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# Copyright (c) 2019-2020 NVIDIA CORPORATION.  All rights reserved.

@page dwx_samples_building_V5L Cross-Compiling for the NVIDIA DRIVE Platform (Linux)

@note SW Release Applicability: This sample is available in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

To compile the samples or any user code using NVIDIA<sup>&reg;</sup> DriveWorks, you must use
cross-compilation from a Linux host. For this, in addition to the requirements
above, you must have the additional components:

- DriveWorks SDK cross-compilation package
- NVIDIA DRIVE OS 5.1 Linux SDK installation for NVIDIA DRIVE in the Linux Host
- CUDA cross-compilation libraries

## To cross compile the DriveWorks SDK samples

1. On the host system, install CUDA cross-compilation libraries.

       $ sudo dpkg --add-architecture arm64
       $ sudo apt-get update
       $ sudo apt-get install cuda-cross-aarch64-10-2

   @note Some repositories may not have binaries for arm64, and apt-get
   update may cause some errors. To prevent these errors, edit
   `/etc/apt/sources.list` and files under `/etc/apt/sources.list.d/` and add
   `[arch=amd64,i386]` to each line starting with `deb`. Ensure you specify
   `amd64` and not `arm64`.

2. Configure the location of the NVIDIA DRIVE SDK/PDK.

   Set the environment variable `DriveSDK` to point to the SDK/PDK folders:

       /path/to/drive-t186ref-linux (NVIDIA DRIVE platform)

   -or-

   Define this location as a `cmake` parameter:

       -DVIBRANTE_PDK:STRING=/path/to/drive-t186ref-linux

3. Cross-compile.

       $ mkdir build
       $ cd build
       $ cmake -DCMAKE_BUILD_TYPE=Release \
             -DCMAKE_TOOLCHAIN_FILE=/path/to/driveworks/samples/cmake/Toolchain-V5L.cmake \
             -DVIBRANTE_PDK:STRING=/path/to/drive-t186ref-linux -DTRT_VERSION:STRING=6.2.0.3 \
              /path/to/driveworks/samples/folder
       $ make -j
       $ make install

  To streamline the deploy process, you can set the `cmake` definitions as
  environment variables.

  Also the build folder can be created anywhere in the system, however if it's outside
  of your home folder, you'll probably need to run the next commands with **sudo**.

## Loading the Sample on the NVIDIA DRIVE Platform

After cross-compiling your custom DriveWorks sample on the Linux host
system, you must load it to the target platform.
You can use automatic upload (recommended) or manually upload it.

The package-based installation will install libraries, binaries and resources in
`/usr/local/driveworks-<version>`. However, if you build a custom DriveWorks
sample, you should upload those files to a separate directory such as:

    /home/nvidia/driveworks

The above path assumes your user name is "nvidia". Of course, you would use
a name more appropriate to your situation. Using this path rather than
`/usr/local/<name>` avoids security constraints that can make the upload process
more difficult.

@note *Important*: The correct `rpath` for the binaries is set only during
installation. As such, NVIDIA discourages copying pre-install binaries to the
board because this could result in undefined behavior.

### Automatic Upload (Recommended)

An `upload` target is provided as a convenience. Invoking this target uses
`rsync` to sync the builds to a specified location on the device. `target` is
set to depend on building and packaging.

The following cmake parameters configure the `upload` target:

* `VIBRANTE_HOST` : IP address of the board, the default value is
  `192.168.0.10` for Xavier A and `192.168.0.11` for Xavier B.
* `VIBRANTE_INSTALL_PATH` : destination folder of the compiled products. The
   default value is `/home/nvidia/driveworks`.
* `VIBRANTE_USER` : Specifies the user that will be used to `rsync` the
   binaries. The default value is `nvidia`.
* `VIBRANTE_PASSWORD` : Password for `VIBRANTE_USER`. The default value is
  `nvidia`.
* `VIBRANTE_PORT` : Port on which `ssh` is listening on the target board. The
  default is `22`.

#### To invoke the upload target

On the Linux system, enter:

       $ make upload

@note If the `VIBRANTE_HOST` parameter is set to the IP address of a running
NVIDIA DRIVE platform board, users can call the upload target to `rsync` the build folder
with a folder on the board.

### Manual Upload

When you manually upload the sample to the target device, you copy the cross-
compiled binaries to a device with IP `DPX_IP` as user `nvidia`.

On the host system, execute:

        $ scp -r install/* nvidia@DPX_IP:/home/nvidia/<destination_dir>/