I'm trying to install drivers for a NOVINT Falcon called libnifalcon. I used cmake to create a make file, but when I run make I get the error:
Linking CXX shared library ../../lib/libnifalcon_cli_base.so
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_program_options-mt.a(cmdline.o): relocation R_X86_64_32 against `.rodata.str1.1' can not be used when making a shared object; recompile with -fPIC
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_program_options-mt.a: could not read symbols: Bad value
collect2: ld returned 1 exit status
make[2]: ** [lib/libnifalcon_cli_base.so.1.0.1] Error 1
make[1]: ** [src/util/CMakeFiles/nifalcon_cli_base_SHARED.dir/all] Error 2
make: *** [all] Error 2
I've tried many of the techniques to compile usinf -fPIC but none have worked. Can anyone tell me where in the makefile, and what to write in order to compile using -fPIC?
The makefile is:
# CMAKE generated file: DO NOT EDIT!
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# Default target executed when no arguments are given to make.
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RM = /usr/bin/cmake -E remove -f
# The program to use to edit the cache.
CMAKE_EDIT_COMMAND = /usr/bin/ccmake
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/mikewrock/Desktop/h3d/libnifalcon-1.0.1
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/mikewrock/Desktop/h3d/libnifalcon-1.0.1/linux
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.PHONY : install/local/fast
# Special rule for the target install/strip
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
.PHONY : install/strip
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install/strip/fast: install/strip
.PHONY : install/strip/fast
# Special rule for the target list_install_components
list_install_components:
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.PHONY : rebuild_cache
# Special rule for the target rebuild_cache
rebuild_cache/fast: rebuild_cache
.PHONY : rebuild_cache/fast
# The main all target
all: cmake_check_build_system
$(CMAKE_COMMAND) -E cmake_progress_start /home/mikewrock/Desktop/h3d/libnifalcon-1.0.1/linux/CMakeFiles /home/mikewrock/Desktop/h3d/libnifalcon-1.0.1/linux/CMakeFiles/progress.marks
$(MAKE) -f CMakeFiles/Makefile2 all
$(CMAKE_COMMAND) -E cmake_progress_start /home/mikewrock/Desktop/h3d/libnifalcon-1.0.1/linux/CMakeFiles 0
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.PHONY : clean
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clean/fast: clean
.PHONY : clean/fast
# Prepare targets for installation.
preinstall: all
$(MAKE) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall
# Prepare targets for installation.
preinstall/fast:
$(MAKE) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall/fast
# clear depends
depend:
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
#=============================================================================
# Target rules for targets named nifalcon_DEPEND
# Build rule for target.
nifalcon_DEPEND: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 nifalcon_DEPEND
.PHONY : nifalcon_DEPEND
# fast build rule for target.
nifalcon_DEPEND/fast:
$(MAKE) -f src/CMakeFiles/nifalcon_DEPEND.dir/build.make src/CMakeFiles/nifalcon_DEPEND.dir/build
.PHONY : nifalcon_DEPEND/fast
#=============================================================================
# Target rules for targets named nifalcon_SHARED
# Build rule for target.
nifalcon_SHARED: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 nifalcon_SHARED
.PHONY : nifalcon_SHARED
# fast build rule for target.
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$(MAKE) -f src/CMakeFiles/nifalcon_SHARED.dir/build.make src/CMakeFiles/nifalcon_SHARED.dir/build
.PHONY : nifalcon_SHARED/fast
#=============================================================================
# Target rules for targets named nifalcon_STATIC
# Build rule for target.
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$(MAKE) -f CMakeFiles/Makefile2 nifalcon_STATIC
.PHONY : nifalcon_STATIC
# fast build rule for target.
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$(MAKE) -f src/CMakeFiles/nifalcon_STATIC.dir/build.make src/CMakeFiles/nifalcon_STATIC.dir/build
.PHONY : nifalcon_STATIC/fast
#=============================================================================
# Target rules for targets named nifalcon_cli_base_DEPEND
# Build rule for target.
nifalcon_cli_base_DEPEND: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 nifalcon_cli_base_DEPEND
.PHONY : nifalcon_cli_base_DEPEND
# fast build rule for target.
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$(MAKE) -f src/util/CMakeFiles/nifalcon_cli_base_DEPEND.dir/build.make src/util/CMakeFiles/nifalcon_cli_base_DEPEND.dir/build
.PHONY : nifalcon_cli_base_DEPEND/fast
#=============================================================================
# Target rules for targets named nifalcon_cli_base_SHARED
# Build rule for target.
nifalcon_cli_base_SHARED: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 nifalcon_cli_base_SHARED
.PHONY : nifalcon_cli_base_SHARED
# fast build rule for target.
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$(MAKE) -f src/util/CMakeFiles/nifalcon_cli_base_SHARED.dir/build.make src/util/CMakeFiles/nifalcon_cli_base_SHARED.dir/build
.PHONY : nifalcon_cli_base_SHARED/fast
#=============================================================================
# Target rules for targets named nifalcon_cli_base_STATIC
# Build rule for target.
nifalcon_cli_base_STATIC: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 nifalcon_cli_base_STATIC
.PHONY : nifalcon_cli_base_STATIC
# fast build rule for target.
nifalcon_cli_base_STATIC/fast:
$(MAKE) -f src/util/CMakeFiles/nifalcon_cli_base_STATIC.dir/build.make src/util/CMakeFiles/nifalcon_cli_base_STATIC.dir/build
.PHONY : nifalcon_cli_base_STATIC/fast
#=============================================================================
# Target rules for targets named nifalcon_device_boost_thread_DEPEND
# Build rule for target.
nifalcon_device_boost_thread_DEPEND: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 nifalcon_device_boost_thread_DEPEND
.PHONY : nifalcon_device_boost_thread_DEPEND
# fast build rule for target.
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#=============================================================================
# Target rules for targets named falcon_test_cli
# Build rule for target.
falcon_test_cli: cmake_check_build_system
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.PHONY : falcon_test_cli
# fast build rule for target.
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.PHONY : falcon_test_cli/fast
#=============================================================================
# Target rules for targets named findfalcons
# Build rule for target.
findfalcons: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 findfalcons
.PHONY : findfalcons
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$(MAKE) -f examples/CMakeFiles/findfalcons.dir/build.make examples/CMakeFiles/findfalcons.dir/build
.PHONY : findfalcons/fast
#=============================================================================
# Target rules for targets named findfalcons_multi
# Build rule for target.
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# Help Target
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@echo "The following are some of the valid targets for this Makefile:"
@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... edit_cache"
@echo "... install"
@echo "... install/local"
@echo "... install/strip"
@echo "... list_install_components"
@echo "... rebuild_cache"
@echo "... nifalcon_DEPEND"
@echo "... nifalcon_SHARED"
@echo "... nifalcon_STATIC"
@echo "... nifalcon_cli_base_DEPEND"
@echo "... nifalcon_cli_base_SHARED"
@echo "... nifalcon_cli_base_STATIC"
@echo "... nifalcon_device_boost_thread_DEPEND"
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@echo "... barrow_mechanics"
@echo "... falcon_led"
@echo "... falcon_test_cli"
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#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
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# because they might be regenerated.
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.PHONY : cmake_check_build_system
Thanks for your help -Michael
EDIT: As recommended, I've tried modifying CMakeLists.txt instead of the makefiles it generates. I'm still having the same issue, so here is the CMakeLists.txt:
######################################################################################
# CMake directives
######################################################################################
#Require 2.6 or higher.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6.0 FATAL_ERROR)
#See if we've got our cmake modules checked out. If not, advise to do so.
IF(EXISTS "${CMAKE_SOURCE_DIR}/../compily_buildd/cmake")
SET(BUILDSYS_CMAKE_DIR "${CMAKE_SOURCE_DIR}/../compily_buildd/cmake")
MESSAGE(STATUS "Using outside compily_buildd directory ${BUILDSYS_CMAKE_DIR}")
ELSEIF(EXISTS "${CMAKE_SOURCE_DIR}/compily_buildd/cmake")
SET(BUILDSYS_CMAKE_DIR "${CMAKE_SOURCE_DIR}/compily_buildd/cmake")
MESSAGE(STATUS "Using compily_buildd git submodule ${BUILDSYS_CMAKE_DIR}")
ELSE(EXISTS "${CMAKE_SOURCE_DIR}/compily_buildd/cmake")
MESSAGE(FATAL_ERROR
"Cannot find compily_buildd directory for np labs project compilation functions.\n"
"Make sure you've either put the compily_buildd directory in the same root as your repository directory, or that you've used the compily_buildd submodule (git submodule update --init).\n"
"NP Labs build repository is available at git://github.com/qdot/compily_buildd.git"
)
ENDIF(EXISTS "${CMAKE_SOURCE_DIR}/../compily_buildd/cmake")
LIST(APPEND CMAKE_MODULE_PATH ${BUILDSYS_CMAKE_DIR})
INCLUDE( ${BUILDSYS_CMAKE_DIR}/BuildSysCMakeLib.cmake )
#setting link directory policy
IF(COMMAND cmake_policy)
CMAKE_POLICY(SET CMP0003 NEW)
ENDIF(COMMAND cmake_policy)
######################################################################################
# Project declaration and options
######################################################################################
#Project declaration
PROJECT(LIBNIFALCON)
set(CMAKE_C_COMPILER "gcc")
set(CMAKE_CXX_COMPILER "g++")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC" )
INITIALIZE_BUILD()
#Common Options
OPTION_LIBRARY_BUILD_STATIC(ON)
#We can't build shared on MSVC yet
IF(NOT MSVC)
OPTION_LIBRARY_BUILD_SHARED(ON)
ENDIF(NOT MSVC)
OPTION_FAST_MATH(ON)
OPTION_ARCH_OPTS(ON)
OPTION_GPROF(OFF)
#OPTION_LOG4CXX(OFF LIBNIFALCON_REQ_LIBS)
#OPTION_CREATE_VERSION_FILE(ON "${CMAKE_CURRENT_SOURCE_DIR}/src/version.cc")
#Project specific options
OPTION(FORCE_FTD2XX_BUILD "Force building FTD2XX libraries on non-windows platforms" OFF)
OPTION(STATIC_LINK_SUFFIXES "Add a symbolic link with [library_name]_s on static libraries (for ease in building staticly linked binaries under gcc)" OFF)
OPTION(BUILD_SWIG_BINDINGS "Build Java/Python bindings for libnifalcon" OFF)
OPTION(BUILD_EXAMPLES "Build libnifalcon examples" ON)
######################################################################################
# Project specific package finding
######################################################################################
#Find communications libraries
IF(WIN32 OR FORCE_FTD2XX_BUILD)
FIND_PACKAGE(libftd2xx)
IF(LIBFTD2XX_FOUND)
INCLUDE_DIRECTORIES(${LIBFTD2XX_INCLUDE_DIRS})
SET(LIBNIFALCON_REQ_LIBS ${LIBFTD2XX_LIBRARIES})
ENDIF(LIBFTD2XX_FOUND)
ENDIF(WIN32 OR FORCE_FTD2XX_BUILD)
IF(NOT LIBFTD2XX_FOUND)
FIND_PACKAGE(libusb-1.0)
IF(LIBUSB_1_FOUND)
INCLUDE_DIRECTORIES(${LIBUSB_1_INCLUDE_DIRS})
SET(LIBNIFALCON_REQ_LIBS ${LIBUSB_1_LIBRARIES})
ENDIF(LIBUSB_1_FOUND)
ENDIF(NOT LIBFTD2XX_FOUND)
IF(NOT LIBFTD2XX_FOUND AND NOT LIBUSB_1_FOUND)
MESSAGE(FATAL_ERROR "Either ftd2xx or libusb-1.0 is required to build libnifalcon. Check the README file for info.")
ENDIF(NOT LIBFTD2XX_FOUND AND NOT LIBUSB_1_FOUND)
#Find boost, used all over the place
SET(Boost_USE_MULTITHREADED ON)
SET(Boost_USE_STATIC_LIBS ON)
FIND_PACKAGE(Boost REQUIRED)
IF(NOT Boost_FOUND)
MESSAGE(FATAL_ERROR "libnifalcon requires a minimum of the Boost 1.33 headers to build")
ENDIF(NOT Boost_FOUND)
FIND_PACKAGE(Boost COMPONENTS program_options thread)
######################################################################################
# Project specific globals
######################################################################################
#library definitions
SET(LIBNIFALCON_MAJOR_VERSION 1)
SET(LIBNIFALCON_MINOR_VERSION 0)
SET(LIBNIFALCON_BUILD_VERSION 1)
# BUILDSYS_CPACK_INFO(
# NAME "libnifalcon"
# MAJOR_VERSION ${LIBNIFALCON_MAJOR_VERSION}
# MINOR_VERSION ${LIBNIFALCON_MINOR_VERSION}
# BUILD_VERSION ${LIBNIFALCON_BUILD_VERSION}
# VENDOR "Nonpolynomial Labs"
# DESCRIPTION "Open Source Driver for the Novint Falcon Haptic Controller"
# )
# INCLUDE(CPack)
SET(LIBNIFALCON_VERSION ${LIBNIFALCON_MAJOR_VERSION}.${LIBNIFALCON_MINOR_VERSION}.${LIBNIFALCON_BUILD_VERSION})
#library name definitions
CREATE_LIBRARY_LINK_NAME(nifalcon)
CREATE_LIBRARY_LINK_NAME(nifalcon_cli_base)
CREATE_LIBRARY_LINK_NAME(nifalcon_device_boost_thread)
SET(LIBNIFALCON_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/include")
INCLUDE_DIRECTORIES(${LIBNIFALCON_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
LINK_DIRECTORIES(${LIBRARY_OUTPUT_PATH})
#If we build libusb staticly on apple, we need the proper frameworks
IF(BUILD_STATIC AND APPLE)
LIST(APPEND LIBNIFALCON_EXE_LINK_LIBS "-framework IOKit" "-framework CoreFoundation")
ENDIF(BUILD_STATIC AND APPLE)
LIST(APPEND LIBNIFALCON_EXE_LINK_LIBS
${libnifalcon_LIBRARY}
${LIBNIFALCON_REQ_LIBS}
)
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(src)
IF(BUILD_EXAMPLES)
ADD_SUBDIRECTORY(examples)
ENDIF(BUILD_EXAMPLES)
IF(BUILD_SWIG_BINDINGS)
ADD_SUBDIRECTORY(lang/swig)
ENDIF(BUILD_SWIG_BINDINGS)
# pkg-config (use the CPack information)
# FIND_PACKAGE(PkgConfig)
# if(PKG_CONFIG_EXECUTABLE)
# set(PC_SHORT_NAME "${BUILDSYS_CPACK_NAME}")
# set(PC_LONG_NAME "${BUILDSYS_CPACK_NAME}")
# set(PC_LIBRARY_NAME "${LIBNIFALCON_CPP}")
# set(PC_DESCRIPTION "${CPACK_PACKAGE_DESCRIPTION_SUMMARY}")
# set(PC_VERSION "${LIBNIFALCON_MAJOR_VERSION}.${LIBNIFALCON_MINOR_VERSION}.${LIBNIFALCON_BUILD_VERSION}")
# if(LIBUSB_1_FOUND)
# set(PC_REQUIRES "${PC_REQUIRES}libusb-1.0 ")
# set(PC_LINK_FLAGS "${PC_LINK_FLAGS}-lnifalcon_comm_libusb ")
# endif(LIBUSB_1_FOUND)
# set(PC_LINK_FLAGS "${lib${PC_LIBRARY_NAME}_LINK_FLAGS} ${PC_LINK_FLAGS}")
# set(PC_LINK_FLAGS "-l${PC_LIBRARY_NAME} ${PC_LINK_FLAGS}")
# set(PC_COMPILE_FLAGS "${lib${PC_LIBRARY_NAME}_COMPILE_FLAGS}")
# set(PC_CONFIGURED_FILE
# ${CMAKE_BINARY_DIR}/libnifalcon.pc
# )
# MESSAGE("-- Generating ${PC_CONFIGURED_FILE}")
# configure_file(
# ${CMAKE_SOURCE_DIR}/libnifalcon.pc.cmake
# ${PC_CONFIGURED_FILE}
# @ONLY
# )
# set(PKG_CONFIG_DIR "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig")
# install(FILES ${PC_CONFIGURED_FILE} DESTINATION ${PKG_CONFIG_DIR})
# endif(PKG_CONFIG_EXECUTABLE)
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