The file 'ecrt_support.c' in $MATLABDIR should be empty. It shouldn't
even be there, but matlab complains that this file is missing, thus the
0Byte file.
The generated Makefile from etherlab_hrt.tmf, however, ensures that the
(non-empty) source file is found in $INSTALLDIR/src/ecrt_support.c
before $MATLABDIR/rtw/c/etherlab/src. (It could probably better have
been a link from $MATLABDIR to $INSTALLDIR)
You seem to be applying patches to use matlab's external mode and your
problem could be found there.
Try
make VERBOSE=1 clean all
in the generated directory to find out where ecrt_support.c is found.
On 2020-04-06 16:57, Moritz Schappler wrote:
Hello Richard,
thanks for the quick reply. The output of `nm ecrt_support.o` showed a
potential reason: It is empty and the underlying file
rtw/blocks/EtherCAT/ecrt_support.c in the Matlab directory is also empty
(0 bytes).
It seems, as if the file should be used from
/usr/local/share/etherlab/src with 44kB, but Matlab takes the wrong
file. Matlab R2018b also has the empty file, but seems to not take it.
I installed Etherlab for both R2018b and R2019a in the same way, using
install.sh and setup_etherlab.m:
https://github.com/SchapplM/etherlab-examples/blob/master/SETUP_ETHERCAT.MD#entwpc
Perhaps setting up the directories for linking the Simulink project has
changed in R2019a, or I messed up the Matlab path without having noticed.
I re-tested on a different machine this time, though.
This duplicate 0B-file was already introduced in hg-commit 1146
(2018-02-08).
When I overwrite the 0B file with the full version in the Matlab dir, I
get similar errors. Instead of
new_2019a.o: In Funktion »new_2019a_step«:
new_2019a.c:(.text+0x15): Warnung: undefinierter Verweis auf
»ecs_receive«
I get something like
ecrt_support.o: In Funktion »ecs_receive«:
ecrt_support.c:(.text+0xa0b): Warnung: undefinierter Verweis auf
»ecrt_domain_process«
The output of nm ecrt_support.o` now gives for R2018b and R2019a
U calloc
U clock_gettime
[...]
U ecrt_domain_data
[...]
So the symbols are undefined ("U") also in the previous version R2018b.
Is it possible that the linker/compiler since R2019a is "stricter" and
now raises an error for the undefined references?
As for manually running the g++ command: Building fails with the same
error in R2019a and R2018b.
Therefore the path configuration only seems to work from within Matlab
(R2018b).
Up to now, the only manual adaptation to making the build process work
was symbolically linking the shared libraries in /usr/local/lib/ with
$ ll /usr/local/lib/
lrwxrwxrwx 1 root root 44 Apr 6 14:54 libethercat.so ->
/usr/local/share/etherlab/lib/libethercat.so*
lrwxrwxrwx 1 root root 42 Apr 6 14:56 libpdserv.so ->
/usr/local/share/etherlab/lib/libpdserv.so
I attached the detailed logs.
In matlab-mex of the setup_etherlab.m I got the warnings
Warning: You are using gcc version '7.5.0'. The version of gcc is not
supported. The
version currently supported with MEX is '6.3.x'. For a list of
currently supported
compilers see:
https://www.mathworks.com/support/compilers/current_release.
which could also be related to handling of warnings/errors, but did not
pose a problem in R2018b for instance.
Thanks already for looking into this.
Viele Grüße
Moritz Schappler
On 06.04.20 13:18, Richard Hacker wrote:
Hi Moritz
I do not have Matlab > 2017 available to test, but I do not see a
reason that ecs_*() symbols are not be found. They are defined in
ecrt_support.c which is compiled and linked.
Please go into the directory and supply me with the output of:
cd /home/schappler/IMES/REPO/ethercat/etherlab-slaves/ixxa
/new_2019a_etl_hrt
nm ecrt_support.o
Maybe try to compile the executable with (I just moved new_2019a.o
forward):
g++ -o ../new_2019a new_2019a_capi.o new_2019a.o new_2019a_data.o
new_2019a_header.o rtGetInf.o rtGetNaN.o rt_nonfinite.o ecrt_support.o
hrt_main.o -L/usr/local/lib -lm -lpdserv -ldl -lrt -pthread
Mit freundlichem Gruß
Richard Hacker
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