ROS2 for Win32: rcl fails to compile: unresolved external symbol __InterlockedExchange64
Hi,
I'm still trying to compile ROS2 for Windows x86. I changed colcon so it will call cmake for "Visual Studio 15 2017" without "Win64" (see: https://answers.ros.org/question/3242...)
I am using Windows 10 (tried 32bit and 64bit) and Visual Studio 2017 Community 15.0. I try to build using the "x86 Native Tools Command Prompt for VS 2017" (same error with x64). I get stuck while compiling rcl:
Error LNK2019 unresolved external symbol __InterlockedExchangeAdd64 referenced in function _rcl_timer_init rcl C:\dev\ros2\build\rcl\timer.obj 1
Error LNK2001 unresolved external symbol __InterlockedExchangeAdd64 rcl C:\dev\ros2\build\rcl\client.obj 1
Error LNK2001 unresolved external symbol __InterlockedExchangeAdd64 rcl C:\dev\ros2\build\rcl\context.obj 1
Error LNK2001 unresolved external symbol __InterlockedExchangeAdd64 rcl C:\dev\ros2\build\rcl\init.obj 1
Error LNK2001 unresolved external symbol __InterlockedExchangeAdd64 rcl C:\dev\ros2\build\rcl\time.obj 1
Error LNK2019 unresolved external symbol __InterlockedExchange64 referenced in function _rcl_send_request rcl C:\dev\ros2\build\rcl\client.obj 1
Error LNK2001 unresolved external symbol __InterlockedExchange64 rcl C:\dev\ros2\build\rcl\timer.obj 1
The linked libs are:
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_typesupport_c.lib
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_typesupport_cpp.lib
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_typesupport_fastrtps_c.lib
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_generator_c.lib
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_typesupport_fastrtps_cpp.lib
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_typesupport_introspection_c.lib
C:\dev\ros2\install\Lib\builtin_interfaces__rosidl_typesupport_introspection_cpp.lib
C:\dev\ros2\install\Lib\rosidl_typesupport_c.lib
C:\dev\ros2\install\Lib\rosidl_typesupport_cpp.lib
C:\dev\ros2\install\Lib\rosidl_typesupport_introspection_c.lib
C:\dev\ros2\install\Lib\rosidl_typesupport_introspection_cpp.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_typesupport_c.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_typesupport_cpp.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_typesupport_fastrtps_c.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_generator_c.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_typesupport_fastrtps_cpp.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_typesupport_introspection_c.lib
C:\dev\ros2\install\Lib\rcl_interfaces__rosidl_typesupport_introspection_cpp.lib
C:\dev\ros2\install\Lib\rmw_implementation.lib
C:\dev\ros2\install\Lib\rmw.lib
C:\dev\ros2\install\Lib\rcutils.lib
C:\dev\ros2\install\Lib\rosidl_generator_c.lib
C:\dev\ros2\install\Lib\rcl_logging_noop.lib
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
Any ideas how to fix this?
Thank you in advance marossa
Edit:
Other things, that are different to the "normal" 64bit build: OpenSSL 32bit (1.0.2s), Python 3.7 32bit, self compiled for x86: tinyxml2, tinyxml (built with /MD instead of /MT).
I updated my source files (they were about a week old) and as @sloretz pointed out, there is a test_atomics file in in rcutils now. As expected, it fails with the same error. I will append the full stdout_stderr.log to give you the maximum information possible:
-- The C compiler identification is MSVC 19.10.25027.0
-- The CXX compiler identification is MSVC 19.10.25027.0
-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.10 ...
I'm not certain, but it could be that __InterlockedExchangeAdd64 is unsupported on x86 platforms.
Single underscore _InterlockedExchangeAdd64 is listed with arch 'x86, ARM, x64` in the documentation for VS 2017 and 2019, and is listed in intrinsics available on all architectures. Here's where it's used in rcutils
The function does not seem to be used directly by
rcl_timer_init, or anything inros2/rcl. Could it be thatInterlockedExchange64is being used on Windows to implement one of the C runtime functions?Edit: used here (among other places) and
InterlockedExchange64comes in via this.I'd guess double underscore version is an implementation of the single underscore version which the rcl timer uses via rcutils_atomic_load_int64_t. @marossa, do the tests for rcutils pass? There is a test that checks atomics. If that works but
rcldoesn't build, maybe there's some windows dependency not being properly exported?@sloretz, my ros2.sources was from May 27th with rcutils in ver. 0.6.2 (without the test_atomics). I updated my sources and now it fails, as you expected, in rcutils with the same error. Should I post the full stdout_stderr.log as an answer? It's too long for the comment. Edit: I guess it can't hurt: https://pastebin.com/CbEWncng
@marossa: just edit your original question text with long updates. I've done that for you, but you may want to add some context.
I'm still looking for a solution to the issue. I'm afraid I'm not deep enough into C++ to fix this myself. Any directions you could hint me? Why is VS looking for the double underscore instead of the single underscore?
I'm not speaking for @sloretz, but personally, this sounds more like a Windows specific linking problem than a ROS problem. You're trying to solve a linking problem while building ROS 2, true of course, but it might be beneficial to you to widen where you look for support.