gcc v11.2.0-1

https://github.com/messense/homebrew-macos-cross-toolchains/releases

注意：所有的make install 安装出现权限错误，请检查交叉编译工具安装目录配置，千万不要加sudo，以免覆盖主机系统文件。

编译完成后安装路径被覆盖，可以从新执行一下cmake配置：

cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..

一、编译安装 glib2.81.1

https://gitlab.gnome.org/GNOME/glib/-/archive/2.81.1/glib-2.81.1.tar.gz

在glib根目录创建交叉编译脚本,并命名为：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、配置编译选项，打开终端，跳转到glib根目录，输入下面的命令

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、编译命令：meson compile -C build_aarch64

3、安装命令：meson install -C build_aarch64

二、编译安装 LCM

git：/commit/f18f8a63ea670f1395a7422447b43859a01788ab

https://github.com/lcm-proj/lcm.git

在（/Users/mhming/Downloads/Deployment/，这个目录可自定义，注意cmake脚本路径即可）创建交叉编译工具配置脚本，并命名为：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头文件命令：python3-config --includes

1、终端进入LCM根目录，创建build_aarch64编译目录

mkdir build_aarch64
cd build_aarch64

2、配置选项加载

cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..

3、编译、安装

make & make install

lua、go、test等内容一般不需要可在CmakeList中注释掉，可减少环境配置内容。

三、编译安装yaml-cpp yaml-cpp-0.8.0

https://github.com/jbeder/yaml-cpp.git

1、终端进入yaml-cpp根目录，创建build_aarch64编译目录

mkdir build_aarch64
cd build_aarch64

2、配置选项加载

cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..

3、编译、安装

make & make install

四、编译安装 SOEM /commit/83c6264f9929991bcf2918514114d19efe308e2a

https://github.com/OpenEtherCATsociety/SOEM.git

1、终端进入SOEM根目录，创建build_aarch64编译目录

mkdir build_aarch64
cd build_aarch64

2、配置选项加载

cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..

3、编译、安装

make & make install

五、编译安装 Eigen 3.4.0

https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz

解压后拷贝Eigen目录到：
/opt/droidtools/aarch64-unknown-linux-gnu/aarch64-unknown-linux-gnu/include

六、编译安装 grpc v1.65.4

https://github.com/grpc/grpc.git

1、终端进入gRPC根目录，创建build_aarch64编译目录

mkdir build_aarch64
cd build_aarch64

2、配置选项加载

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、编译、安装

make & make install

七、安装

https://github.com/nlohmann/json.git
commit 960b763ecd144f156d05ec61f577b04107290137

1、终端进入json根目录，创建build_aarch64编译目录

mkdir build_aarch64
cd build_aarch64

2、配置选项加载

cmake -DCMAKE_TOOLCHAIN_FILE=/Users/mhming/Downloads/Deployment/compile_tools/cross_aarch64.cmake ..

3、编译、安装

make & make install