1 | #check required version of a lib in host graphic lib (ie i965)
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2 | #return 1 if robomap3 version is not sufficient
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3 | function check_required_lib_ver () {
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4 | DRIVER_LIB=$1
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5 | PATTERN=$2
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6 | LIB=$3
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7 |
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8 | #get the highest required version of $PATTERN
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9 | VER_REQUIRED=$(objdump -T $DRIVER_LIB | grep $PATTERN | sed -e 's/.*'$PATTERN'_\(.*\) .*/\1/' | sort -uV | tail -1)
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10 | #get currently used $LIB
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11 | LIB_PROVIDED=$(ldd $EXEC | grep $LIB | sed -e 's/.*=> \(.*\) (.*/\1/')
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12 | #get the highest version of $PATTERN supported by the $LIB
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13 | VER_PROVIDED=$(objdump -T $LIB_PROVIDED | grep ".*"$PATTERN"_[0-9.]*$" | sed -e 's/.*'$PATTERN'_\(.*\)/\1/' | sort -V | tail -1)
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14 | if [ $(echo -e "$VER_PROVIDED\n$VER_REQUIRED" | sort -V | tail -n1) != $VER_PROVIDED ]; then
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15 | echo "We must use the local system $LIB"
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16 | return 1
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17 | fi
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18 | }
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19 |
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20 | function green_echo () {
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21 | echo -e "\033[32m$1\033[0m"
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22 | }
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23 |
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24 | if [ -f /etc/lsb-release ]; then
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25 | . /etc/lsb-release
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26 | fi
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27 |
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28 | #also needed in mint, but for different reason?
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29 | #if not in sudo in mint, simlator does not work cause of:
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30 | #libGL: MESA-LOADER: failed to open /usr/lib/x86_64-linux-gnu/dri/iris_dri.so: /usr/lib/x86_64-linux-gnu/dri/iris_dri.so: failed to map segment from shared object
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31 |
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32 | #if [ _$DISTRIB_ID = _Ubuntu ]; then
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33 | #tested on Ubuntu 17.10
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34 | #we must run as root
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35 | if [ $EUID -ne 0 ]; then
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36 | exec sudo -E $0 $*
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37 | fi
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38 |
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39 | #we must run in root cgroup to escape possible restrictions on scheduling
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40 | if [ -d /sys/fs/cgroup/cpu ]; then
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41 | echo $$ > /sys/fs/cgroup/cpu/tasks
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42 | fi
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43 |
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44 | #fi
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45 |
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46 | #special actions if we use 3D
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47 | ldd $EXEC | grep "libGL.so" > /dev/null
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48 | if [ $? -eq 0 ]; then
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49 | green_echo "checking for incompatibility when using libGL and trying to solve it..."
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50 | #allow root access to the X server
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51 | xhost si:localuser:root
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52 |
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53 | #Mesa DRI driver may need a lib more recent than robomap3's
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54 | ldconfig -p | grep mesa > /dev/null
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55 | if [ $? -eq 0 ]; then
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56 | read DRI_CARD_MAJOR DRI_CARD_MINOR < <(stat -c '%t %T' /dev/dri/card0)
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57 | DRIVER=$(cat /sys/dev/char/$((16#$DRI_CARD_MAJOR)):$((16#$DRI_CARD_MINOR))/device/uevent | grep DRIVER | cut -d= -f2)
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58 | echo "Mesa DRI driver is $DRIVER"
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59 | DRIVER_LIB=$(LIBGL_DEBUG=verbose glxinfo 2>&1 | grep "\.so" | tail -n 1 | grep -o '/.*\.so')
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60 |
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61 | #todo: make a list, find a complete one!
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62 | check_required_lib_ver $DRIVER_LIB GLIBC libm.so.6
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63 | if [ "$?" = "1" ]; then
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64 | ADDED_LIBS=$(ldconfig -p | grep libm.so.6 | grep libc6,x86-64 | cut -d'>' -f2)
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65 | fi
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66 |
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67 | check_required_lib_ver $DRIVER_LIB CXXABI libstdc++.so.6
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68 | if [ "$?" = "1" ]; then
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69 | ADDED_LIBS="$ADDED_LIBS:$(ldconfig -p | grep libstdc++.so.6 | grep libc6,x86-64 | cut -d'>' -f2)"
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70 | fi
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71 |
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72 | #remove whitespace
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73 | #add libs to LD_PRELOAD if version robomap3 version is not sufficient
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74 | export LD_PRELOAD="$(echo -e "${ADDED_LIBS}" | tr -d '[:space:]')"
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75 | fi
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76 |
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77 | #check if using DRI3 and disable it
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78 | #otherwise you get /usr/lib/x86_64-linux-gnu/libGLX_mesa.so.0: undefined symbol: xcb_dri3_get_supported_modifiers
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79 | cat /var/log/Xorg.0.log | grep DRI3 > /dev/null
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80 | if [ $? -eq 0 ]; then
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81 | export LIBGL_DRI3_DISABLE=1
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82 | echo "we must disable DRI3"
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83 | fi
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84 | green_echo "...done\n"
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85 | fi
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86 |
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87 |
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88 |
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