Raspberry Pi: Dart Hello BC2835

Environment
  • Ubuntu 16.04 LTS
  • arm-linux-gnueabihf (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.4) 5.4.0 20160609
  • Dart SDK, master 511963d71509de50ac577ac22f3bac8d33c17e34
  • Raspberry Pi 3 model B
Install ARM toolchain

See Raspberry Pi: C++ cross-compiling

Build and install Dart SDK for ARM

See Dart: build Dart SDK for x86 and ARM

Optionally, copy dart-api.h to /usr/local/include:

$ cd dart-sdk/sdk/out
$ find . -name dart_sdk.h
...
./ReleaseXARM/dart-sdk/include/dart_api.h
...
$ cp ./ReleaseXARM/dart-sdk/include/dart_api.h /usr/local/include
Build and install libbcm2835.so

See Raspberry Pi: cross-compile bcm2835 library

Build  missing Dart SDK ARM libraries
#
# libunsafe_extension.git
#
$ git clone https://github.com/mezoni/unsafe_extension.git
$ cd unsafe_extension/lib/src/
$ arm-linux-gnueabihf-gcc -shared -fPIC -I/home/username/tools/sdk-dart/sdk/out/ReleaseXARM/dart-sdk/include unsafe_extension.cc -o libunsafe_extension.cc
$ scp libunsafe_extension.so pi@192.168.0.xxx:~
#
# libffi6_extension.so
#
$ git clone https://github.com/mezoni/libffi6_extension.git
$ cd libffi6_extension/lib/src/
$ arm-linux-gnueabihf-gcc -shared -fPIC -I/home/username/tools/sdk-dart/sdk/out/ReleaseXARM/dart-sdk/include ffi6_extension.cc -o libffi6_extension.so
$ scp libffi6_extension.so pi@192.168.0.xxx:~
Install the libraries on Raspberry Pi
# On Raspberry Pi
$ sudo mv libbcm2835.so /usr/lib
$ sudo mv libunsafe_extension.so /usr/lib
$ sudo mv libffi6_extension.so /usr/lib
$ sudo ldconfig
Dart Hello BCM2835 project
# On Raspberry Pi
$ git clone https://github.com/yolkhovyy/dart-hello-bcm2835.git
$ cd dart-hello-bcm2835
$ pub get
Resolving dependencies... (1.6s)
...
Got dependencies!
$ dart bin/main.dart
Hello bcm2835!
Unhandled exception:
Bad state: File not found: bcm2835.lib.h
#0      Declarations.Declarations (package:binary_declarations/src/binary_declarations/declarations.dart:25:7)
#1      _Declarations.declare (package:binary_types/src/declarations.dart:37:28)
#2      BinaryTypeHelper.declare (package:binary_types/src/type_helper.dart:143:24)
#3      Bcm2835Lib.Bcm2835Lib (package:bcm2835_bindings/src/bcm2835_bindings/bcm2835.lib.dart:17:14)
#4      loadBcm2835Library (package:bcm2835_bindings/src/bcm2835_bindings/bcm2835_lib_loader.dart:23:14)
#5      main (file:///home/pi/projects/spikes/bcm2835/dart/bin/main.dart:13:27)
#6      _startIsolate.<anonymous closure> (dart:isolate-patch/isolate_patch.dart:263)
#7      _RawReceivePortImpl._handleMessage (dart:isolate-patch/isolate_patch.dart:151)

TODO: figure out why bcm2835.lib.h is missing.

Update: bcm2835_bindings is not maintained anymore – dead end?

IoT-DSA: install and run broker-dart

Environment
  • Ubuntu 16.04 LTS
  • Dart VM version: 1.23.0 (Fri Apr 21 10:05:24 2017)
Install Dart

Taken from Installing Dart on Linux.

# Enable HTTPS for apt.
$ sudo apt-get update
$ sudo apt-get install apt-transport-https
# Get the Google Linux package signing key.
$ sudo sh -c 'curl https://dl-ssl.google.com/linux/linux_signing_key.pub | apt-key add -'
# Set up the location of the stable repository.
$ sudo sh -c 'curl https://storage.googleapis.com/download.dartlang.org/linux/debian/dart_stable.list > /etc/apt/sources.list.d/dart_stable.list'
$ sudo apt-get update
$ sudo apt-get install dart
Install and run broker-dart
$ sudo apth-get intsall https://github.com/IOT-DSA/broker-dart
$ cd broker-dart$ pub get
$ pub global run dsbroker:broker
[INFO][DSA] Listening on HTTP port 8080
[INFO][DSA] Listening on HTTP port 8443

Raspberry Pi: install Dart VM, create and run helloword.dart

Environment
  • Ubuntu 16.04 LTS
  • arm-linux-gnueabihf (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.4) 5.4.0 20160609
  • Dart SDK, master 1.24.0-edge.eb1839b8fd453b6c0c93376346743fa96db48440
  • Raspberry Pi 3 Model B
Download and build Dart SDK

See Dart: build Dart SDK for x86 and ARM.

Important: though Raspberry Pi 3 has a 64-bit CPU the Raspbian OS does not support 64-bit builds at the moment of writing – we will build 32-bit Dart SDK for ARM.

Alternatively, you can download pre-built Dart SDK for ARM:

$ wget https://storage.googleapis.com/dart-archive/channels/stable/release/1.22.1/sdk/dartsdk-linux-arm-release.zip
Upgrade libstdc++ to 6.0.21

See Raspberry Pi: how to solve the “version `GLIBCXX_6.0.21′ not found” problem.

Copy Dart VM to Raspbbery Pi

Ubuntu:

$ cd dart-sdk/sdk
$ scp -r out/ReleaseXARM/dart-sdk/bin/dart pi@192.168.0.xxx:/home/pi

Raspberry Pi:

$ sudo mv dart /usr/local/bin

Restart Raspberry Pi ssh session, then check if Dart VM works:

$ dart --version
Dart VM version: 1.24.0-edge.eb1839b8fd453b6c0c93376346743fa96db48440 (Sun Apr 16 18:04:59 2017) on "linux_arm"
Hello World application

Create helloworld.dart file with the following content:

main() {
  print('Hello world!');
}

Run the application:

$ dart helloworld.dart 
Hello world!

 

 

 

Dart: build Dart SDK for x86 and ARM

Based on Building Dart, Building Dart SDK for ARM processors and Building Dart SDK for Raspberry Pi.

Environment
  • Ubuntu 16.04 LTS
  • arm-linux-gnueabihf (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.4) 5.4.0 20160609
  • Dart SDK, master f6a2fb0050eeaf24706da66bdd73c2f3c9770f96
x86 toolchain

Pre-installed in Ubuntu (16.04 LTS).

ARM 32-bit toolchain

See Raspberry Pi: C++ cross-compiling .

ARM 64-bit toolchain
$ sudo apt-get install g++-aarch64-linux-gnu
Other build tools
$ sudo apt-get install g++ git make python
$ sudo apt-get install g++-multilib
Install Chromium depot_toops
$ git clone https://chromium.googlesource.com/chromium/tools/depot_tools.git
$ export PATH="$PATH:$PWD/depot_tools"
Get the source
$ mkdir dart-sdk
$ cd dart-sdk
$ gclient config https://github.com/dart-lang/sdk.git
### Checkout HEAD
$ gclient sync
### Checkout a tag, e.g. 1.9.3
$ gclient sync --revision=1.9.3
Create (if missing) symbolic links

create_sdk build will fail if the following symbolic links are missing:

$ sudo ln -s /usr/include/x86_64-linux-gnu/asm/ /usr/include/asm
$ sudo ln -s /usr/include/x86_64-linux-gnu/bits/ /usr/include/bits
Build 64-bit x86
$ cd dart-sdk/sdk
$ ./tools/build.py --mode release --arch x64 create_sdk
Build 32-bit x86
$ cd dart-sdk/sdk
$ ./tools/build.py --mode release --arch ia32 create_sdk
Build for 32-bit ARM
$ cd dart-sdk/sdk
$ ./tools/build.py --mode release --arch arm create_sdk

The build fails (master #eb1839b):

g++ -MMD -MF x86/obj/runtime/bin/gen_snapshot_dart_io/eventhandler_linux.o.d -DDART_IO_SECURE_SOCKET_DISABLED -D_FORTIFY_SOURCE=2 -DNDEBUG -DTARGET_OS_LINUX -DTARGET_ARCH_ARM -DNDEBUG -DDART_USE_TCMALLOC -DDART_PRECOMPILER -I../../runtime -I../../third_party -I../.. -Ix86/gen -I../../third_party/tcmalloc/gperftools/src -I../../third_party/zlib -m32 -msse2 -mfpmath=sse -fno-exceptions -pthread -Wall -Wextra -Werror -Wendif-labels -Wno-missing-field-initializers -Wno-unused-parameter -Wno-unused-local-typedefs -O3 -fno-ident -fdata-sections -ffunction-sections -g3 -ggdb3 -Werror -Wall -Wextra -Wno-unused-parameter -Wnon-virtual-dtor -Wvla -Wno-conversion-null -Woverloaded-virtual -g3 -ggdb3 -fno-rtti -fno-exceptions -O3 -fvisibility-inlines-hidden -fno-omit-frame-pointer -fno-rtti -fno-exceptions -c ../../runtime/bin/eventhandler_linux.cc -o x86/obj/runtime/bin/gen_snapshot_dart_io/eventhandler_linux.o
In file included from ../../runtime/vm/simulator_arm.h:19:0,
                 from ../../runtime/vm/simulator.h:15,
                 from ../../runtime/vm/atomic.h:11,
                 from ../../runtime/bin/reference_counting.h:8,
                 from ../../runtime/bin/socket.h:14,
                 from ../../runtime/bin/eventhandler_linux.cc:27:
../../runtime/vm/constants_arm.h:263:17: error: ‘dart::STMP’ defined but not used [-Werror=unused-variable]
 const SRegister STMP = EvenSRegisterOf(DTMP);
                 ^
cc1plus: all warnings being treated as errors
ninja: build stopped: subcommand failed.
BUILD FAILED

This can be fixed by changing the dart-sdk/sdk/runtime/vm/constants_arm.h file, lines 262-263 from:

const DRegister DTMP = EvenDRegisterOf(QTMP);  
const SRegister STMP = EvenSRegisterOf(DTMP);

to:

const DRegister DTMP __attribute__((unused)) = EvenDRegisterOf(QTMP);  
const SRegister STMP __attribute__((unused)) = EvenSRegisterOf(DTMP);

Raspberry Pi note: This procedure will produce a useful Dart VM – the dart and pub utilities.

Pre-built 32-bit ARM Dart SDK image
$ wget http://share.geomodule.com/dart-sdk-f6a2fb0050eeaf24706da66bdd73c2f3c9770f96.tar.gz
Build for 64-bit ARM
$ cd dart-sdk/sdk
./tools/build.py --mode release --arch arm64 create_sd
Install Dart SDK on Raspberry Pi

Make sure you have correct version of the GLIBCXX library, see here:

http://sw-eng-notes.geomodule.com/2017/04/16/raspberry-pi-how-to-solve-version-glibcxx_6-0-21-not-found/

# On your build host host
$ cd dart-sdk
$ scp -r sdk/out/ReleaseXARM/dart-sdk pi@192.168.0.xxx:~/dart-sdk
# On Raspberry Pi
# Add the following line at the end of .bashrc
# export PATH=${PATH}:/home/pi/dart-sdk/bin
$ dart --version
Dart VM version: 1.24.0-edge.eb1839b8fd453b6c0c93376346743fa96db48440 (Sun Apr 16 18:04:59 2017) on "linux_arm"
$ pub --version
Pub 1.25.0-edge.511963d71509de50ac577ac22f3bac8d33c17e34