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// Copyright (C) 2023 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GFDL-1.3-no-invariants-only
/*!
\page vxworks.html
\title Qt for VxWorks
\brief Platform support for VxWorks.
\keyword VxWorks
\ingroup supportedplatform
Contact The Qt Company for more information:
\section1 Qt for VxWorks Licensing
Qt for VxWorks is available under the Qt for Device Creation Professional
(DCP) license. For more information, see \l{Qt Pricing}.
\section1 Supported Architectures and VxWorks Releases
Qt 6.10 is verified on VxWorks 25.03.
Supported architectures:
\list
\li ARM-v7—Tested on BD-SL-i.MX6. BSP used: fsl_imx6
\li x86_64—Tested on Intel NUC6i3SYH. BSP used: itl_generic
\endlist
professional services.
\section1 Requirements for VxWorks
\section2 Qt Widgets Applications
\list
\li POSIX support
\li C++17 support
\endlist
\section2 Qt Quick 2 Applications
All features which are required for Qt Widgets applications, and in addition the following:
\list
\li GPU device (GPUDEV) for OpenGL ES 2.0
\endlist
\section1 Supported Modules
Most essential \l{All Modules}{Qt modules} and some add-on modules are supported.
\section2 Supported Essential modules
\table 80%
\header
\li Qt Module
\li Notes
\row
\li \l {Qt Core}
\li No support for \l{QProcess}. \l{QLocalSocket} and \l{QLocalServer} support only SOCK_SEQPACKET.
\row
\li \l {Qt GUI}
\li Not applicable
\row
\li \l {Qt Network}
\li Not applicable
\row
\li \l {Qt Qml}
\li Not applicable
\row
\li \l {Qt Quick}
\li Not applicable
\row
\li \l {Qt Quick Controls}
\li Not applicable
\row
\li \l {Qt Quick Dialogs}
\li Not applicable
\row
\li \l {Qt Quick Layouts}
\li Not applicable
\row
\li \l {Qt Quick Test}
\li Not applicable
\row
\li \l {Qt Test}
\li Not applicable
\row
\li \l {Qt Widgets}
\li Not applicable
\endtable
\section2 Supported Add-Ons
\table 80%
\header
\li Qt Add-Ons
\row
\li \l {Qt Concurrent}
\row
\li \l {Qt GRPC}{Qt GRPC/Protobuf}
\row
\li \l {Qt Graphs}
\row
\li \l {Qt Image Formats}
\row
\li \l {Qt Multimedia}
\row
\li \l {Native Interfaces}{Qt Native Interfaces}
\row
\li \l {Qt OpenGL}
\row
\li \l {Qt Quick 3D}
\row
\li \l {Qt Quick Compiler}
\row
\li \l {Qt Quick Effects}
\row
\li \l {Qt SQL}
\row
\li \l {Qt SVG}
\row
\li \l {Qt Virtual Keyboard}
\endtable
\note You can explicitly exclude unsupported or unused modules from the
build via the -skip <module> option when running the configure tool.
\section1 Platform Notes
Qt is prepared to be used by RTP applications, there is no support for DKM.
With the release of Qt 5.0, Qt no longer contains its own window system
implementation: QWS is no longer a supported platform. For single-process use
cases, the \l{Qt Platform Abstraction} is a superior solution.
There is one plugin that is usable on VxWorks: EGLFS. The availability of this
plugins depends on the configuration of Qt.
\section1 Configuring for a Specific Device
Prepare your environment by installing VxWorks SDK and obtaining WindRiver
license which is needed by installer and for building VxWorks images.
Search for appropriate installer in
Building Qt for a given device requires a Qt 6 installation for compilation
host, a toolchain and a sysroot. See \l{Cross-compiling Qt} for details.
Additionally, some devices require vendor specific adaptation code for EGL and
OpenGL 2.0 support.
\section2 VxWorks Image Requirements
Qt for VxWorks requires certain VxWorks image bundles and components to be
embedded in base software to make Qt compile and work properly. The
list is by no means complete as it depends on hardware, software and system
requirements of your project. However, the following table contains those
that are mandatory for certain functionalities to work (including touchscreen support).
Note also that these might change with VxWorks versions.
\section3 Example VSB configuration for the fsl_imx6 and itl_generic BSPs
You need to add the following features to VSB for Qt to work properly. For
more details please check WindRiver VxWorks Documentation.
\table 80%
\header
\li Feature
\li Notes
\row
\li \c DSI_DSI_KERNEL
\li Not applicable
\row
\li \c IPNET_COREIP
\li Not applicable
\row
\li \c IPNET_DHCPC
\li Not applicable
\row
\li \c SDMMC_DEVICE
\li Not applicable
\row
\li \c SDMMC_HOST
\li Not applicable
\row
\li \c SDMMC_SDHC
\li Not applicable
\row
\li \c SDMMC_STORAGE
\li Not applicable
\row
\li \c SERVICE_UN
\li Not applicable
\row
\li \c SOCKET
\li Not applicable
\row
\li \c USB_EHCI
\li Not applicable
\row
\li \c USB_KEYBOARD
\li Not applicable
\row
\li \c USB_MOUSE
\li Not applicable
\row
\li \c USB_STORAGE
\li Not applicable
\row
\li \c USB_TOUCHSCREEN
\li Not applicable
\row
\li \c EVDEV
\li Not applicable
\row
\li \c EVDEV_LIB
\li Not applicable
\row
\li \c EVDEV_TI_TSC2004_TS
\li Not applicable
\row
\li \c EVDEV_EETI_EXC7200_TS
\li Not applicable
\row
\li \c AUDIO
\li Not applicable
\row
\li \c GPUDEV_FSLVIVGPU
\li fsl_imx6 specific
\row
\li \c HASH
\li Not applicable
\row
\li \c OPENSSL
\li Not applicable
\row
\li \c RANDOM_ENTROPY_INJECT
\li Not applicable
\row
\li \c IPNET_SSH
\li Not applicable
\row
\li \c USER_MANAGEMENT
\li Not applicable
\row
\li \c ICU
\li Not applicable
\row
\li \c DRM
\li itl_generic specific
\row
\li \c ITLI915
\li itl_generic specific
\row
\li \c LIBDRM
\li itl_generic specific
\row
\li \c MESA
\li itl_generic and nxp_imx8 specific
\endtable
The following config variables are added implicitly and you need to remove them:
\table 80%
\header
\li Variable
\li Notes
\row
\li \c _WRS_CONFIG_EVDEV_OPTIMIZED_MODE
\li Not applicable
\row
\li \c _WRS_CONFIG_EVDEV_DISPLAY_POINT_TRANSLATE
\li Not applicable
\row
\li \c _WRS_CONFIG_MESA_MANGLE
\li itl_generic specific
\endtable
You need to add the following variables to the config:
\table 80%
\header
\li Variable
\li Value
\li Notes
\row
\li \c _WRS_CONFIG_RTP_SSP
\li \c y
\li Not applicable
\row
\li \c _WRS_CONFIG_RTP_STACK_PROTECTOR
\li \c y
\li Not applicable
\row
\li \c _WRS_CONFIG_MESA_GPUDEV_INTEL_GEN90
\li \c y
\li itl_generic specific
\row
\li \c _WRS_CONFIG_EVDEV_COMPATIBLE_MODE
\li \c y
\li Needed in order for Qt to work properly with a touchscreen.
\endtable
\section3 Example VIP configuration for fsl_imx6 and itl_generic BSPs
For more details please check WindRiver VxWorks Documentation.
\table 80%
\header
\li Bundle
\li Notes
\row
\li \c BUNDLE_POSIX
\li This bundle is necessary for compatibility with POSIX-related
functionalities which Qt requires.
\row
\li \c BUNDLE_RTP_DEPLOY
\li Not applicable
\row
\li \c BUNDLE_RTP_DEVELOP
\li Not applicable
\row
\li \c BUNDLE_STANDALONE_SHELL
\li Not applicable
\endtable
\table 80%
\header
\li Component
\li Notes
\row
\li \c INCLUDE_TMP_DIR
\c INCLUDE_RAM_DISK_FORMAT_HRFS
\li Including these two components is necessary if you want to
use \l {QTemporaryFile}. Note that you should also consider setting
\c TMP_DIR_SIZE to appropriate value
\row
\li \c DRV_AUDIO_FSL_SSI
\li Not applicable
\row
\li \c DRV_AUDIO_FSL_SGTL5000
\li Not applicable
\row
\li \c DRV_FSL_SDHC_CTRL
\li Not applicable
\row
\li \c DRV_IMX_SDHC_CTRL
\li Not applicable
\row
\li \c INCLUDE_EHCI_INIT
\li Not applicable
\row
\li \c INCLUDE_FSL_IMX6Q_SABRELITE
\li Not applicable
\row
\li \c DRV_MMCSTORAGE_CARD
\li Not applicable
\row
\li \c DRV_SDSTORAGE_CARD
\li Not applicable
\row
\li \c INCLUDE_AUDIO_LIB_CORE
\li Not applicable
\row
\li \c INCLUDE_AUDIO_LIB_WAV
\li Not applicable
\row
\li \c INCLUDE_CUSTOM_ENTROPY_ADD
\li Not applicable
\row
\li \c INCLUDE_DEBUG_AGENT_START
\li Not applicable
\row
\li \c INCLUDE_DEFAULT_TIMEZONE
\li Not applicable
\row
\li \c INCLUDE_DISK_UTIL
\li Not applicable
\row
\li \c INCLUDE_DOSFS
\li Not applicable
\row
\li \c INCLUDE_DSAPARAM_CMD
\li Not applicable
\row
\li \c INCLUDE_END
\li Not applicable
\row
\li \c INCLUDE_EVDEV_LIB_CORE
\li Not applicable
\row
\li \c INCLUDE_EVDEV_LIB_KBD
\li Not applicable
\row
\li \c INCLUDE_EVDEV_LIB_KBD_MAP_US
\li Not applicable
\row
\li \c INCLUDE_EVDEV_LIB_PTR
\li Not applicable
\row
\li \c INCLUDE_EVDEV_LIB_TS
\li Not applicable
\row
\li \c INCLUDE_GENDSA_CMD
\li Not applicable
\row
\li \c INCLUDE_GENRSA_CMD
\li Not applicable
\row
\li \c INCLUDE_GETADDRINFO
\li Not applicable
\row
\li \c INCLUDE_GETNAMEINFO
\li Not applicable
\row
\li \c INCLUDE_HRFS
\li Not applicable
\row
\li \c INCLUDE_HRFS_ACCESS_TIMESTAMP
\li Not applicable
\row
\li \c INCLUDE_HRFS_FORMAT
\li Not applicable
\row
\li \c INCLUDE_HRFS_HISPEED_WRITE_MODE
\li Not applicable
\row
\li \c INCLUDE_IFCONFIG
\li Not applicable
\row
\li \c INCLUDE_IO_REALPATH
\li This component is needed to enable the use of the realpath function needed for \c QFileInfo
\row
\li \c INCLUDE_IPATTACH
\li Not applicable
\row
\li \c INCLUDE_IPCOM_SYSLOGD_CMD
\li Not applicable
\row
\li \c INCLUDE_IPCOM_SYSVAR_CMD
\li Not applicable
\row
\li \c INCLUDE_IPCOM_USE_RAM_DISK
\li Not applicable
\row
\li \c INCLUDE_IPCOM_USE_TIME_CMD
\li Not applicable
\row
\li \c INCLUDE_IPDHCPC
\li Not applicable
\row
\li \c INCLUDE_IPDNSC
\li Not applicable
\row
\li \c INCLUDE_IPD_CMD
\li Not applicable
\row
\li \c INCLUDE_IPFTPC
\li Not applicable
\row
\li \c INCLUDE_IPFTP_CMD
\li Not applicable
\row
\li \c INCLUDE_IPIFCONFIG_CMD
\li Not applicable
\row
\li \c INCLUDE_IPNETSTAT_CMD
\li Not applicable
\row
\li \c INCLUDE_IPNSLOOKUP_CMD
\li Not applicable
\row
\li \c INCLUDE_IPPING_CMD
\li Not applicable
\row
\li \c INCLUDE_IPROUTE_CMD
\li Not applicable
\row
\li \c INCLUDE_IPTRACE_ROUTE_CMD
\li Not applicable
\row
\li \c INCLUDE_IPWRAP_GETHOSTBYADDR
\li Not applicable
\row
\li \c INCLUDE_IPWRAP_GETHOSTBYNAME
\li Not applicable
\row
\li \c INCLUDE_IPWRAP_GETNAMEINFO
\li Not applicable
\row
\li \c INCLUDE_IPWRAP_IFNAME
\li Not applicable
\row
\li \c INCLUDE_IPWRAP_ROUTECMD
\li Not applicable
\row
\li \c INCLUDE_MMAP
\li Not applicable
\row
\li \c INCLUDE_PING
\li Not applicable
\row
\li \c INCLUDE_PIPES
\li Not applicable
\row
\li \c INCLUDE_POSIX_MAPPED_FILES
\li Not applicable
\row
\li \c INCLUDE_POSIX_PIPES
\li Not applicable
\row
\li \c INCLUDE_POSIX_PTHREAD_SCHEDULER
\li Not applicable
\row
\li \c INCLUDE_POSIX_SHM
\li Not applicable
\row
\li \c INCLUDE_RAM_DISK
\li Not applicable
\row
\li \c INCLUDE_RAM_DISK_FORMAT_HRFS
\li Not applicable
\row
\li \c INCLUDE_RANDOM_NUM_GEN
\li Not applicable
\row
\li \c INCLUDE_ROMFS
\li Not applicable
\row
\li \c INCLUDE_ROUTECMD
\li Not applicable
\row
\li \c INCLUDE_SC_PIPE
\li Not applicable
\row
\li \c INCLUDE_SC_POSIX_PIPE
\li Not applicable
\row
\li \c INCLUDE_SD_BUS
\li Not applicable
\row
\li \c INCLUDE_SECURITY
\li Not applicable
\row
\li \c INCLUDE_SEC_KEY_STORE_CMD
\li Not applicable
\row
\li \c INCLUDE_SHELL
\li Not applicable
\row
\li \c INCLUDE_SSH
\li Not applicable
\row
\li \c INCLUDE_STANDALONE_SYM_TBL
\li Not applicable
\row
\li \c INCLUDE_STARTUP_SCRIPT
\li Not applicable
\row
\li \c INCLUDE_TMP_DIR
\li Not applicable
\row
\li \c INCLUDE_UN_COMP
\li Not applicable
\row
\li \c INCLUDE_USB_GEN2_KEYBOARD
\li Not applicable
\row
\li \c INCLUDE_USB_GEN2_MOUSE
\li Not applicable
\row
\li \c INCLUDE_USB_GEN2_STORAGE_INIT
\li Not applicable
\row
\li \c INCLUDE_USB_TOUCH_SCREEN
\li Not applicable
\row
\li \c INCLUDE_USB_TOUCH_SCREEN_INIT
\li Not applicable
\row
\li \c INCLUDE_USER_DATABASE
\li Not applicable
\row
\li \c INCLUDE_USER_IDENTIFICATION
\li Not applicable
\row
\li \c INCLUDE_VRFS
\li Not applicable
\row
\li \c INCLUDE_VXBUS_SHOW
\li Not applicable
\row
\li \c DRV_TOUCH_SCREEN_TI_TSC2004
\li Not applicable
\row
\li \c DRV_TOUCH_SCREEN_EETI_EXC7200
\li Not applicable
\row
\li \c INCLUDE_FBDEV_FSLIPU_0
\li fsl_imx6 specific
\row
\li \c INCLUDE_FBDEV_SPLASH
\li Not applicable
\row
\li \c INCLUDE_GPUDEV_FSLVIV_API
\li fsl_imx6 specific
\row
\li \c INCLUDE_GPUDEV_FSLVIV_API_INIT
\li fsl_imx6 specific
\row
\li \c INCLUDE_GPUDEV_ITLGMC_2
\li itl_generic specific
\row
\li \c INCLUDE_I915
\li itl_generic specific
\row
\li \c INCLUDE_MESA_FBDEV
\li itl_generic specific
\row
\li \c INCLUDE_MESA_GPUDEV_DRI
\li itl_generic specific
\row
\li \c INCLUDE_MESA_GPUDEV_DRI_I965
\li itl_generic specific
\endtable
The following components are added implicitly and you need to remove them:
\table 80%
\header
\li Layer
\li Notes
\row
\li \c INCLUDE_FTP
\li Not applicable
\row
\li \c INCLUDE_SHELL_SECURITY
\li Not applicable
\endtable
\section4 VIP Parameters
You need to add the following parameters for Qt to run properly on VxWorks:
\table 80%
\header
\li Parameter
\li Example value
\li Notes
\row
\li \c SEC_VAULT_KEY_ENCRYPTING_PW
\li \c '"vxTarget"'
\li Not applicable
\row
\li \c UDB_STORAGE_PATH
\li \c '"/ram/vxUserDB.txt"'
\li Not applicable
\row
\li \c UDB_HASH_KEY
\li \c '"123456789"'
\li Not applicable
\row
\li \c UDB_HASH_KEY_LEN
\li \c 9
\li Example value, see previous
\row
\li \c FSLVIV_RTP_COMMAND_BUFFER_QUEUE
\li \c 32
\li For 'arm' architecture
\row
\li \c SYS_CLK_RATE
\li \c 100
\li Not applicable
\row
\li \c RTP_PTHREAD_STACK_SIZE_DEFAULT
\li \c 262144
\li Required to make qtquick3d examples work. Can be overridden with the PTHREAD_STACK_SIZE_DEFAULT env variable.
\row
\li \c TMP_DIR_SIZE
\li \c 614400
\li Minimum value for passing Qt internal tests
\row
\li \c NUM_FILES
\li \c 300
\li Not applicable
\row
\li \c RTP_FD_NUM_MAX
\li \c 300
\li Not applicable
\row
\li \c HRFS_DEFAULT_MAX_FILES
\li \c 300
\li Not applicable
\row
\li \c ITLGMC_FBDEV_RESOLUTION_2
\li \c '"1024x768-32"'
\li Example value for the Xenarc 706TSA touchscreen connected over HDMI.
\row
\li \c RTP_MEM_FILL
\li \c True
\li By default the value is \c True and it needs to remain \c True for Qt to work properly.
\endtable
\target Building Qt for VxWorks
\section1 Building Qt 6 for VxWorks
\section2 Host build
A host build of Qt needs to be available to cross-compile Qt. This is because, during
the build, certain tools (such as \c{moc}, \c{rcc}, \c{qmlcachegen}, and \c{qsb}) are
invoked from the host build. You have the following options:
\list
\li \l{Building Qt Sources} for the host,
\li Installing host build using \QOI.
\endlist
However, it is advisable to ensure that you can build Qt for the desktop target on the
host as well since the same tools are also needed when compiling for VxWorks.
\section3 Running the Configure Script
The commands to configure, build, and install Qt 6 for host are the following:
\badcode
./configure \
-cmake-generator "Ninja" \
-extprefix <path/to/Qt6/host/installation/dir> \
-submodules qtbase,qtdeclarative,qtquick3d,qtshadertools \
-nomake tests \
-nomake examples \
-- \
-B <host/build/directory>
cd <host/build/directory>
cmake --build . --parallel
cmake --install .
\endcode
These commands install Qt 6 for the host in
\c {<path_to_Qt 6_host_installation_dir>}.
\section2 Building Qt 6 for the Target
\section3 Setting Up the Build Environment
Before you run configure and build Qt 6, you must open \e {VxWorks Development Shell} in command
prompt.
\list
\li Linux:
\badcode
cd <VxWorks installation directory>
./wrenv.sh -p vxworks
export WIND_CC_SYSROOT=<path to VxWorks VSB directory>
\endcode
\li Windows:
\badcode
cd <VxWorks installation directory>
wrenv -p vxworks
export WIND_CC_SYSROOT=<path to VxWorks VSB directory>
\endcode
\endlist
\section3 Preparing the Custom CMake Toolchain File
To include graphics libraries from the BSP, you need to first create a CMake toolchain file.
An example CMake toolchain file for BD-SL-i.MX6 device:
\badcode
# Copyright (C) 2024 The Qt Company Ltd.
if(QT_VXWORKS_TOOLCHAIN_FILE)
set(_original_toolchain_file "${QT_VXWORKS_TOOLCHAIN_FILE}")
elseif(DEFINED ENV{QT_VXWORKS_TOOLCHAIN_FILE})
set(_original_toolchain_file "$ENV{QT_VXWORKS_TOOLCHAIN_FILE}")
else()
message(FATAL_ERROR "QT_VXWORKS_TOOLCHAIN_FILE is not set.")
endif()
if(NOT EXISTS "${_original_toolchain_file}")
message(FATAL_ERORR "${_original_toolchain_file} doesn't exists.")
endif()
include("${_original_toolchain_file}")
unset(_original_toolchain_file)
list(APPEND CMAKE_TRY_COMPILE_PLATFORM_VARIABLES QT_VXWORKS_TOOLCHAIN_FILE)
set(_common_lib_path "${CMAKE_SYSROOT}/usr/lib/common")
set(EGL_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/h/public CACHE PATH "Path to EGL include directory" FORCE)
set(EGL_LIBRARY ${_common_lib_path}/libgfxFslVivEGL.so CACHE PATH "Path to EGL lib" FORCE)
set(GLESv2_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/h/public CACHE PATH "Path to GLES include directory" FORCE)
set(GLESv2_LIBRARY ${_common_lib_path}/libgfxFslVivGLESv2.so CACHE PATH "Path to GLES lib" FORCE)
set(VxWorksPlatformGraphics_DEFINES "-D_FSLVIV")
set(VxWorksPlatformGraphics_LIBRARIES_PACK
"${_common_lib_path}/libgfxFslVivEGL.so"
"${_common_lib_path}/libgfxFslVivGLESv2.so"
"${_common_lib_path}/libgfxFslVivGAL.so"
"${_common_lib_path}/libgfxFslVivGLSLC.so"
"${_common_lib_path}/libgfxFslVivVDK.so"
"${_common_lib_path}/libxml.so"
)
set(VxWorksPlatformGraphics_REQUIRED_LIBRARIES
${VxWorksPlatformGraphics_LIBRARIES_PACK}
${EGL_LIBRARY}
${GLESv2_LIBRARY}
)
unset(_common_lib_path)
\endcode
An example for Intel NUC6i3SYH:
\badcode
# Copyright (C) 2024 The Qt Company Ltd.
if(QT_VXWORKS_TOOLCHAIN_FILE)
set(_original_toolchain_file "${QT_VXWORKS_TOOLCHAIN_FILE}")
elseif(DEFINED ENV{QT_VXWORKS_TOOLCHAIN_FILE})
set(_original_toolchain_file "$ENV{QT_VXWORKS_TOOLCHAIN_FILE}")
else()
message(FATAL_ERROR "QT_VXWORKS_TOOLCHAIN_FILE is not set.")
endif()
if(NOT EXISTS "${_original_toolchain_file}")
message(FATAL_ERORR "${_original_toolchain_file} doesn't exists.")
endif()
include("${_original_toolchain_file}")
unset(_original_toolchain_file)
list(APPEND CMAKE_TRY_COMPILE_PLATFORM_VARIABLES QT_VXWORKS_TOOLCHAIN_FILE)
set(_common_lib_path "${CMAKE_SYSROOT}/usr/lib/common")
set(EGL_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/h/public CACHE PATH "Path to EGL include directory" FORCE)
set(EGL_LIBRARY ${_common_lib_path}/libgfxMesaEGL.so CACHE PATH "Path to EGL lib" FORCE)
set(GLESv2_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/h/public CACHE PATH "Path to GLES include directory" FORCE)
set(GLESv2_LIBRARY ${_common_lib_path}/libgfxMesaGL.so CACHE PATH "Path to GLES lib" FORCE)
set(VxWorksPlatformGraphics_DEFINES "-D__vxworks -D__VXWORKS")
set(VxWorksPlatformGraphics_LIBRARIES_PACK
"${_common_lib_path}/libgfxMesaEGL.so"
"${_common_lib_path}/libgfxMesaGL.so"
"${_common_lib_path}/libgfxMesaSw.so"
"${_common_lib_path}/libgfxMesa.so"
"${_common_lib_path}/libgfxMesaDriI965.so"
"${_common_lib_path}/libgfxLibDRM.so"
"${_common_lib_path}/libxml.so"
)
set(VxWorksPlatformGraphics_REQUIRED_LIBRARIES
${VxWorksPlatformGraphics_LIBRARIES_PACK}
${EGL_LIBRARY}
${GLESv2_LIBRARY}
)
unset(_common_lib_path)
\endcode
\section3 Running Qt 6 Configure for the Target
Below is an example build configuration for the BD-SL-i.MX6. For most VxWorks boards
the configure command looks very similar. By default, Qt 6 is configured to
use shared libraries. To build Qt 6 statically, add \c -static option to configure.
Make sure that {WIND_CC_SYSROOT} environment variable is set to VxWorks VSB root
directory.
\badcode
./configure \
-cmake-generator "Ninja" \
-icu \
-eglfs \
-qpa eglfs \
-submodules "qtbase,qtdeclarative,qtmultimedia,qtquick3d,qtgraphs,qtimageformats,qtsvg,qtshadertools,qtvirtualkeyboard" \
-- \
-B <target/build/directory> \
-DQT_VXWORKS_TOOLCHAIN_FILE=<path/to/VSB/mk/toolchain.cmake> \
-DFEATURE_vulkan=OFF \
-DQT_QMAKE_TARGET_MKSPEC=vxworks-clang \
-DQT_HOST_PATH=<path/to/Qt6/host/installation/dir> \
-DCMAKE_STAGING_PREFIX:PATH=<path/to/Qt6/target/installation/dir> \
-DCMAKE_TOOLCHAIN_FILE=<path/to/cmake/for/graphics/file/created/above> \
\endcode
It is recommended to build Qt 6 using a \e{shadow build}. See \l {Qt Configure Options}
for more information.
\warning If VxWorks is configured with \c {RTP_MEM_FILL} as false, then Qt configure needs an extra
\c {-DCMAKE_CXX_FLAGS="-DQT_RTP_MEM_FILL=1"} argument.
After configuration, build and install Qt 6 for VxWorks with these commands:
\badcode
cd <host build directory>
cmake --build . --parallel
cmake --install .
\endcode
\section1 Platform Plugins for VxWorks Devices
Qt for VxWorks supports EGLFS platform plugin for a \e {native window} substitution.
Read more about its configuration in \l{embedded eglfs}{EGLFS}.
\section1 Building Qt Applications
To build a Qt application, you must set the QT_VXWORKS_TOOLCHAIN_FILE as an environment variable
or as a define.
An example to build the clocks Qt demo:
\badcode
export WIND_CC_SYSROOT=<path/to/VxWorks/VSB/directory>
export QT_VXWORKS_TOOLCHAIN_FILE=<path/to/the/BSP/toolchain.cmake>
<path/to/Qt6/target/installation/dir>/bin/qt-cmake -G Ninja -S ~/Qt/Examples/Qt-6.10.0/demos/clocks -B <path/to/build/directory>
cd <path/to/build/directory>
cmake --build . --parallel
\endcode
\section1 Setting environment variables
\table
\header
\li Variable
\li Description
\row
\li QT_QPA_FONTDIR
\li Path to the fonts.
\row
\li QT_QPA_EGLFS_FB
\li Path to the framebuffer device.
\row
\li LD_LIBRARY_PATH
\li Path to the dynamic libraries.
\row
\li ICU_DATA
\li Path to the ICU data.
\row
\li QT_QPA_EGLFS_INTEGRATION
\li Eglfs integration, \c {eglfs_viv} or \c {eglfs_kms}.
\row
\li QT_QPA_EGLFS_KMS_CONFIG
\li Path to \c {kms.conf}.
\endtable
\note QML disk cache doesn't work; disable it with the following variable to prevent the startup from becoming slower:
\c {QML_DISABLE_DISK_CACHE}.
Set environment variables in a startup script as follows, for example:
\badcode
putgenv("QT_QPA_FONTDIR=/bd0a/fonts")
putgenv("QT_QPA_EGLFS_FB=/dev/fb0")
putgenv("LD_LIBRARY_PATH=/bd0a/lib/gfx;/bd0a/lib/llvm;/bd0a/lib/icu")
putgenv("ICU_DATA=/bd0a/icu/icudt73l.dat")
putgenv("QT_QPA_EGLFS_INTEGRATION=eglfs_kms")
putgenv("QT_QPA_EGLFS_FB=/dev/fb0")
putgenv("QT_QPA_EGLFS_KMS_CONFIG=/bd0a/kms.conf")
putgenv("QML_DISABLE_DISK_CACHE=1")
\endcode
The \c {kms.conf} file for the Intel KabyLake device can look like this, for example:
\badcode
{
"device": "/dev/dri/card0",
"hwcursor": false,
"pbuffers": true,
"outputs": [
{
"name": "DP",
"mode": "1920x1080"
}
]
}
\endcode
\section1 Running Qt Applications
The following example shows how to start an application using VxWorks \c {rtpSp} command:
\badcode
rtpSp("<Qt 6 VxWorks application>", 200, 0x100000, 0, 0x01000000)
\endcode
\section1 Debugging Qt Applications
To debug Qt Applications, you must add the following to your VxWorks VSB:
\badcode
vxprj vsb config -s -add "_WRS_CONFIG_TCF_GDB_RSP=y"
\endcode
To your VxWorks VIP configuration add:
\badcode
"INCLUDE_DEBUG_AGENT"
"INCLUDE_DEBUG_AGENT_START"
"INCLUDE_STANDALONE_SYM_TBL"
\endcode
\section2 From the Command Line
\list 1
\li Start the application to debug on the device through SSH or the USB serial connection:
\badcode
rtpSp("<Qt 6 VxWorks application>", 200, 0x100000, 0, 0x01000000)
\endcode
\li Start the VxWorks debugger on the PC:
\badcode
vxgdb <binary to debug>
\endcode
\li List the running processes in the debugger:
\badcode
monitor ps
\endcode
\li Attach the debugger to the already running application:
\badcode
"attach <id from monitor>"
\endcode
\li Use GDB commands for debugging.
\endlist
\section2 From \QC
To debug from \QC, see \l{\QC: Debug C++ applications on VxWorks devices}.
\section2 From Workbench
\list 1
\li Create a CMake Real Time Process project.
\image vxwb-cmake-rtp-project.png "Select cmake RTP project"
\li Set the VSB which has debugging configured.
\li Remove set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -static") from CMakeLists.txt.
\li Add Qt CMake related code to the CMakeLists.txt following
\l{cmake-widgets-application-walkthrough}{Getting started with CMake}.
\li Before \c {project()} add \c {unset(CMAKE_TOOLCHAIN_FILE CACHE)} and add \c {CMAKE_TOOLCHAIN_FILE} pointing to the Qt6 toolchain file and \c {QT_CHAINLOAD_TOOLCHAIN_FILE} to the VSB toolchain file.
For example:
\badcode
unset(CMAKE_TOOLCHAIN_FILE CACHE)
set(CMAKE_TOOLCHAIN_FILE "/home/qtuser/VxWorks/qt/target_gdb/lib/cmake/Qt6/qt.toolchain.cmake")
set(QT_CHAINLOAD_TOOLCHAIN_FILE "/home/qtuser/VxWorks/fsl_imx6_2_0_6_2_VSB_gdb/mk/toolchain.cmake")
\endcode
\li Build the application Project.
\li Create a New Connection.
\image vxwb-connection.png "Connection to the device"
\li Start RTP process to debug.
\image vxwb-rundebug.png "Select Run/Debug Real Time Process"
\li Click on Advanced options.
\image vxwb-rundebug-settings.png "Run settings"
\li Set the stack size to 0x100000.
\image vxwb-advanced-settings.png "Advanced settings"
\endlist
\section1 Qt for VxWorks input plugins
VxWorks uses its own implementation of \c libevdev, which has an API that is very similar to
that of Linux, but differs in capabilities. Because of this Qt implements separate input plugins
for VxWorks to handle mouse, keyboard and touchscreen, which are based on
{inputs-linux-device.html}{Linux evdev}, with differences that are explained below.
\section2 VxMouse
\c VxMouse uses the same configuration scheme as EvdevMouse, except for different environment
variable: \c QT_QPA_VXEVDEV_MOUSE_PARAMETERS. Additionally, \c VxMouse ignores \c nocompress,
\c dejitter and \c grab parameters.
\section2 VxKeyboard
\c VxKeyboard uses the same configuration scheme as EvdevKeyboard, except for different
environment variable: \c QT_QPA_VXEVDEV_KEYBOARD_PARAMETERS.
\section2 VxTouch
\c VxTouch uses the same configuration scheme as EvdevTouch, except for different environment
variables:
\list
\li \c QT_QPA_EVDEV_TOUCHSCREEN_PARAMETERS
\li \c QT_QPA_VXEVDEV_DEBUG
\endlist
Additionally, VxTouch adds two new parameters:
\table 80%
\header
\li Parameter
\li Description
\row
\li \c rangex=MIN_X,MAX_X
\li Overrides touch point min and max for X axis
\row
\li \c rangey=MIN_Y,MAX_Y
\li Overrides touch point min and max for Y axis
\endtable
\section1 Limitations
\section2 Video Memory
Systems with a fixed amount of dedicated video memory may need extra care
before running Qt application based on Qt Quick or classes like
\l{QOpenGLWidget}. The default setting might be insufficient for such applications,
especially when they are displayed on a high resolution (for example, full HD)
screen. In this case they might start failing in unexpected ways. It is
therefore recommended to ensure that there is at least 128 MB of GPU memory
available. For systems that do not have a fixed amount of memory reserved for
the GPU this is not an issue.
*/