Building Error On MacOS

[MFaisalZaki]

Hello,

I am trying to build pandaPIgrounder on my macOS machine and it fails when building boruvka, I have followed the building steps as mentioned yet I got this error:

/Applications/Xcode.app/Contents/Developer/usr/bin/make CC="cc" DEBUG=no -C third-party/boruvka all
cc -O3 -Wall -pedantic -std=gnu99 -ffast-math -I. -c -o .objs/fifo-sem.o src/fifo-sem.c
src/fifo-sem.c:30:9: warning: 'sem_init' is deprecated [-Wdeprecated-declarations]
    if (sem_init(&fifo->full, 0, 0) != 0){
        ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/semaphore.h:55:42: note: 'sem_init' has been explicitly marked deprecated here
int sem_init(sem_t *, int, unsigned int) __deprecated;
                                         ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/cdefs.h:196:40: note: expanded from macro '__deprecated'
#define __deprecated    __attribute__((__deprecated__))
                                       ^
src/fifo-sem.c:35:9: warning: 'sem_init' is deprecated [-Wdeprecated-declarations]
    if (sem_init(&fifo->empty, 0, SEM_VALUE_MAX) != 0){
        ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/semaphore.h:55:42: note: 'sem_init' has been explicitly marked deprecated here
int sem_init(sem_t *, int, unsigned int) __deprecated;
                                         ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/cdefs.h:196:40: note: expanded from macro '__deprecated'
#define __deprecated    __attribute__((__deprecated__))
                                       ^
src/fifo-sem.c:86:5: warning: 'sem_destroy' is deprecated [-Wdeprecated-declarations]
    sem_destroy(&fifo->full);
    ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/semaphore.h:53:26: note: 'sem_destroy' has been explicitly marked deprecated here
int sem_destroy(sem_t *) __deprecated;
                         ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/cdefs.h:196:40: note: expanded from macro '__deprecated'
#define __deprecated    __attribute__((__deprecated__))
                                       ^
src/fifo-sem.c:87:5: warning: 'sem_destroy' is deprecated [-Wdeprecated-declarations]
    sem_destroy(&fifo->empty);
    ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/semaphore.h:53:26: note: 'sem_destroy' has been explicitly marked deprecated here
int sem_destroy(sem_t *) __deprecated;
                         ^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/cdefs.h:196:40: note: expanded from macro '__deprecated'
#define __deprecated    __attribute__((__deprecated__))
                                       ^
src/fifo-sem.c:164:9: error: implicit declaration of function 'sem_timedwait' is invalid in C99 [-Werror,-Wimplicit-function-declaration]
    if (sem_timedwait(&fifo->full, &tm) != 0)
        ^
src/fifo-sem.c:164:9: note: did you mean 'sem_trywait'?
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/sys/semaphore.h:58:5: note: 'sem_trywait' declared here
int sem_trywait(sem_t *);
    ^
4 warnings and 1 error generated.
make[1]: *** [.objs/fifo-sem.o] Error 1
make: *** [boruvka] Error 2

Please help me if possible.

[galvusdamor]

Boruvka is an external library we use. It was written by Daniel Fiser. The main repo of the boruvka project can be found here.
https://gitlab.com/danfis/boruvka

Note that the actual error is this one
src/fifo-sem.c:164:9: error: implicit declaration of function 'sem_timedwait' is invalid in C99 [-Werror,-Wimplicit-function-declaration] if (sem_timedwait(&fifo->full, &tm) != 0)
I would recommend to open an issue for this compilation problem in boruvka's main repo - if the error can be reproduced in a checkout of the main project.

[Badru45]

Is this issue solved ? even I am facing same issue on my Mac.

[galvusdamor]

I am not aware that it has been. @MFaisalZaki has not opened an issue on the repo of Boruvka - which would need to be fixed for this issue to be resolved.

My assumption is that the default C++ version the compiler is using under Mac is older (C99) than the one used by Linux and Windows compilers which causes this problem. One way to solve this is to locally add a flag to the compiler that forces the use of a newer C++ version.

One proposal is this one:
#1

@Badru45 Does this fix your problem?

[rpgoldman]

I am able to get past this build error on MacOS with Homebrew as follows:

CC=/opt/homebrew/opt/gcc/bin/gcc-13 make boruvka opts bliss lpsolve

...but I still am not able to build successfully. I will open an issue for my new error, which may be due to boruvka requiring boost...

[galvusdamor]

I have added auto-dection of MacOS X to the makefile for cpddl and the grounder itself. As for the pandaPIengine, I have added the path to gcc-13 and g++-12 in the homebrew directory as the default and used @rpgoldman's patch to allow for a manual override in the pandaPIgrounder itself.
For cpddl, I had to add another patch to fix its makefile as it is a submodule.

Does this make compilation easier under MaxOSX?

[rpgoldman]

I have added auto-dection of MacOS X to the makefile for cpddl and the grounder itself. As for the pandaPIengine, I have added the path to gcc-13 and g++-12 in the homebrew directory as the default and used @rpgoldman's patch to allow for a manual override in the pandaPIgrounder itself. For cpddl, I had to add another patch to fix its makefile as it is a submodule.

Does this make compilation easier under MaxOSX?

@galvusdamor Did you mean for me to try the PR branch or master?

[rpgoldman]

master gives me the following error:

CC=/opt/homebrew/bin/gcc-13 make boruvka opts bliss lpsolve
...
/opt/homebrew/bin/gcc-13 -O3 -Wall -pedantic -std=gnu99 -ffast-math -I. -o bin/bor-qdelaunay bin/qdelaunay-main.c -pthread  -L. -lboruvka -lm -lrt
ld: library not found for -lrt
collect2: error: ld returned 1 exit status
make[1]: *** [bin/bor-qdelaunay] Error 1
make: *** [boruvka] Error 2

Same error when trying to use Apple's clang C compiler.

Some items on Stack Overflow seem to suggest that -lrt is not needed, but 🤷

[galvusdamor]

@galvusdamor Did you mean for me to try the PR branch or master?

I've pushed this to the master.

[galvusdamor]

master gives me the following error:

CC=/opt/homebrew/bin/gcc-13 make boruvka opts bliss lpsolve
...
/opt/homebrew/bin/gcc-13 -O3 -Wall -pedantic -std=gnu99 -ffast-math -I. -o bin/bor-qdelaunay bin/qdelaunay-main.c -pthread  -L. -lboruvka -lm -lrt
ld: library not found for -lrt
collect2: error: ld returned 1 exit status
make[1]: *** [bin/bor-qdelaunay] Error 1
make: *** [boruvka] Error 2

Same error when trying to use Apple's clang C compiler.

Some items on Stack Overflow seem to suggest that -lrt is not needed, but shrug

Apparently -lrt is actually not necessary - at least cpddl compiles for me locally. I've updated the patch files in the repo to remove the -lrt wherever it occurs.

@rpgoldman can you try to compile again?

[rpgoldman]

Tried and now there is a new error:

ar cr libboruvka.a .objs/alloc.o .objs/varr.o .objs/quat.o .objs/vec4.o .objs/vec3.o .objs/vec2.o .objs/vec.o .objs/mat4.o .objs/mat3.o .objs/poly2.o .objs/predicates.o .objs/sort.o .objs/heapsort.o .objs/mergesort.o .objs/qsort.o .objs/listsort.o .objs/timsort.o .objs/pc.o .objs/pc-internal.o .objs/gug.o .objs/nearest-linear.o .objs/vptree.o .objs/vptree-hamming.o .objs/nn-linear.o .objs/mesh3.o .objs/net.o .objs/qhull.o .objs/chull3.o .objs/fibo.o .objs/pairheap.o .objs/dij.o .objs/pairheap_nonintrusive_int.o .objs/bucketheap.o .objs/tasks.o .objs/task-pool.o .objs/hfunc.o .objs/htable.o .objs/google-city-hash.o .objs/barrier.o .objs/rand-mt.o .objs/rand-mt-parallel.o .objs/timer.o .objs/parse.o .objs/image.o .objs/segmarr.o .objs/extarr.o .objs/rbtree.o .objs/rbtree_int.o .objs/splaytree.o .objs/splaytree_int.o .objs/multimap_int.o .objs/fifo.o .objs/fifo-sem.o .objs/lifo.o .objs/ring_queue.o .objs/scc.o .objs/msg-schema.o .objs/iset.o .objs/lset.o .objs/cset.o .objs/hashset.o .objs/ibucketq.o .objs/lbucketq.o .objs/pbucketq.o .objs/iadaq.o .objs/ladaq.o .objs/padaq.o .objs/apq.o .objs/lp.o .objs/lp-cplex.o .objs/lp-lpsolve.o .objs/lp-gurobi.o .objs/digraph.o .objs/err.o
ranlib libboruvka.a
/opt/homebrew/bin/gcc-13 -O3 -Wall -pedantic -std=gnu99 -ffast-math -I. -o bin/bor-qdelaunay bin/qdelaunay-main.c -pthread  -L. -lboruvka -lm
ld: library not found for -lSystem
collect2: error: ld returned 1 exit status
make[1]: *** [bin/bor-qdelaunay] Error 1
make: *** [boruvka] Error 2

I get these both with the brew gcc and with Apple's.

But if I set CC=clang then make boruvka opts bliss lpsolve compiles successfully, and so does make in the pandaPIgrounder directory.

Somehow clang seems to know how to find all the required libraries. Perhaps one of the other compilers could be made to work by setting the library path, but I can't really figure this out. It seems like the right library file is "/usr/lib/libSystem.B.dylib" but I don't even know what causes -lSystem

[galvusdamor]

Yes, it looks like he is trying to find a library of the name /usr/lib/libSystem.B.dylib -- this might be due to the -lboruvka which refers to the library that we just assembled in the previous step. Maybe setting the library path with -L. does not work correctly.

If CC=clang works, we might just declare it to be the default option for the whole panda system under MacOS?

[rpgoldman]

It does seem that using clang is the best way to make this work natively on the Mac.

I don't understand what is going on with the failures -- why gcc wants a System library, and why the System library on MacOS is actually called System.B.

But maybe we don't need to understand!