# QNX 开发指南



## 操作流程

### 登录开发服务器

```bash
ssh 10.1.130.114
```

用户名：uisrc，密码：root

### 登录 LiDAR 开发板

```bash
telnet 10.1.130.151
```

用户名：qnxuser，密码：qnxuser

### 配置 QNX 开发环境

```bash
source ~/qnx700/qnxsdp-env.sh
```

输出

```bash
QNX_HOST=/home/uisrc/qnx700/host/linux/x86_64
QNX_TARGET=/home/uisrc/qnx700/target/qnx7
MAKEFLAGS=-I/home/uisrc/qnx700/target/qnx7/usr/include
```

### 编译固件

切换到工作目录

```bash
cd ~/workspace_qnx_7.0/pcc/
```

编译

```bash
aarch64-unknown-nto-qnx7.0.0-gcc main.c -o main
```

如果用到某些库函数，需要指定库编译，例如 `-lm -lc -lsocket`

```bash
aarch64-unknown-nto-qnx7.0.0-gcc main.c -lm -lc -lsocket -o main
```

### 固件上传

可以使用 FTP 工具将固件上传到 QNX（LiDAR），假设 LiDAR 的 IP 是 192.168.0.2，那么客户端（PC）的操作如下。

连接 FTP 服务器（注：FTP 的用户名和密码都是 `qnxuser`）

```bash
$ ftp 192.168.0.2
Connected to 192.168.0.2.
220 192.168.3.101 FTP server (QNXNTO-ftpd 20081216) ready.
Name (192.168.3.101:rudy): qnxuser
331 User qnxuser accepted, provide password for qnxuser@target_76905000A150.
Password:
230-No directory! Logging in with home=/
230 User qnxuser logged in.
Remote system type is UNIX.
Using binary mode to transfer files.
```

使用 `put` 命令将 bin 文件上传到 LiDAR

```bash
ftp> put
(local-file) bin/pcc_qnx
(remote-file) /tmp/pcc
local: bin/pcc_qnx remote: /tmp/pcc
200 PORT command successful.
150 Opening BINARY mode data connection for '/tmp/pcc'.
226 Transfer complete.
59032 bytes sent in 0.00 secs (531.1066 MB/s)
```

这里上传的目录是 /tmp，因为当前的 QNX 只有 tmp 目录可写，其他目录都是只读的。

### 运行程序

在 QNX（LiDAR）中执行下面命令，赋予程序执行权限

```bash
cd /tmp
chmod +x pcc
```

运行

```bash
# ./pcc -i 192.168.0.1 -p 51180 
Host IP: 0.0.0.0, Port: 51179
Target IP: 192.168.0.1, Port: 51180
```







## 附录

### qnxsdp-env.sh

`~/qnx700/qnxsdp-env.sh` 脚本内容：

```bash
#!/bin/bash
# This script is sets environment variables requires to use this version of QNX Software Development Platform 7.0
# from the command line. To use the script, you have to "source" it into your shell,
# source qnxsdp-env.sh
# if source command is not available use "." (dot) command instead
#
test "$BASH_SOURCE" = "" && echo "This script only can be run from bash" && return
SCRIPT_SOURCE=$BASH_SOURCE
test "$SCRIPT_SOURCE" = "$0" && echo "Script is being run, should be sourced" && exit 1

HOST_OS=$(uname -s)
SCRIPT_DIR=$(dirname "${SCRIPT_SOURCE}")
QNX_BASE=$(cd "${SCRIPT_DIR}"; pwd)
case "$HOST_OS" in
	Linux)
    QNX_HOST=$QNX_BASE/host/linux/x86_64
		;;
	Darwin)
    QNX_HOST=$QNX_BASE/host/darwin/x86_64
		;;
	*)
    QNX_HOST=$QNX_BASE/host/win64/x86_64
		;;
esac

QNX_TARGET=$QNX_BASE/target/qnx7
QNX_CONFIGURATION=$HOME/.qnx
MAKEFLAGS=-I$QNX_BASE/target/qnx7/usr/include
PATH=$QNX_HOST/usr/bin:$QNX_CONFIGURATION/bin:$QNX_BASE/jre/bin:$PATH

export QNX_TARGET QNX_HOST QNX_CONFIGURATION MAKEFLAGS PATH
unset PYTHONPATH

echo QNX_HOST=$QNX_HOST
echo QNX_TARGET=$QNX_TARGET
echo MAKEFLAGS=$MAKEFLAGS
```