gcc v11.2.0-1
https://github.com/messense/homebrew-macos-cross-toolchains/releases
注意：所有的make install 安裝出現(xiàn)權(quán)限錯(cuò)誤，請(qǐng)檢查交叉編譯工具安裝目錄配置，千萬不要加sudo，以免覆蓋主機(jī)系統(tǒng)文件。
編譯完成后安裝路徑被覆蓋，可以從新執(zhí)行一下cmake配置：
cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..
一、編譯安裝 glib2.81.1
https://gitlab.gnome.org/GNOME/glib/-/archive/2.81.1/glib-2.81.1.tar.gz
在glib根目錄創(chuàng)建交叉編譯腳本,并命名為：aarch64-arm-none-linux.txt
[host_machine]
system = 'linux'
cpu_family = 'aarch64'
cpu = 'aarch64'
endian = 'little'
[properties]
c_args = []
c_link_args = []
[binaries]
c = '/opt/droidtools/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-gcc'
cpp = '/opt/droidtools/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-g++'
ar = '/opt/droidtools/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-gcc-ar'
ld = '/opt/droidtools/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-gcc-ld'
objcopy = '/opt/droidtools/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-objcopy'
strip = '/opt/droidtools/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-strip'
1、配置編譯選項(xiàng)，打開終端，跳轉(zhuǎn)到glib根目錄，輸入下面的命令
meson --prefix=/opt/droidtools/aarch64-unknown-linux-gnu/aarch64-unknown-linux-gnu -Ddefault_library=both --cross-file aarch64-arm-none-linux.txt build_aarch64
2、編譯命令：meson compile -C build_aarch64
3、安裝命令：meson install -C build_aarch64
二、編譯安裝 LCM
git：/commit/f18f8a63ea670f1395a7422447b43859a01788ab
https://github.com/lcm-proj/lcm.git
在（/Users/mhming/Downloads/Deployment/，這個(gè)目錄可自定義，注意cmake腳本路徑即可）創(chuàng)建交叉編譯工具配置腳本，并命名為：cross_aarch64.cmake
# cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..
set(tools "/opt/droidtools/aarch64-unknown-linux-gnu/")
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)
set(CMAKE_BUILD_TYPE Release)
# set(CMAKE_STAGING_PREFIX /Users/mhming/Downloads/Deployment/compile_tools/stage)
set(CMAKE_INSTALL_PREFIX ${tools}/aarch64-unknown-linux-gnu/)
set(CMAKE_C_COMPILER ${tools}/bin/aarch64-unknown-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER ${tools}/bin/aarch64-unknown-linux-gnu-g++)
set(CMAKE_FIND_ROOT_PATH ${tools}/aarch64-unknown-linux-gnu)
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)
set(_Python3_INCLUDE_DIR "/opt/homebrew/opt/python@3.12/Frameworks/Python.framework/Versions/3.12/include/python3.12")
注：查找python頭文件命令：python3-config --includes
1、終端進(jìn)入LCM根目錄，創(chuàng)建build_aarch64編譯目錄
mkdir build_aarch64
cd build_aarch64
2、配置選項(xiàng)加載
cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..
3、編譯、安裝
make & make install
lua、go、test等內(nèi)容一般不需要可在CmakeList中注釋掉，可減少環(huán)境配置內(nèi)容。
三、編譯安裝yaml-cpp yaml-cpp-0.8.0
https://github.com/jbeder/yaml-cpp.git
1、終端進(jìn)入yaml-cpp根目錄，創(chuàng)建build_aarch64編譯目錄
mkdir build_aarch64
cd build_aarch64
2、配置選項(xiàng)加載
cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..
3、編譯、安裝
make & make install
四、編譯安裝 SOEM /commit/83c6264f9929991bcf2918514114d19efe308e2a
https://github.com/OpenEtherCATsociety/SOEM.git
1、終端進(jìn)入SOEM根目錄，創(chuàng)建build_aarch64編譯目錄
mkdir build_aarch64
cd build_aarch64
2、配置選項(xiàng)加載
cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..
3、編譯、安裝
make & make install
五、編譯安裝 Eigen 3.4.0
https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
解壓后拷貝Eigen目錄到：
/opt/droidtools/aarch64-unknown-linux-gnu/aarch64-unknown-linux-gnu/include
六、編譯安裝 grpc v1.65.4
https://github.com/grpc/grpc.git
1、終端進(jìn)入gRPC根目錄，創(chuàng)建build_aarch64編譯目錄
mkdir build_aarch64
cd build_aarch64
2、配置選項(xiàng)加載
cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake -DgRPC_INSTALL=ON -DgRPC_BUILD_TESTS=OFF -DgRPC_USE_SYSTEMD=OFF ..
3、編譯、安裝
make & make install
七、安裝
https://github.com/nlohmann/json.git
commit 960b763ecd144f156d05ec61f577b04107290137
1、終端進(jìn)入json根目錄，創(chuàng)建build_aarch64編譯目錄
mkdir build_aarch64
cd build_aarch64
2、配置選項(xiàng)加載
cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..
3、編譯、安裝
make & make install
