[Solved] Compile Error when using regular math functions in kinematics file

Aciera
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26 Feb 2020 16:14 - 01 Mar 2020 09:22 #158554 by Aciera

[Solved] Compile Error when using regular math functions in kinematics file was created by Aciera

I used some math functions in a kinematics file. Things like abs, cos, acos, sin, asine and so forth.
When I try to build it I get this error:

Linking genserkins
/usr/bin/ld: objects/emc/kinematics/genserfuncs.o: undefined reference to symbol 'acos@@GLIBC_2.0'
//lib/i386-linux-gnu/libm.so.6: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
emc/kinematics/Submakefile:18: recipe for target '../bin/genserkins' failed
make: *** [../bin/genserkins] Error 1

Apparently its a problem with a missing library that needs to be added to the make file. The section for this kinematic file looks like this but I have really not much clue as to what would need to be added.

Warning: Spoiler!

I would appreciate some guidance as to solve this.

Last edit: 01 Mar 2020 09:22 by Aciera.

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dgarrett
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26 Feb 2020 16:24 #158555 by dgarrett

Replied by dgarrett on topic Compile Error when using regular math functions in kinematics file

please post the output from:

$ linuxcnc_info

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Aciera
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26 Feb 2020 16:44 #158557 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

File Attachment:

File Name: linuxcnc_info.txt
File Size:4 KB

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dgarrett
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27 Feb 2020 02:54 #158596 by dgarrett

Replied by dgarrett on topic Compile Error when using regular math functions in kinematics file

linuxcnc_info excerpts:

kernel-vers -v: #1 SMP PREEMPT RT Debian 4.9.189-3+deb9u2 (2019-11-11)
       cmdline: BOOT_IMAGE=/boot/vmlinuz-4.9.0-11-rt-686-pae ...
...
           gcc: gcc (Debian 6.3.0-18+deb9u1) 6.3.0 20170516

So it appears to be debian stretch with preempt rt kernel.
I cannot reproduce on a similar 64bit stretch virtual machine
but need more information.

1) Are you modifying the primary in-tree Makefile (e.g. src/Makefile)?
or
2) Are you using an independent Makefile?

In either case, please explain in more detail and post:
a)the Makefile used to produce the error message posted at
message 158554
b)the exact directory location of the Makefile
c)the source file(s) using added math functions.

Note: you have both a git tree and a deb install for linuxcnc
and that can lead to hard-to-find errors.

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Aciera
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27 Feb 2020 07:04 - 27 Feb 2020 07:25 #158601 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

Thanks so much for looking into this!

So I have uninstalled the deb in the synaptic manager and deleted all the RIP installations.

Then :
$ git clone git://github.com/linuxcnc/linuxcnc.git linuxcnc-dev
$ cd linuxcnc-dev/src
$ ./autogen.sh
$ ./configure --with-realtime=uspace

Returning the message to continue to compile by typing make ....

$ make && sudo make setuid

Build fails:

File Attachment:

File Name: output.txt
File Size:133 KB

I tried this a couple of times but I can't build LinuxCNC anymore.

Last edit: 27 Feb 2020 07:25 by Aciera. Reason: added script output.txt of ./configure and make

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Aciera
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27 Feb 2020 08:19 #158603 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

I'll try a fresh install and report back.

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Aciera
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27 Feb 2020 08:58 #158606 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

tried a fresh Linux Mint 19.1 install and the exact same thing happens when I try to build LinuxCNC from git.
Now I'll try an iso.

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Aciera
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27 Feb 2020 12:23 - 27 Feb 2020 14:06 #158621 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

This just threw me on total loop! There must have been something wrong with the linuxcnc-dev on git. I tried about four different systems on two different machines until I decided to just forget about the normal branch and try to build the switchkins-branch.
Turns out that works just fine!
~~My kinematics file now also compiles without error.~~

Last edit: 27 Feb 2020 14:06 by Aciera. Reason: Thought it was solved alas no!

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Aciera
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27 Feb 2020 14:39 - 27 Feb 2020 14:44 #158641 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

So I'm back to square 1 with this. Im on a new machine (Linux Mint 19.1 Tessa non realtime kernel)

File Attachment:

File Name: linuxcnc_i...2-27.txt
File Size:3 KB

I've made changes to these two files adding a third kinematics case in genser-switchkins.c which corresponds to a remap to M430. This seems to work.

File Attachment:

File Name: genser-switchkins.c
File Size:6 KB

Of course the difficult part is the actual code for the "gensertoolKinematicsInverse" function. Because I'm having a hard time making sense of all the pointers and go_math functions in the original code I'm trying to use a code by Rudy du Preez

File Attachment:

File Name: robot6kins...-02-27.c
File Size:12 KB

that should actually be able to do the toolcoordinate kinematics I want. So I copied that in.

File Attachment:

File Name: genserfuncs.c
File Size:27 KB

Since his code does not define any other includes I thought that would work. But when I rebuild I get the error:

user@user-iMac:~/linuxcnc-dev/src$ make && sudo make setuid 
Reading 194/194 dependency files
Done reading dependencies
Reading 215/215 realtime dependency files
Done reading realtime dependencies
Linking genserkins
/usr/bin/ld: objects/emc/kinematics/genserfuncs.o: undefined reference to symbol 'sincos@@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libm.so.6: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
emc/kinematics/Submakefile:18: recipe for target '../bin/genserkins' failed
make: *** [../bin/genserkins] Error 1

Probably totally obvious to other people who actually know what they're doing but I'm stumped.
All hints are welcome.
Thanks

Last edit: 27 Feb 2020 14:44 by Aciera. Reason: fix wrong attachment

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Aciera
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27 Feb 2020 16:13 #158648 by Aciera

Replied by Aciera on topic Compile Error when using regular math functions in kinematics file

I found this answer to a similar question:

If your code includes mathematical functions (like exp, cos, etc.), you need to link to the mathematics library libm.so. This is done, just like for serial compiling, by adding -lm to the end of your compile command, that is,

mpicc -o sample sample.c -lm

But where would I add that "-lm"?

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[Solved] Compile Error when using regular math functions in kinematics file

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