rp3bのbluetoothをcommon lispから使いたい。 bluezのラッパーから使うだけだけどc2ffiを実行できるのか?
とりあえずhu.dwim.bluezをロード
ros use sbcl-bin ros run
(ql:quickload :hu.dwim.bluez)
; caught ERROR: ; READ error during COMPILE-FILE: unmatched close parenthesisLine: 82, Column: 19, File-Position: 2874Stream: #<SB-INT:FORM-TRACKING-STREAM for "file /home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/toolchain/c-toolchain.lisp" {520B3241}> While evaluating the form starting at line 30, column 0 of #P"/home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd": debugger invoked on a LOAD-SYSTEM-DEFINITION-ERROR: Error while trying to load definition for system cffi-libffi from pathname /home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd: COMPILE-FILE-ERROR while compiling #<CL-SOURCE-FILE "cffi-toolchain" "toolchain" "c-toolchain"> Type HELP for debugger help, or (SB-EXT:EXIT) to exit from SBCL. restarts (invokable by number or by possibly-abbreviated name): 0: [RETRY ] Retry compiling #<CL-SOURCE-FILE "cffi-toolchain" "toolchain" "c-toolchain">. 1: [ACCEPT ] Continue, treating compiling #<CL-SOURCE-FILE "cffi-toolchain" "toolchain" "c-toolchain"> as having been successful. 2: [RETRY ] Retry EVAL of current toplevel form. 3: [CONTINUE ] Ignore error and continue loading file "/home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd". 4: [ABORT ] Abort loading file "/home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd". 5: Retry ASDF operation. 6: [CLEAR-CONFIGURATION-AND-RETRY] Retry ASDF operation after resetting the configuration. 7: Give up on "hu.dwim.bluez" 8: Exit debugger, returning to top level. ((FLET #:H0 :IN LOAD-ASD) #<COMPILE-FILE-ERROR {5219A129}>) 0]
閉じ括弧が合わないコンパイルエラーになるぞ。どういうことだ。。。
c2ffiのインストール
GitHub - rpav/c2ffi: Clang-based FFI wrapper generatorをビルドしたいのでllvmとかをインストール。
sudo apt-get install clang llvm libtool-bin libclang-dev
masterのreadme見ると3.5はサポートされてないがどうするか。 と、おもったらllvm-3.5のブランチもあった。
git clone https://github.com/rpav/c2ffi cd c2ffi git checkout llvm-3.5 ./autogen mkdir build cd build ../configure make ./src/c2ffi -h make install
hu.dwim.bluezの修正を試みる
とりあえずソースコードをもらってくる。
git clone https://github.com/attila-lendvai/hu.dwim.bluez cd .roswell/local-projects/ ln -s ~/hu.dwim.bluez/ cd ros run
(ql:quickload :hu.dwim.bluez)
To load "hu.dwim.bluez": Load 1 ASDF system: hu.dwim.bluez ; Loading "hu.dwim.bluez" ; ; caught ERROR: ; READ error during COMPILE-FILE: unmatched close parenthesisLine: 82, Column: 19, File-Position: 2874Stream: #<SB-INT:FORM-TRACKING-STREAM for "file /home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/toolchain/c-toolchain.lisp" {516C5241}> While evaluating the form starting at line 30, column 0 of #P"/home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd": debugger invoked on a LOAD-SYSTEM-DEFINITION-ERROR: Error while trying to load definition for system cffi-libffi from pathname /home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd: COMPILE-FILE-ERROR while compiling #<CL-SOURCE-FILE "cffi-toolchain" "toolchain" "c-toolchain"> Type HELP for debugger help, or (SB-EXT:EXIT) to exit from SBCL. restarts (invokable by number or by possibly-abbreviated name): 0: [RETRY ] Retry compiling #<CL-SOURCE-FILE "cffi-toolchain" "toolchain" "c-toolchain">. 1: [ACCEPT ] Continue, treating compiling #<CL-SOURCE-FILE "cffi-toolchain" "toolchain" "c-toolchain"> as having been successful. 2: [RETRY ] Retry EVAL of current toplevel form. 3: [CONTINUE ] Ignore error and continue loading file "/home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd". 4: [ABORT ] Abort loading file "/home/pi/.roswell/lisp/quicklisp/dists/quicklisp/software/cffi_0.17.1/cffi-libffi.asd". 5: Retry ASDF operation. 6: [CLEAR-CONFIGURATION-AND-RETRY] Retry ASDF operation after resetting the configuration. 7: Give up on "hu.dwim.bluez" 8: Exit debugger, returning to top level. ((FLET #:H0 :IN LOAD-ASD) #<COMPILE-FILE-ERROR {517AB901}>) 0]
よく見たらcffiか。。。
githubからcffiをもらってくる
git clone https://github.com/cffi/cffi cd ~/.roswell/local-projects ln -s ~/cffi cd ros run
(ql:quickload :hu.dwim.bluez)
To load "hu.dwim.bluez": Load 1 ASDF system: hu.dwim.bluez ; Loading "hu.dwim.bluez" ; pkg-config libffi --cflags .; cc -marm -o /home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel-tmp7LQ0A0VI -I/home/pi/cffi/ /home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel.c /home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel.c: In function ‘main’: /home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel.c:82:41: error: ‘FFI_UNIX64’ undeclared (first use in this function) fprintf(output, "%"PRIiMAX, (intmax_t)FFI_UNIX64); ^ /home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel.c:82:41: note: each undeclared identifier is reported only once for each function it appears in debugger invoked on a CFFI-GROVEL:GROVEL-ERROR: Subprocess #<UIOP/RUN-PROGRAM::PROCESS-INFO {524CBF21}> with command ("cc" "-marm" "-o" "/home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel-tmp7LQ0A0VI" "-I/home/pi/cffi/" "/home/pi/.cache/common-lisp/sbcl-1.3.9-linux-arm/sbcl-bin-1.3.9/home/pi/cffi/libffi/libffi-types__grovel.c") exited with error code 1 Type HELP for debugger help, or (SB-EXT:EXIT) to exit from SBCL. restarts (invokable by number or by possibly-abbreviated name): 0: [RETRY ] Retry PROCESS-OP on #<GROVEL-FILE "cffi-libffi" "libffi" "libffi-types">. 1: [ACCEPT ] Continue, treating PROCESS-OP on #<GROVEL-FILE "cffi-libffi" "libffi" "libffi-types"> as having been successful. 2: Retry ASDF operation. 3: [CLEAR-CONFIGURATION-AND-RETRY] Retry ASDF operation after resetting the configuration. 4: [ABORT ] Give up on "hu.dwim.bluez" 5: Exit debugger, returning to top level. (CFFI-GROVEL:GROVEL-ERROR "~a" #<UIOP/RUN-PROGRAM:SUBPROCESS-ERROR {524CC061}>) 0]
FFI_UNIX64 はなんか32ビットarmのlibffiにはないっぽい。
diff --git a/libffi/libffi-types.lisp b/libffi/libffi-types.lisp index 939a87b..1b47c98 100644 --- a/libffi/libffi-types.lisp +++ b/libffi/libffi-types.lisp @@ -69,6 +69,7 @@ (cenum abi ((:default-abi "FFI_DEFAULT_ABI")) ((:sysv "FFI_SYSV")) + #-arm ((:unix64 "FFI_UNIX64"))) (ctype ffi-abi "ffi_abi")
修正してもう一度 hu.dwim.bleuz をロード。
(ql:quickload :hu.dwim.bluez)
; Loading "hu.dwim.bluez" ; CFFI/C2FFI is generating the file #P"/home/pi/hu.dwim.bluez/c2ffi-spec/bluez.arm-pc-linux-gnu.lisp" ........ debugger invoked on a COMMON-LISP:SIMPLE-ERROR: Key :STORAGE-CLASS not found in json entry ((:TAG . "function") (:NAME . "close") (:LOCATION . "/usr/include/unistd.h:353:12") (:VARIADIC) (:INLINE) (:STORAGE--CLASS . "extern") (:PARAMETERS ((:TAG . "parameter") (:NAME . "__fd") (:TYPE (:TAG . ":int")))) (:RETURN-TYPE (:TAG . ":int"))). Type HELP for debugger help, or (SB-EXT:EXIT) to exit from SBCL. restarts (invokable by number or by possibly-abbreviated name): 0: [RETRY ] Retry GENERATE-LISP-OP on #<C2FFI-FILE "hu.dwim.bluez" "c2ffi-spec" "bluez.h">. 1: [ACCEPT ] Continue, treating GENERATE-LISP-OP on #<C2FFI-FILE "hu.dwim.bluez" "c2ffi-spec" "bluez.h"> as having been successful. 2: Retry ASDF operation. 3: [CLEAR-CONFIGURATION-AND-RETRY] Retry ASDF operation after resetting the configuration. 4: [ABORT ] Give up on "hu.dwim.bluez" 5: Exit debugger, returning to top level. (CFFI/C2FFI::JSON-VALUE #<unavailable argument> #<unavailable argument> :OTHERWISE COMMON-LISP:NIL) 0]
:STORAGE-CLASS not found?
なかなか上手く行かない。。。
