移植BehaviorTree.CPP到OpenHarmony标准系统之一

作者：离北况归 2023-06-27 15:12:46系统 OpenHarmony 本篇将分享两种移植方式，移植为 BehaviorTree.CPP 编写BUILD.gn 进行Rom集成，准系移植后编译出来的移植so和可执行文件打包进入固件的方法，移植相关的准系文件ohos.build修改为bundle.json，ohos.build不再使用。移植

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1、移植为BehaviorTree.CPP编写BUILD.gn进行Rom集成

• Rom集成笔者开发环境：

• wsl2+ubuntu18.04
• OpenHarmony 3.2 release 源码
• 润和大禹200开发板

2、准系修改build/subsystem_config.json，移植新增子系统behaviortree定义

在源码/build/subsystem_config.json中增加子系统behaviortree。准系

"behaviortree": {     "path": "third_party/behaviortree",移植    "name": "behaviortree"  }

3、修改vendor/hihope/rk3568/config.json文件将behaviortree添加至rk3568开发板

{       "subsystem": "behaviortree",准系      "components": [        {           "component": "behaviortree",          "features": []        }      ]    }

4、在OpenHarmony标准系统源码下third_party下放置BehaviorTree.CPP源码

• BehaviorTree.CPP 源码版本为4.1.1 ：https://github.com/BehaviorTree/BehaviorTree.CPP/tree/4.1.1。移植
• 并且文件夹名称修改为behaviortree。准系

5、移植third_party/behaviortree目录下添加bundle.json文件

• 特别说明：ohos.build不再使用，OpenHarmony源码中全部使用bundle.json。
• bundle.json文件:

{   "name": "@ohos/behaviortree",  "description": "",  "version": "",  "license": "",  "publishAs": "",  "segment": {       "destPath": "third_party/behaviortree"  },  "dirs": { },  "scripts": { },  "readmePath": {   },  "component": {       "name": "behaviortree",      "subsystem": "behaviortree",      "syscap": [],      "features": [],      "adapted_system_type": [],      "rom": "",      "ram": "",      "deps": {           "components": [],          "third_party": []      },      "build": {           "sub_component": [            "//third_party/behaviortree:lexy_file",            "//third_party/behaviortree:bt_sample_nodes",            "//third_party/behaviortree:behaviortree_cpp",            "//third_party/behaviortree:dummy_nodes_dyn",            "//third_party/behaviortree:crossdoor_nodes_dyn",            "//third_party/behaviortree:movebase_node_dyn",            "//third_party/behaviortree:t01_build_your_first_tree",            "//third_party/behaviortree:t02_basic_ports",            "//third_party/behaviortree:t03_generic_ports",            "//third_party/behaviortree:t05_crossdoor",            "//third_party/behaviortree:t04_reactive_sequence",            "//third_party/behaviortree:t06_subtree_port_remapping",            "//third_party/behaviortree:t07_load_multiple_xml",            "//third_party/behaviortree:t08_additional_node_args",            "//third_party/behaviortree:t09_scripting",            "//third_party/behaviortree:t10_observer",            "//third_party/behaviortree:t11_replace_rules",            "//third_party/behaviortree:ex01_wrap_legacy",            "//third_party/behaviortree:ex02_runtime_ports",            "//third_party/behaviortree:ex03_ncurses_manual_selector",            "//third_party/behaviortree:ex04_waypoints"          ],          "inner_kits": [],          "test": []      }  }}

6、BehaviorTree.CPP编译gn化,在third_party/behaviortree下添加BUILD.gn脚本文件

• third_party/behaviortree/BUILD.gn配置的模块有

• so

• libbehaviortree_cpp.z.so
• libmovebase_node_dyn.z.so
• libcrossdoor_nodes_dyn.z.so
• libdummy_nodes_dyn.z.so

• .a

• liblexy_file.a
• libbt_sample_nodes.a

• 可执行文件

• t01_build_your_first_tree
• t02_basic_ports
• t03_generic_ports
• t04_reactive_sequence
• t05_crossdoor
• t06_subtree_port_remapping
• t07_load_multiple_xml
• t08_additional_node_args
• t09_scripting
• t10_observer
• t11_replace_rules
• ex01_wrap_legacy
• ex02_runtime_ports
• ex03_ncurses_manual_selector
• ex04_waypoints

• 模块之间的依赖关系

• libbehaviortree_cpp.z.so依赖lexy_file.a
• libcrossdoor_nodes_dyn.z.so依赖libbehaviortree_cpp.z.so
• libmovebase_node_dyn.z.so依赖libbehaviortree_cpp.z.so
• 所有的可执行文件都依赖libbt_sample_nodes.a和libbehaviortree_cpp.z.so

• third_party/behaviortree/BUILD.gn文件如下：

import("//build/ohos.gni")  ############################################################################### 公共配置config("public_config"){     ldflags = [       #"-lstdc++",       #用-lc++替代-lstdc++       "-lc++",       "-Wl",       "-lm",       "-lc",       "-lpthread",    ]}############################################################################### liblexy_file.aconfig("lexy_file_config"){     #cflags_cc是用来存储专门针对 C++ 语言编译器的选项，只会被 C++ 编译器使用。    cflags_cc = [       "-O3",       "-DNDEBUG",         "-Wpedantic",        "-pedantic-errors",        "-Werror",        "-Wall",        "-Wextra",        "-Wconversion",        "-Wsign-conversion",        "-Wno-parentheses",        "-Wno-unused-local-typedefs",        "-Wno-array-bounds",        "-Wno-maybe-uninitialized",        "-Wno-restrict",        "-std=gnu++20",    ]}ohos_static_library("lexy_file") {     output_name = "lexy_file" # 可选，模块输出名    sources = [         "//third_party/behaviortree/3rdparty/lexy/src/input/file.cpp",    ]    defines = [    ]    configs = [          ":lexy_file_config",          ":public_config",    ]     include_dirs = [         "3rdparty/lexy/include",    ]    part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### libbt_sample_nodes.aconfig("bt_sample_nodes_config"){     #cflags_cc是用来存储专门针对 C++ 语言编译器的选项，只会被 C++ 编译器使用。     cflags_cc = [        "-O3",         "-DNDEBUG",            "-Wpedantic",           "-std=gnu++17",        # 为了消除编译报错添加的        "-fexceptions",        "-frtti",        "-Wno-unused-function",     ]}ohos_static_library("bt_sample_nodes") {     sources = [        "sample_nodes/crossdoor_nodes.cpp",        "sample_nodes/dummy_nodes.cpp",        "sample_nodes/movebase_node.cpp",    ]    defines = [    ]    configs = [          ":bt_sample_nodes_config",          ":public_config",    ]     include_dirs = [         "include",         "sample_nodes"    ]    part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### libbehaviortree_cpp.soconfig("behaviortreecpp_config"){     cflags_cc = [        # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志        "-O3",         "-DNDEBUG",          "-fPIC",            "-Wpedantic",          "-Wall",          "-Wextra",          "-std=gnu++20",        # 为了消除shared_library.cpp编译报错添加-fexceptions        "-fexceptions",        "-frtti",        "-Wno-deprecated-volatile",        "-Wno-unused-lambda-capture",    ]    include_dirs = [         ".",         "include",         "3rdparty",         "3rdparty/lexy/include",    ]}ohos_shared_library("behaviortree_cpp") {     output_name = "behaviortree_cpp" # 可选，模块输出名    sources = [        "src/action_node.cpp",        "src/basic_types.cpp",        "src/behavior_tree.cpp",        "src/blackboard.cpp",        "src/bt_factory.cpp",        "src/decorator_node.cpp",        "src/condition_node.cpp",        "src/control_node.cpp",        "src/shared_library.cpp",        "src/tree_node.cpp",        "src/script_parser.cpp",        "src/json_export.cpp",        "src/xml_parsing.cpp",        "src/actions/test_node.cpp",        "src/decorators/inverter_node.cpp",        "src/decorators/repeat_node.cpp",        "src/decorators/retry_node.cpp",        "src/decorators/subtree_node.cpp",        "src/decorators/delay_node.cpp",        "src/controls/if_then_else_node.cpp",        "src/controls/fallback_node.cpp",        "src/controls/parallel_node.cpp",        "src/controls/reactive_sequence.cpp",        "src/controls/reactive_fallback.cpp",        "src/controls/sequence_node.cpp",        "src/controls/sequence_star_node.cpp",        "src/controls/switch_node.cpp",        "src/controls/while_do_else_node.cpp",        "src/loggers/bt_cout_logger.cpp",        "src/loggers/bt_file_logger.cpp",        "src/loggers/bt_minitrace_logger.cpp",        "src/loggers/bt_observer.cpp",        "3rdparty/tinyxml2/tinyxml2.cpp",        "3rdparty/minitrace/minitrace.cpp",        "src/shared_library_UNIX.cpp",    ]    defines = [        "LEXY_HAS_UNICODE_DATABASE=1",        "behaviortree_cpp_EXPORTS",    ]    configs = [          ":behaviortreecpp_config",          ":public_config",    ]     deps = [         "//third_party/behaviortree:lexy_file",    ]        install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]    part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### libdummy_nodes_dyn.soconfig("dummy_nodes_dyn_config"){     cflags_cc = [        # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志        "-O3",         "-DNDEBUG",          "-fPIC",            "-Wpedantic",           "-std=gnu++17",        # 为了消除shared_library.cpp编译报错添加-fexceptions        "-fexceptions",        "-frtti",        "-Wno-deprecated-volatile",        "-Wno-unused-lambda-capture",    ]    include_dirs = [         "include",         "sample_nodes"    ]}ohos_shared_library("dummy_nodes_dyn") {         output_name = "dummy_nodes_dyn" # 可选，模块输出名    sources = [        "sample_nodes/dummy_nodes.cpp",    ]    defines = [        "BT_PLUGIN_EXPORT",        "dummy_nodes_dyn_EXPORTS",    ]    configs = [          ":dummy_nodes_dyn_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### libcrossdoor_nodes_dyn.soconfig("crossdoor_nodes_dyn_config"){     cflags_cc = [        # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志        "-O3",         "-DNDEBUG",          "-fPIC",            "-Wpedantic",           "-std=gnu++17",        # 为了消除shared_library.cpp编译报错添加-fexceptions        "-fexceptions",        "-frtti",        "-Wno-deprecated-volatile",        "-Wno-unused-lambda-capture",    ]    include_dirs = [         "include",         "sample_nodes"    ]}ohos_shared_library("crossdoor_nodes_dyn") {         output_name = "crossdoor_nodes_dyn" # 可选，模块输出名    sources = [        "sample_nodes/crossdoor_nodes.cpp",    ]    defines = [        "BT_PLUGIN_EXPORT",        "crossdoor_nodes_dyn_EXPORTS",    ]    configs = [          ":crossdoor_nodes_dyn_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",    ]        install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]    part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### libmovebase_node_dyn.soconfig("movebase_node_dyn_config"){     cflags_cc = [        # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志        "-O3",         "-DNDEBUG",          "-fPIC",            "-Wpedantic",           "-std=gnu++17",        # 为了消除shared_library.cpp编译报错添加-fexceptions        "-fexceptions",        "-frtti",        "-Wno-deprecated-volatile",        "-Wno-unused-lambda-capture",    ]    include_dirs = [         "include",         "sample_nodes"    ]}ohos_shared_library("movebase_node_dyn") {         output_name = "movebase_node_dyn" # 可选，模块输出名    sources = [        "sample_nodes/movebase_node.cpp",    ]    defines = [        "BT_PLUGIN_EXPORT",        "movebase_node_dyn_EXPORTS",    ]    configs = [          ":movebase_node_dyn_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t01_build_your_first_treeconfig("executable_public_config"){     cflags_cc = [        # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志        "-O3",         "-DNDEBUG",           "-Wpedantic",           "-std=gnu++17",        # 为了消除shared_library.cpp编译报错添加-fexceptions        "-fexceptions",        "-frtti",        "-Wno-deprecated-volatile",        "-Wno-unused-lambda-capture",    ]    include_dirs = [         "include",         "sample_nodes"    ]}ohos_executable("t01_build_your_first_tree") {         output_name = "t01_build_your_first_tree" # 可选，模块输出名    sources = [        "examples/t01_build_your_first_tree.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]        install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]    part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t02_basic_portsohos_executable("t02_basic_ports") {         output_name = "t02_basic_ports" # 可选，模块输出名    sources = [        "examples/t02_basic_ports.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t03_generic_portsohos_executable("t03_generic_ports") {         output_name = "t03_generic_ports" # 可选，模块输出名    sources = [        "examples/t03_generic_ports.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]    part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t04_reactive_sequenceohos_executable("t04_reactive_sequence") {         output_name = "t04_reactive_sequence" # 可选，模块输出名    sources = [        "examples/t04_reactive_sequence.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t05_crossdoorohos_executable("t05_crossdoor") {         output_name = "t05_crossdoor" # 可选，模块输出名    sources = [        "examples/t05_crossdoor.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t06_subtree_port_remappingohos_executable("t06_subtree_port_remapping") {         output_name = "t06_subtree_port_remapping" # 可选，模块输出名    sources = [        "examples/t06_subtree_port_remapping.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t07_load_multiple_xmlohos_executable("t07_load_multiple_xml") {         output_name = "t07_load_multiple_xml" # 可选，模块输出名    sources = [        "examples/t07_load_multiple_xml.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t08_additional_node_argsohos_executable("t08_additional_node_args") {         output_name = "t08_additional_node_args" # 可选，模块输出名    sources = [        "examples/t08_additional_node_args.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t09_scriptingohos_executable("t09_scripting") {         output_name = "t09_scripting" # 可选，模块输出名    sources = [        "examples/t09_scripting.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t10_observerconfig("t10_observer_config"){     cflags_cc = [        # 为了编译libbehaviortree_cpp.so原生库中添加的编译器标志        "-O3",         "-DNDEBUG",           "-Wpedantic",           "-std=gnu++17",        # 为了消除shared_library.cpp编译报错添加-fexceptions        "-fexceptions",        "-frtti",        "-Wno-deprecated-volatile",        "-Wno-unused-lambda-capture",        "-Wno-unused-variable",    ]    include_dirs = [         "include",         "sample_nodes"    ]}ohos_executable("t10_observer") {         output_name = "t10_observer" # 可选，模块输出名    sources = [        "examples/t10_observer.cpp",    ]    configs = [          ":t10_observer_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### t11_replace_rulesohos_executable("t11_replace_rules") {         output_name = "t11_replace_rules" # 可选，模块输出名    sources = [        "examples/t11_replace_rules.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### ex01_wrap_legacyohos_executable("ex01_wrap_legacy") {         output_name = "ex01_wrap_legacy" # 可选，模块输出名    sources = [        "examples/ex01_wrap_legacy.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### ex02_runtime_portsohos_executable("ex02_runtime_ports") {         output_name = "ex02_runtime_ports" # 可选，模块输出名    sources = [        "examples/ex02_runtime_ports.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### ex03_ncurses_manual_selectorohos_executable("ex03_ncurses_manual_selector") {         output_name = "ex03_ncurses_manual_selector" # 可选，模块输出名    sources = [        "examples/ex03_ncurses_manual_selector.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}############################################################################### ex04_waypointsohos_executable("ex04_waypoints") {         output_name = "ex04_waypoints" # 可选，模块输出名    sources = [        "examples/ex04_waypoints.cpp",    ]    configs = [          ":executable_public_config",          ":public_config",    ]     deps = [        "//third_party/behaviortree:behaviortree_cpp",        "//third_party/behaviortree:bt_sample_nodes",    ]    install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]        part_name = "behaviortree"    subsystem_name = "behaviortree"}##############################################################################

7、对源码进行增量编译，推送编译生成BehaviorTree.CPP的so以及可执行文件到开发板上，验证编译结果

（1）对源码进行增量编译

• 推荐使用如下命令对对源码进行增量编译，编译生成BehaviorTree.CPP的so以及可执行文件

./build.sh --product-name rk3568 --ccache --build-target=behaviortree --disable-post-build --disable-package-image --gn-args enable_notice_collection=false --gn-args load_test_config=false

• 默认编译的是32位，添加–target-cpu arm64参数编译64位

--product-name rk3568 :表示编译的产品是rk3568 (润和大禹200)--build-target=behaviortree ：编译子系统behaviortree以下这些都是加快编译速度的选项--ccache --build-target=behaviortree --disable-post-build --disable-package-image --gn-args enable_notice_collection=false --gn-args load_test_config=false

（2）推送编译生成BehaviorTree.CPP的so以及可执行文件到开发板上，验证编译结果

so和可执行文件在out\rk3568\behaviortree目录下：

liblexy_file.a、libbt_sample_nodes.a等静态库文件在out\rk3568\obj\third_party\behaviortree目录下。

1、通过与ohos版本匹配的hdc_std工具,将编译生成的库以及测试用的可执行文件推送到开发板system/lib (lib64)

• 推送到开发板system/lib (lib64)，是因为运行需要链接该目录下的libc++.so
• 注意，不再是用hdc_std，改成了hdc

hdc shell               mount -o remount,rw /	    ## 重新加载系统为可读写chmod 777 t02_basic_ports./t02_basic_ports

8、对源码进行增量编译全量编译，烧录固件验证编译结果。

• 如果有将编译生成BehaviorTree.CPP的so以及可执行文件打包到固件，随固件烧录到开发板的需求。推荐进行全量编译，执行 ./build.sh --product-name rk3568 --ccache ，然后编译烧录固件到开发板上即可。
• 编译烧录好固件到开发板后，so文件会在开发板system/lib(64位系统的话在system/lib64)，可执行文件会在system/bin。
• hdc shell进入开发板后，在任意目录层级下执行可执行文件都可以。

• 将编译生成BehaviorTree.CPP的so以及可执行文件打包到固件，在上文third_party/behaviortree/BUILD.gn中已经添加相关代码。

install_enable = true        install_images = [         "system",         "ramdisk",         "updater",    ]

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责任编辑：jianghua 来源： 51CTO 开源基础软件社区 C++三方库移植

(责任编辑：时尚)