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POTrouble linking libusb using Cmake
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copied!<p>I've been trying to 'hack' 2 programs together and one of them (openTLD) uses cmake. I've been reading up and working on this issue for a bit now and can't seem to sort it.</p> <p>When I 'make' where there is no instantiation of the cpp object it compiles fine, when I have an object (that relies on libusb) that I hacked in I'm getting linking (I think) errors.</p> <p>My CMakeLists (added bits delimeted by ** or CAPS)</p> <pre><code>#Set minimum version requered cmake_minimum_required(VERSION 2.4.6) #just to avoid the warning if(COMMAND cmake_policy) cmake_policy(SET CMP0003 NEW) endif(COMMAND cmake_policy) #set project name project(TLD) #Append path to the module path list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/../cmake/Modules/") #OpenCV find_package(OpenCV REQUIRED) #** ADDED ** find_package(libusb-1.0 REQUIRED) #set the default path for built executables to the "bin" directory set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/../bin) #set the default path for built libraries to the "lib" directory set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/../lib) #set the include directories **CHANGED** added libusb include_directories (${PROJECT_SOURCE_DIR}/../include ${LIBUSB_1_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) #** ADDED ** SET(CMAKE_CXX_FLAGS "-lusb-1.0") #libraries add_library(tld_utils tld_utils.cpp) add_library(LKTracker LKTracker.cpp) add_library(ferNN FerNNClassifier.cpp) add_library(tld TLD.cpp) # **CHANGED** THIS CLASS COMPILES add_library(servo servo.cpp) #executables # ** WHEN I TRY TO ISTANTIATE 'SERVO' IN 'tld.cpp' THAT IS ISTANTIATED THIS CLASS I GET PROBLEMS add_executable(run_tld run_tld.cpp) #link the libraries **CHANGED** added servo and libusb target_link_libraries(run_tld tld LKTracker ferNN tld_utils servo ${libusb-1.0__LIBS} ${OpenCV_LIBS}) #set optimization level set(CMAKE_BUILD_TYPE Release) </code></pre> <p>The output from terminal is :</p> <pre><code>lewis@lewis-desktop:~/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/build$ cmake ../src/ -- The C compiler identification is GNU -- The CXX compiler identification is GNU -- Check for working C compiler: /usr/bin/gcc -- Check for working C compiler: /usr/bin/gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Found libusb-1.0: -- - Includes: /usr/include/libusb-1.0 -- - Libraries: /usr/lib/x86_64-linux-gnu/libusb-1.0.so -- Configuring done -- Generating done -- Build files have been written to: /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/build lewis@lewis-desktop:~/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/build$ make Scanning dependencies of target LKTracker [ 16%] Building CXX object CMakeFiles/LKTracker.dir/LKTracker.o Linking CXX static library /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libLKTracker.a [ 16%] Built target LKTracker Scanning dependencies of target ferNN [ 33%] Building CXX object CMakeFiles/ferNN.dir/FerNNClassifier.o Linking CXX static library /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libferNN.a [ 33%] Built target ferNN Scanning dependencies of target tld_utils [ 50%] Building CXX object CMakeFiles/tld_utils.dir/tld_utils.o Linking CXX static library /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libtld_utils.a [ 50%] Built target tld_utils Scanning dependencies of target servo [ 66%] Building CXX object CMakeFiles/servo.dir/servo.o Linking CXX static library /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libservo.a [ 66%] Built target servo Scanning dependencies of target tld [ 83%] Building CXX object CMakeFiles/tld.dir/TLD.o Linking CXX static library /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libtld.a [ 83%] Built target tld Scanning dependencies of target run_tld [100%] Building CXX object CMakeFiles/run_tld.dir/run_tld.o Linking CXX executable /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/bin/run_tld /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libservo.a(servo.o): In function `servo::servo()': servo.cpp:(.text+0xa): undefined reference to `libusb_init' servo.cpp:(.text+0x1b): undefined reference to `libusb_get_device_list' /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libservo.a(servo.o): In function `servo::deviceMatchesVendorProduct(libusb_device*, unsigned short, unsigned short)': servo.cpp:(.text+0x49): undefined reference to `libusb_get_device_descriptor' /home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/lib/libservo.a(servo.o): In function `servo::setTarget(int)': servo.cpp:(.text+0xc1): undefined reference to `libusb_get_device_descriptor' servo.cpp:(.text+0xe3): undefined reference to `libusb_get_device_descriptor' servo.cpp:(.text+0x105): undefined reference to `libusb_get_device_descriptor' servo.cpp:(.text+0x143): undefined reference to `libusb_get_device_descriptor' servo.cpp:(.text+0x170): undefined reference to `libusb_open' servo.cpp:(.text+0x19c): undefined reference to `libusb_control_transfer' servo.cpp:(.text+0x1a6): undefined reference to `libusb_close' servo.cpp:(.text+0x1c2): undefined reference to `libusb_free_device_list' servo.cpp:(.text+0x1ce): undefined reference to `libusb_exit' collect2: ld returned 1 exit status make[2]: *** [/home/lewis/Desktop/mcleanlewis-OPENTLD_blackbox-ce389c3/bin/run_tld] Error 1 make[1]: *** [CMakeFiles/run_tld.dir/all] Error 2 make: *** [all] Error 2 </code></pre> <p>My servo.cpp file incase there is an issue with it (I'm not a cpp programmer and it's been hacked together)</p> <pre><code>#include <iostream> #include <libusb-1.0/libusb.h> #include "protocol.h" #include "servo.h" using namespace std; int count=0; const unsigned short vendorId = 0x1ffb; unsigned short productIDArray[]={0x0089, 0x008a, 0x008b, 0x008c}; libusb_context *ctx=0; libusb_device **device_list=0; servo::servo(){ libusb_init(&ctx); count=libusb_get_device_list(ctx, &device_list); } bool servo::deviceMatchesVendorProduct(libusb_device *device, unsigned short idVendor, unsigned short idProduct) { libusb_device_descriptor desc; libusb_get_device_descriptor(device, &desc); return idVendor == desc.idVendor && idProduct == desc.idProduct; } void servo::setTarget(int position) { for(int i=0;i<count;i++) { libusb_device *device=device_list[i]; { for(int Id=0;Id<4;Id++) { if(deviceMatchesVendorProduct(device, vendorId, productIDArray[Id])) { libusb_device_handle *device_handle; libusb_open(device, &device_handle); libusb_control_transfer(device_handle, 0x40, REQUEST_SET_TARGET, position*4, 0, 0, 0, (ushort)5000); libusb_close(device_handle); break; } } } } libusb_free_device_list(device_list, 0); libusb_exit(ctx); } </code></pre> <p>Thanks for any assistance or pointers.</p>

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