01-基于SOA架构someip 开发-QNX平台开发

创始人

2025-05-28 09:45:42

背景

软件定义汽车，智能网联汽车作为未来汽车发展的主流方向。

SOME/IP 是一个汽车的中间件解决方案，可用于控制消息。从一开始，它的设计就是为了完美地适应不同尺寸和不同操作系统的设备。这包括小型设备，如相机、AUTOSAR设备，以及头部单元或远程信息处理设备。同时还确保了SOME/IP支持信息娱乐域以及车内其他域的功能，从而使SOME/IP可以用于多数替换场景以及更传统的CAN场景，在智能网联汽车，面向服务开发SOA架构思想环境下，SOME/IP扮演着非常重要的角色--通信。

参考文章：

01-基于SOA架构someip 开发-Linux开发环境搭建

2. 针对QNX 环境

2.1 Boost版本：

采用1.55.0版本

https://downloads.sourceforge.net/project/boost/boost/1.55.0/boost_1_55_0.tar.gz

2.1.1 boost配置

Cmake配置：

SET(Boost_FOUND TRUE)
##source dir
SET(Boost_DIR /workspace/someip/toolchains/boost_1_55_0)
##compile output include and lib dir
SET(Boost_INCLUDE_DIR ${Boost_DIR}/build/qnx/include)
SET(Boost_LIBRARY_DIR ${Boost_DIR}/build/qnx/lib)
SET(BOOST_LIBRARYDIR ${Boost_DIR}/build/qnx/lib)

2.2 更换vsomeip工程

更换后的工程下载链接：

https://github.com/lixiaolia/vsomeip-qnx.git

镜像：

https://hub.yzuu.cf/lixiaolia/vsomeip-qnx.git

2.2.1 修改点 //patch

CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 262f813..62d31e0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -85,6 +85,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD")endif (${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD")if (${CMAKE_SYSTEM_NAME} MATCHES "QNX")
+    message("compile ${PROJECT_NAME} for QNX.")set(OS "QNX")set(DL_LIBRARY "")set(EXPORTSYMBOLS "-Wl,-export-dynamic -Wl,--version-script=${CMAKE_CURRENT_SOURCE_DIR}/exportmap.gcc")
@@ -186,7 +187,7 @@ else()endif()if (${CMAKE_SYSTEM_NAME} MATCHES "QNX")
-       set(VSOMEIP_BOOST_HELPER implementation/helper/1.70)
+       set(VSOMEIP_BOOST_HELPER implementation/helper/1.55)else()message( STATUS "Using boost version: ${VSOMEIP_BOOST_VERSION}" )if (${VSOMEIP_BOOST_VERSION} GREATER 107400)

2.3 修改capicxx-core-runtime

2.3.1 修改CMakeLists.txt

IF(MSVC)message("using MSVC Compiler")add_definitions(-DCOMMONAPI_INTERNAL_COMPILATION -DCOMMONAPI_DLL_COMPILATION)add_compile_options(/EHsc /wd4996)
ELSE ()
##M:TIM 2023 #   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -Wformat -Wformat-security -Wconversion -fexceptions -fstrict-aliasing -fstack-protector -fasynchronous-unwind-tables -fno-omit-frame-pointer -Werror -DCOMMONAPI_INTERNAL_COMPILATION -fvisibility=hidden")set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -Wall -Wextra -Wformat -Wformat-security -Wconversion -fexceptions -fstrict-aliasing -fstack-protector -fasynchronous-unwind-tables -fno-omit-frame-pointer -Werror -DCOMMONAPI_INTERNAL_COMPILATION -fvisibility=hidden")
ENDIF(MSVC)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DCOMMONAPI_LOGLEVEL=COMMONAPI_LOGLEVEL_${MAX_LOG_LEVEL}")##M:TIM 2023 
if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
FIND_PACKAGE(PkgConfig)
pkg_check_modules(DLT "automotive-dlt >= 2.11")
IF(DLT_FOUND)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_DLT")
ENDIF(DLT_FOUND)
endif()

2.3.1 修改CallInfo.cpp

#include 
#include 
#include  //ADD:TIM 2023

2.3.1 修改Runtime.hpp

#include 
#include 
#include 
#include 
#include //ADD:TIM 2023

2.4 修改capicxx-someip-runtime

所有修改打了个patch：

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad72647..e853043 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,6 +29,10 @@ message(STATUS "USE_CONSOLE is set to value: ${USE_CONSOLE}")SET(DEFAULT_SEND_TIMEOUT "5000" CACHE STRING "default send timeout")message(STATUS "DEFAULT_SEND_TIMEOUT is set to value: ${DEFAULT_SEND_TIMEOUT} ms")+if (${CMAKE_SYSTEM_NAME} MATCHES "QNX")
+    message("compile ${PROJECT_NAME} for QNX.")
+endif (${CMAKE_SYSTEM_NAME} MATCHES "QNX")
+IF(USE_FILE)add_definitions(-DUSE_FILE)ENDIF(USE_FILE)
@@ -66,7 +70,8 @@ include_directories( ${Boost_INCLUDE_DIR} )set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_CRT_SECURE_NO_WARNINGS /wd4503")link_directories(${Boost_LIBRARY_DIR})else()
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -Wformat -Wformat-security -Wconversion -fexceptions -fstrict-aliasing -fstack-protector -fasynchronous-unwind-tables -fno-omit-frame-pointer -DCOMMONAPI_INTERNAL_COMPILATION -D_GLIBCXX_USE_NANOSLEEP -DBOOST_LOG_DYN_LINK -pthread -fvisibility=hidden")
+#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -Wformat -Wformat-security -Wconversion -fexceptions -fstrict-aliasing -fstack-protector -fasynchronous-unwind-tables -fno-omit-frame-pointer -DCOMMONAPI_INTERNAL_COMPILATION -D_GLIBCXX_USE_NANOSLEEP -DBOOST_LOG_DYN_LINK -pthread -fvisibility=hidden")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -Wall -Wextra -Wformat -Wformat-security -Wconversion -fexceptions -fstrict-aliasing -fstack-protector -fasynchronous-unwind-tables -fno-omit-frame-pointer -DCOMMONAPI_INTERNAL_COMPILATION -D_GLIBCXX_USE_NANOSLEEP -DBOOST_LOG_DYN_LINK -pthread -fvisibility=hidden")endif()SET(MAX_LOG_LEVEL "DEBUG" CACHE STRING "maximum log level")
diff --git a/include/CommonAPI/SomeIP/ClientId.hpp b/include/CommonAPI/SomeIP/ClientId.hpp
index 5d74984..751cda6 100644
--- a/include/CommonAPI/SomeIP/ClientId.hpp
+++ b/include/CommonAPI/SomeIP/ClientId.hpp
@@ -38,8 +38,8 @@ public:COMMONAPI_EXPORT size_t hashCode();COMMONAPI_EXPORT client_id_t getClientId();
-    COMMONAPI_EXPORT uid_t getUid() const;
-    COMMONAPI_EXPORT gid_t getGid() const;
+    COMMONAPI_EXPORT CommonAPI::uid_t getUid() const;
+    COMMONAPI_EXPORT CommonAPI::gid_t getGid() const;protected:client_id_t client_id_;
diff --git a/include/CommonAPI/SomeIP/StringEncoder.hpp b/include/CommonAPI/SomeIP/StringEncoder.hpp
index b250638..62c32fd 100644
--- a/include/CommonAPI/SomeIP/StringEncoder.hpp
+++ b/include/CommonAPI/SomeIP/StringEncoder.hpp
@@ -14,7 +14,7 @@#include #include -#if defined(_WIN32) || defined(ANDROID)
+#if defined(_WIN32) || defined(ANDROID) || defined(__QNX__)#if !defined(LITTLE_ENDIAN)#define LITTLE_ENDIAN 1234#endif
diff --git a/include/CommonAPI/SomeIP/Watch.hpp b/include/CommonAPI/SomeIP/Watch.hpp
index 1ba7201..313c499 100644
--- a/include/CommonAPI/SomeIP/Watch.hpp
+++ b/include/CommonAPI/SomeIP/Watch.hpp
@@ -59,7 +59,7 @@ class Watch : public CommonAPI::Watch {void processQueueEntry(std::shared_ptr _queueEntry);private:
-#ifdef _WIN32
+#if defined(WIN32) || defined(__QNX__)int pipeFileDescriptors_[2];#elseint eventFd_;
@@ -73,10 +73,13 @@ private:std::mutex dependentDispatchSourcesMutex_;std::weak_ptr connection_;
-
+#if defined(WIN32) || defined(__QNX__)
+    const int pipeValue_;
+#endif#ifdef _WIN32HANDLE wsaEvent_;
-    const int pipeValue_;
+#elif defined(__QNX__)
+//do nothings#elseconst std::uint64_t eventFdValue_;diff --git a/src/CommonAPI/SomeIP/ClientId.cpp b/src/CommonAPI/SomeIP/ClientId.cpp
index e116bb4..15f9ea8 100644
--- a/src/CommonAPI/SomeIP/ClientId.cpp
+++ b/src/CommonAPI/SomeIP/ClientId.cpp
@@ -52,11 +52,11 @@ client_id_t ClientId::getClientId() {return client_id_;}-uid_t ClientId::getUid() const {
+CommonAPI::uid_t ClientId::getUid() const {return uid_;}-gid_t ClientId::getGid() const {
+CommonAPI::gid_t ClientId::getGid() const {return gid_;}diff --git a/src/CommonAPI/SomeIP/Watch.cpp b/src/CommonAPI/SomeIP/Watch.cpp
index 09c5a06..82b2b93 100644
--- a/src/CommonAPI/SomeIP/Watch.cpp
+++ b/src/CommonAPI/SomeIP/Watch.cpp
@@ -5,14 +5,17 @@#include +#include 
+#include #include #include #ifdef _WIN32#include #include 
+#elif defined(__QNX__)
+//do nothings#else
-#include #include #endif@@ -30,6 +33,8 @@ namespace SomeIP {Watch::Watch(const std::shared_ptr& _connection) :#ifdef _WIN32pipeValue_(4)
+#elif defined(__QNX__)
+    pipeValue_(4)#elseeventFd_(0),eventFdValue_(1)
@@ -159,6 +164,18 @@ Watch::Watch(const std::shared_ptr& _connection) :WSACleanup();}pollFileDescriptor_.fd = pipeFileDescriptors_[0];
+#elif defined(__QNX__)
+    if(pipe(pipeFileDescriptors_) == -1) {
+        std::perror(__func__);
+    }
+    for (auto fd : pipeFileDescriptors_) {
+        int flags = fcntl(fd, F_GETFL);
+        flags |= O_NONBLOCK;
+        if (fcntl(fd, F_SETFL, flags) == -1) {
+            std::perror(__func__);
+        }
+    
+    }#elseeventFd_ = eventfd(0, EFD_NONBLOCK | EFD_SEMAPHORE);if (eventFd_ == -1) {
@@ -184,6 +201,9 @@ Watch::~Watch() {// cleanupclosesocket(pipeFileDescriptors_[0]);WSACleanup();
+#elif defined(__QNX__)
+    close(pipeFileDescriptors_[0]);
+    close(pipeFileDescriptors_[1]);#elseclose(eventFd_);#endif
@@ -242,6 +262,10 @@ void Watch::pushQueue(std::shared_ptr _queueEntry) {printf("send failed with error: %d\n", error);}}
+#elif defined(__QNX__)
+    if(write(pipeFileDescriptors_[1], &pipeValue_, sizeof(pipeValue_)) == -1) {
+        std::perror(__func__);
+    }#elsewhile (write(eventFd_, &eventFdValue_, sizeof(eventFdValue_)) == -1) {if (errno != EAGAIN && errno != EINTR) {
@@ -270,6 +294,11 @@ void Watch::popQueue() {else {printf("recv failed with error: %d\n", WSAGetLastError());}
+#elif defined(__QNX__)
+    int readValue = 0;
+    if(read(pipeFileDescriptors_[0], &readValue, sizeof(readValue)) == -1) {
+        std::perror(__func__);
+    }#elsestd::uint64_t readValue(0);while (read(eventFd_, &readValue, sizeof(readValue)) == -1) {

3. 编译脚本

#!/bin/bash
#
#----------------------------------------------------------
#    author: TIM
#    email : 1352430027@qq.com                                                              
#    description: SOA someip build script                                                   
# ---------------------------------------------------------
#    Warm reminder ：Abort operation with Ctrl+C
# ---------------------------------------------------------ROOT_DIR=$(pwd)# qnx tools dir
QNX_TOOLS_PATH=/workspace/tools/prebuilt_QNX700
export QNX_CONFIGURATION=$QNX_TOOLS_PATH/.qnx
export QNX_TARGET=$QNX_TOOLS_PATH/target/qnx7
export QNX_HOST=$QNX_TOOLS_PATH/host/linux/x86_64
export QNX_ARCH=aarch64le
export MAKEFLAGS=-I$QNX_TOOLS_PATH/target/qnx7/usr/include
export MAKELDFLAGS=-L$QNX_TOOLS_PATH/target/qnx7/usr/lib,-L$QNX_PREBUILT/target/qnx7/aarch64le/lib
export PATH=$QNX_HOST/usr/bin:/pkg/hwtools/bin/:$PATH
#use aarch64-unknown-nto-qnx7.0.0
QNX_TOOLCHAINS_CC64=$QNX_TOOLS_PATH/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.0.0-gcc
QNX_TOOLCHAINS_CXX64=$QNX_TOOLS_PATH/host/linux/x86_64/usr/bin/aarch64-unknown-nto-qnx7.0.0-g++
# prefix config
PREFIX_DIR=${ROOT_DIR}/build/qnx
PREFIX_INSTALL_DIR=${PREFIX_DIR}/installHOST_TOOL_DIR=${ROOT_DIR}/host_tools
THIRD_PARTY_DIR=${ROOT_DIR}/thirdpartyBOOST_ARCHIVE_PATH=${ROOT_DIR}/toolchains/archive/boost_1_55_0.tar.gz
BOOST_DIR=${ROOT_DIR}/toolchains/boost_1_55_0DLT_ARCHIVE_PATH=${ROOT_DIR}/toolchains/archive/dlt-daemon-2.18.8.tar.gz
DLT_DIR=${ROOT_DIR}/toolchains/dlt-daemon-2.18.8echo -e "Project dir: $ROOT_DIR"if [ -d ${PREFIX_INSTALL_DIR} ];thenrm -rf $PREFIX_INSTALL_DIRmkdir -p $PREFIX_INSTALL_DIR
elsemkdir -p $PREFIX_INSTALL_DIR
fiif [ ! -d ${ROOT_DIR}/host_tools ];thenmkdir host_tools
fi#### BOOST ####
if [ ! -d ${BOOST_DIR} ];thenecho -e "dir ${BOOST_DIR} is not exist. now do it."##tar -xzf ${BOOST_ARCHIVE_PATH} -C ${ROOT_DIR}/toolchains/ cd ${BOOST_DIR}/mkdir -p build/qnx#patch for boost-1.55.0patch -p1 < ../archive/boost-1_55-qnx700.patch##install boot to qnx toolchain:prebuilt_QNX700  support libs exp: --with-libraries=context,coroutine./bootstrap.sh --prefix=build/qnx##patch for qnx aarch64 cross compile supportif [ -f project-config.jam ];thensed -i -r 's/using gcc ; /using gcc : : \/home\/ubuntu18\/srv141\/workspace\/tools\/prebuilt_QNX700\/host\/linux\/x86_64\/usr\/bin\/aarch64-unknown-nto-qnx7.0.0-gcc ;/' project-config.jamfi##patch for : 'fatal error: pyconfig.h: No such file or directory'if [ -f tools/build/v2/tools/python.jam ];thensed -i -r 's/includes \?= \$\(prefix\)\/include\/python\$\(version\) ;/includes ?= \$\(QNX_TARGET\)\/aarch64le\/usr\/include\/python\$\(version\) ;/' tools/build/v2/tools/python.jamfi./b2 install link=static --without-context --without-coroutine variant=release toolset=gcc target-os=qnxnto cxxflags="-Wno-unused-function -std=gnu++11 -fPIC" --prefix=build/qnx -j2
cd ${ROOT_DIR}
fi#### DLT #####
if [ ! -d ${DLT_DIR} ];thenecho -e "dir ${DLT_DIR} is not exist. check archive exist?"if [ -e  ${DLT_ARCHIVE_PATH} ];thenecho -e "archive $DLT_ARCHIVE_PATH is exist. now decompress."tar -xzf ${DLT_ARCHIVE_PATH} -C ${ROOT_DIR}/toolchains/mkdir -p ${DLT_DIR}/build/qnx/installecho -e "archive $DLT_ARCHIVE_PATH decompress finish. to compile"cd ${DLT_DIR}/build/qnxcmake -DCMAKE_TOOLCHAIN_FILE=$ROOT_DIR/cmake/qnx.toolchain.cmake \-DCMAKE_PREFIX_PATH=${DLT_DIR}/build/qnx \-DCMAKE_INSTALL_PREFIX=${DLT_DIR}/build/qnx/install \-DDLT_DAEMON_USE_UNIX_SOCKET_IPC=ON \-DWITH_DLT_QNX_SYSTEM=ON \-DWITH_DLT_SYSTEM=OFF \-DDLT_IPC=UNIX_SOCKET \-DWITH_DLT_CXX11_EXT=ON \-DWITH_DLT_TESTS=OFF \../../make & make installcd ${ROOT_DIR}fi
fi#### TOOLS ####
if [ ! -e ${ROOT_DIR}/toolchains/archive/commonapi_core_generator.zip ]; thencd ${ROOT_DIR}/toolchains/archiveecho -e "archive file commonapi_core_generator.zip is not exist. now get it.."wget https://hub.yzuu.cf/GENIVI/capicxx-core-tools/releases/latest/download/commonapi_core_generator.zipcd ${ROOT_DIR}
fiif [ ! -d host_tools/commonapi_core_generator ];thenunzip -o toolchains/archive/commonapi_core_generator.zip -d host_tools/commonapi_core_generator
fiif [ ! -e ${ROOT_DIR}/toolchains/archive/commonapi_dbus_generator.zip ];thencd ${ROOT_DIR}/toolchains/archiveecho -e "archive file commonapi_dbus_generator.zip is not exist. now get it.."wget https://hub.yzuu.cf/GENIVI/capicxx-dbus-tools/releases/latest/download/commonapi_dbus_generator.zipcd ${ROOT_DIR}
fiif [ ! -d host_tools/commonapi_dbus_generator ];thenunzip -o toolchains/archive/commonapi_dbus_generator.zip -d host_tools/commonapi_dbus_generator
fiif [ ! -e ${ROOT_DIR}/toolchains/archive/commonapi_someip_generator.zip ];thencd ${ROOT_DIR}/toolchains/archiveecho -e "archive file commonapi_someip_generator.zip is not exist. now get it.."wget https://hub.yzuu.cf/GENIVI/capicxx-someip-tools/releases/latest/download/commonapi_someip_generator.zipcd ${ROOT_DIR}
fiif [ ! -d host_tools/commonapi_someip_generator ];thenunzip -o toolchains/archive/commonapi_someip_generator.zip -d host_tools/commonapi_someip_generator
fiecho "---------------------------"
echo " > start to build for QNX."
echo "---------------------------"cmake -B $PREFIX_DIR \-DCMAKE_INSTALL_PREFIX=$PREFIX_INSTALL_DIR \-DCMAKE_TOOLCHAIN_FILE=$ROOT_DIR/cmake/qnx.toolchain.cmake \-DDLT_LIBRARIES=${DLT_DIR}/build/qnx/install/lib/libdlt.so \-DCMAKE_HOST_LINUX=OFF \-DCMAKE_HOST_WIN32=OFFcmake --build $PREFIX_DIR --target install

4. 其他

4.1 thirdparty 目录

├── archive
├── capicxx-core-runtime
├── capicxx-someip-runtime
├── CMakeLists.txt
└── vsomeip

CMakeLists.txt：

if (${CMAKE_SYSTEM_NAME} MATCHES "QNX")
message("cmake build for QNX")
SET(USE_INSTALLED_COMMONAPI OFF CACHE BOOL "Use installed commonapi OFF")
SET(USE_INSTALLED_DBUS OFF CACHE BOOL "Use installed commonapi OFF")
SET(ENABLE_SIGNAL_HANDLING 1 CACHE BOOL "Use installed commonapi 1")
SET(DIAGNOSIS_ADDRESS 0x10 CACHE INT "Diagnosis address 0x10")add_subdirectory(capicxx-core-runtime)
add_subdirectory(vsomeip)
add_subdirectory(capicxx-someip-runtime)
endif()

4.2 根目录

├── build
├── build_all_qnx.sh
├── build_all_x86.sh
├── cfg
├── cmake
├── CMakeLists.txt
├── doc
├── examples
├── host_tools
├── thirdparty
├── toolchains