Trying to cross compile with cross-rs

[conner-replogle]

I am attempting to build this for RP Pi Zero 2 W and am getting this error

error: failed to run custom build command for `libcamera-sys v0.3.0`

Caused by:
  process didn't exit successfully: `/target/release/build/libcamera-sys-afb3f3cd418809b6/build-script-build` (exit status: 101)
  --- stdout
  cargo:rerun-if-env-changed=LIBCAMERA_NO_PKG_CONFIG
  cargo:rerun-if-env-changed=PKG_CONFIG_ALLOW_CROSS_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_ALLOW_CROSS_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_ALLOW_CROSS
  cargo:rerun-if-env-changed=PKG_CONFIG_ALLOW_CROSS
  cargo:rerun-if-env-changed=PKG_CONFIG_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG
  cargo:rerun-if-env-changed=PKG_CONFIG
  cargo:rerun-if-env-changed=LIBCAMERA_STATIC
  cargo:rerun-if-env-changed=LIBCAMERA_DYNAMIC
  cargo:rerun-if-env-changed=PKG_CONFIG_ALL_STATIC
  cargo:rerun-if-env-changed=PKG_CONFIG_ALL_DYNAMIC
  cargo:rerun-if-env-changed=PKG_CONFIG_PATH_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_PATH_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_PATH
  cargo:rerun-if-env-changed=PKG_CONFIG_PATH
  cargo:rerun-if-env-changed=PKG_CONFIG_LIBDIR_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_LIBDIR_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_LIBDIR
  cargo:rerun-if-env-changed=PKG_CONFIG_LIBDIR
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_SYSROOT_DIR
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR
  cargo:rerun-if-env-changed=SYSROOT
  cargo:rerun-if-env-changed=LIBCAMERA_STATIC
  cargo:rerun-if-env-changed=LIBCAMERA_DYNAMIC
  cargo:rerun-if-env-changed=PKG_CONFIG_ALL_STATIC
  cargo:rerun-if-env-changed=PKG_CONFIG_ALL_DYNAMIC
  cargo:rustc-link-search=native=/usr/local/lib/x86_64-linux-gnu
  cargo:rustc-link-lib=camera
  cargo:rustc-link-lib=camera-base
  cargo:rerun-if-env-changed=PKG_CONFIG_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG
  cargo:rerun-if-env-changed=PKG_CONFIG
  cargo:rerun-if-env-changed=LIBCAMERA_STATIC
  cargo:rerun-if-env-changed=LIBCAMERA_DYNAMIC
  cargo:rerun-if-env-changed=PKG_CONFIG_ALL_STATIC
  cargo:rerun-if-env-changed=PKG_CONFIG_ALL_DYNAMIC
  cargo:rerun-if-env-changed=PKG_CONFIG_PATH_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_PATH_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_PATH
  cargo:rerun-if-env-changed=PKG_CONFIG_PATH
  cargo:rerun-if-env-changed=PKG_CONFIG_LIBDIR_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_LIBDIR_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_LIBDIR
  cargo:rerun-if-env-changed=PKG_CONFIG_LIBDIR
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR_aarch64-unknown-linux-gnu
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR_aarch64_unknown_linux_gnu
  cargo:rerun-if-env-changed=TARGET_PKG_CONFIG_SYSROOT_DIR
  cargo:rerun-if-env-changed=PKG_CONFIG_SYSROOT_DIR
  cargo:rustc-link-lib=camera
  cargo:rerun-if-changed=c_api/controls.h
  cargo:rerun-if-changed=c_api/version.h
  cargo:rerun-if-changed=c_api/camera_manager.h
  cargo:rerun-if-changed=c_api/camera.h
  cargo:rerun-if-changed=c_api/signal.h
  cargo:rerun-if-changed=c_api/framebuffer.h
  cargo:rerun-if-changed=c_api/stream.h
  cargo:rerun-if-changed=c_api/logging.h
  cargo:rerun-if-changed=c_api/pixel_format.h
  cargo:rerun-if-changed=c_api/request.h
  cargo:rerun-if-changed=c_api/geometry.h
  cargo:rerun-if-changed=c_api/framebuffer_allocator.h
  cargo:rerun-if-changed=c_api/libcamera_ids.hpp
  cargo:rerun-if-changed=c_api/geometry.cpp
  cargo:rerun-if-changed=c_api/controls.cpp
  cargo:rerun-if-changed=c_api/logging.cpp
  cargo:rerun-if-changed=c_api/camera.cpp
  cargo:rerun-if-changed=c_api/request.cpp
  cargo:rerun-if-changed=c_api/framebuffer.cpp
  cargo:rerun-if-changed=c_api/pixel_format.cpp
  cargo:rerun-if-changed=c_api/framebuffer_allocator.cpp
  cargo:rerun-if-changed=c_api/stream.cpp
  cargo:rerun-if-changed=c_api/camera_manager.cpp
  OUT_DIR = Some(/target/aarch64-unknown-linux-gnu/release/build/libcamera-sys-89d397fb4369d845/out)
  OPT_LEVEL = Some(3)
  TARGET = Some(aarch64-unknown-linux-gnu)
  HOST = Some(x86_64-unknown-linux-gnu)
  cargo:rerun-if-env-changed=CXX_aarch64-unknown-linux-gnu
  CXX_aarch64-unknown-linux-gnu = None
  cargo:rerun-if-env-changed=CXX_aarch64_unknown_linux_gnu
  CXX_aarch64_unknown_linux_gnu = Some(aarch64-linux-gnu-g++)
  cargo:rerun-if-env-changed=CC_KNOWN_WRAPPER_CUSTOM
  CC_KNOWN_WRAPPER_CUSTOM = None
  RUSTC_WRAPPER = None
  cargo:rerun-if-env-changed=CC_ENABLE_DEBUG_OUTPUT
  cargo:rerun-if-env-changed=CRATE_CC_NO_DEFAULTS
  CRATE_CC_NO_DEFAULTS = None
  DEBUG = Some(false)
  CARGO_CFG_TARGET_FEATURE = Some(neon)
  cargo:rerun-if-env-changed=CXXFLAGS_aarch64-unknown-linux-gnu
  CXXFLAGS_aarch64-unknown-linux-gnu = None
  cargo:rerun-if-env-changed=CXXFLAGS_aarch64_unknown_linux_gnu
  CXXFLAGS_aarch64_unknown_linux_gnu = None
  cargo:rerun-if-env-changed=TARGET_CXXFLAGS
  TARGET_CXXFLAGS = None
  cargo:rerun-if-env-changed=CXXFLAGS
  CXXFLAGS = None
  CARGO_ENCODED_RUSTFLAGS = Some()
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  exit status: 0
  cargo:rerun-if-env-changed=AR_aarch64-unknown-linux-gnu
  AR_aarch64-unknown-linux-gnu = None
  cargo:rerun-if-env-changed=AR_aarch64_unknown_linux_gnu
  AR_aarch64_unknown_linux_gnu = Some(aarch64-linux-gnu-ar)
  cargo:rerun-if-env-changed=ARFLAGS_aarch64-unknown-linux-gnu
  ARFLAGS_aarch64-unknown-linux-gnu = None
  cargo:rerun-if-env-changed=ARFLAGS_aarch64_unknown_linux_gnu
  ARFLAGS_aarch64_unknown_linux_gnu = None
  cargo:rerun-if-env-changed=TARGET_ARFLAGS
  TARGET_ARFLAGS = None
  cargo:rerun-if-env-changed=ARFLAGS
  ARFLAGS = None
  cargo:rustc-link-lib=static=camera_c_api
  cargo:rustc-link-search=native=/target/aarch64-unknown-linux-gnu/release/build/libcamera-sys-89d397fb4369d845/out
  cargo:rerun-if-env-changed=CXXSTDLIB_aarch64-unknown-linux-gnu
  CXXSTDLIB_aarch64-unknown-linux-gnu = None
  cargo:rerun-if-env-changed=CXXSTDLIB_aarch64_unknown_linux_gnu
  CXXSTDLIB_aarch64_unknown_linux_gnu = None
  cargo:rerun-if-env-changed=TARGET_CXXSTDLIB
  TARGET_CXXSTDLIB = None
  cargo:rerun-if-env-changed=CXXSTDLIB
  CXXSTDLIB = None
  cargo:rustc-link-lib=stdc++

  --- stderr
  Failed to run rustfmt: cannot find binary path (non-fatal, continuing)
  /usr/bin/../lib/gcc-cross/aarch64-linux-gnu/9/../../../../include/c++/9/utility:68:10: fatal error: 'bits/c++config.h' file not found
  thread 'main' panicked at /Users/username/.cargo/registry/src/index.crates.io-6f17d22bba15001f/libcamera-sys-0.3.0/build.rs:87:39:
  Unable to generate bindings: ClangDiagnostic("/usr/bin/../lib/gcc-cross/aarch64-linux-gnu/9/../../../../include/c++/9/utility:68:10: fatal error: 'bits/c++config.h' file not found\n")
  note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
Build failed!

This is the cross config I came up with by looking at the CI. Libcamera builds however it still fails not sure what to do.

[workspace.metadata.cross.target.aarch64-unknown-linux-gnu]
# Install libssl-dev:arm64, see <https://github.com/cross-rs/cross/blob/main/docs/custom_images.md#adding-dependencies-to-existing-images>
pre-build = [
    "dpkg --add-architecture $CROSS_DEB_ARCH",
    "apt-get update",
    "apt-get -y install python3-pip", 
    "apt-get -y install pkg-config", 
    "apt-get -y install g++-aarch64-linux-gnu", 
    "pip install meson", 
    "apt-get -y install libyaml-dev python3-yaml python3-ply python3-jinja2 ninja-build clang",
    "git clone https://git.libcamera.org/libcamera/libcamera.git deps/libcamera --branch v0.1.0",
    "cd deps/libcamera",
    "meson build -Dipas=vimc -Dpipelines=vimc",
    "ninja -C build install"
]

[fishrockz]

Could you try with this patch please? #48

[shuanglengyunji]

Here is my dockerfile for cross compile to RP5. The environment variables I set may resolve your path issue.

FROM ghcr.io/cross-rs/aarch64-unknown-linux-gnu:main

# Unpack the rpi_os_lite_bookworm_rootfs.tar.gz file into /target_fs/
# Note this rootfs needs to be equal or order than Debian 12 / Raspberry Pi OS Bookworm
COPY rpi_os_lite_bookworm_rootfs.tar.gz /target_fs/
RUN tar -xzf /target_fs/rpi_os_lite_bookworm_rootfs.tar.gz -C /target_fs/
RUN rm /target_fs/rpi_os_lite_bookworm_rootfs.tar.gz

# Install GCC-12 to match the target raspberry pi os bookworm (Debian 12)
RUN apt-get update
RUN apt-get install -y wget gnupg && echo "deb http://deb.debian.org/debian bookworm main" > /etc/apt/sources.list.d/debian.list
RUN apt-get update
RUN apt-get install -y \
    # Libcamera dependencies
    gcc-12-aarch64-linux-gnu \
    g++-12-aarch64-linux-gnu \
    # OpenCV dependencies
    clang \
    libclang-dev \
    # ORT compile time dependencies
    pkg-config \
    libssl-dev 

# Define target filesystem sysroot path
ENV SYSROOT=/target_fs

# Install OpenCV
COPY build_static_opencv.sh /
COPY toolchain-aarch64.cmake /
RUN /build_static_opencv.sh --toolchain /toolchain-aarch64.cmake --prefix ${SYSROOT}/usr
# The OpenCV script has been configured to not install pkg-config files
# Because the bindgen somehow not picking up the CMake files correctly when using pkg-config (it cannot find libopencv_imgproc.a and some other libraries)
# We fallback to CMake files which works fine
ENV OpenCV_DIR=${SYSROOT}/usr/lib/cmake/opencv4

# Set env variables for cross-compilation
ENV PKG_CONFIG_SYSROOT_DIR=$SYSROOT
# Keep host (x86_64) pkg-config path in the list for build time dependencies
ENV PKG_CONFIG_PATH=$SYSROOT/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig/
ENV PKG_CONFIG_LIBDIR=$SYSROOT/usr/lib/aarch64-linux-gnu/pkgconfig
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-linux-gnu-gcc-12
ENV RUSTFLAGS="-C link-args=--sysroot=$SYSROOT -C target-cpu=cortex-a76"

# Set up the sysroot for QEMU emulation runtime
ENV QEMU_LD_PREFIX=$SYSROOT

# Bindgen uses clang to generate bindings, so we need to set the sysroot and include paths
ENV BINDGEN_EXTRA_CLANG_ARGS_aarch64_unknown_linux_gnu="--sysroot=$SYSROOT -I$SYSROOT/usr/include/aarch64-linux-gnu/c++/12"