编译完成后(POST_BUILD)，编译失败则不执行
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
    COMMENT "编译完成！正在自动上传 main 到开发板: ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}"
)

test目录下的CMakeLists.txt

# 添加所有文件 (使用变量 )
file(GLOB_RECURSE MYSRC
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.c
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.c
)

# 添加所有库 (使用变量 )
set(SUBLIB
    opencv_core 
    opencv_imgcodecs
    opencv_imgproc
    opencv_videoio
    jsoncpp
    ncnn
    serial
    gomp )

add_executable(test_hello test_hello.cpp ) 
target_link_libraries(test_hello PRIVATE 
                        ${SUBLIB})

add_executable(buzzer_main buzzer_main.cc ${MYSRC}) 
target_link_libraries(buzzer_main PRIVATE 
                        ${SUBLIB})

add_executable(camera_server_main camera_server_main.cc ${MYSRC}) 
target_link_libraries(camera_server_main PRIVATE 
                        ${SUBLIB})

add_executable(encoder_main encoder_main.cc ${MYSRC}) 
target_link_libraries(encoder_main PRIVATE 
                        ${SUBLIB})

add_executable(icm42688_main icm42688_main.cc ${MYSRC}) 
target_link_libraries(icm42688_main PRIVATE 
                        ${SUBLIB})

add_executable(Lcd_main Lcd_main.cc ${MYSRC}) 
target_link_libraries(Lcd_main PRIVATE 
                        ${SUBLIB})

add_executable(Motor_main Motor_main.cc ${MYSRC}) 
target_link_libraries(Motor_main PRIVATE 
                        ${SUBLIB})

add_executable(tcp_client_main tcp_client_main.cc ${MYSRC}) 
target_link_libraries(tcp_client_main PRIVATE 
                        ${SUBLIB})

# ===================== 编译完成后 自动执行SCP上传  =====================
set(BOARD_IP "192.168.3.99")        
set(BOARD_USER "root")               
set(BOARD_TARGET_DIR "/root/test") 

add_custom_command(
    TARGET test_hello  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/test_hello ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET buzzer_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/buzzer_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET camera_server_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/camera_server_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET encoder_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/encoder_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET icm42688_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/icm42688_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET Lcd_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/Lcd_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET Motor_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/Motor_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

add_custom_command(
    TARGET tcp_client_main  
    POST_BUILD      
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/tcp_client_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

nccn目录下的 CMakeList.txt如下：

# 添加所有文件 (使用变量 )
file(GLOB_RECURSE MYSRC
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/wuwu_library/*.c
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.cc
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.cpp  
    ${PROJECT_SOURCE_DIR}/smartCar/code/*.c
)

# 添加所有库 (使用变量 )
set(SUBLIB
    opencv_core 
    opencv_imgcodecs
    opencv_imgproc
    opencv_videoio
    jsoncpp
    ncnn
    serial
    gomp )

add_executable(yolov5n_ncnn_main yolov5n_ncnn_main.cc ) 
target_link_libraries(yolov5n_ncnn_main PRIVATE 
                        ${SUBLIB})

# ===================== 编译完成后 自动执行SCP上传 核心配置 =====================
set(BOARD_IP "192.168.3.99")        
set(BOARD_USER "root")              
set(BOARD_TARGET_DIR "/root/test") 

add_custom_command(
    TARGET yolov5n_ncnn_main  
    POST_BUILD       
    COMMAND scp ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/yolov5n_ncnn_main ${BOARD_USER}@${BOARD_IP}:${BOARD_TARGET_DIR}/
)

本工程的下载链接： https://download.csdn.net/download/sundm75/92552226

参考文献：
1 https://gitee.com/Wuwu129/SmartCar_99Pai_OpenSource

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