Code generation error for Raspberry Pi 3 when using referenced model

I'm getting errors on te build process for Raspberry Pi 3 for a model that implements drivers for the Navio2 https://emlid.com/navio/ board. I implemented the model using drivers written in C++, and interface with MATLAB/Simulink using the matlab system object https://www.mathworks.com/help/supportpkg/raspberrypi/device-driver-blocks.html.

The problem is: when I run the original model, I get no errors. But, when I use the model as referenced by another one, I get the following errors:

FIrst, I tried to generate C code (even with the drivers being written in C++), and got this:

---

Error executing command "touch -c /home/pi/slprj/ert/Navio2Sensors/*.*;make  -f Navio2Sensors.mk all -C /home/pi/slprj/ert/Navio2Sensors". Details:

STDERR: In file included from Navio2Sensors.h:23:0,
                 from Navio2Sensors.c:16:
Ublox.h:40:19: fatal error: cstdlib: No such file or directory
 #include <cstdlib>
                   ^
compilation terminated.
make: *** [Navio2Sensors.c.o] Error 1
---

Then, I tried to generate C++ code and got this:

---

Error executing command "touch -c /home/pi/Teste_ert_rtw/*.*;make  -f Teste.mk all -C /home/pi/Teste_ert_rtw". Details:

STDERR: cc1: warning: command line option ‘-fpermissive’ is valid for C++/ObjC++ but not for C
cc1: warning: command line option ‘-fpermissive’ is valid for C++/ObjC++ but not for C
cc1: warning: command line option ‘-fpermissive’ is valid for C++/ObjC++ but not for C
cc1: warning: command line option ‘-fpermissive’ is valid for C++/ObjC++ but not for C
cc1: warning: command line option ‘-fpermissive’ is valid for C++/ObjC++ but not for C
cc1: warning: command line option ‘-fpermissive’ is valid for C++/ObjC++ but not for C
In file included from linuxinitialize.cpp:8:0:
linuxinitialize.h:4:0: warning: "_GNU_SOURCE" redefined
 #define _GNU_SOURCE
 ^
<command-line>:0:0: note: this is the location of the previous definition
linuxinitialize.cpp: In function ‘void myRTOSInit(double, int)â€&trade;:
linuxinitialize.cpp:258:99: warning: invalid conversion from ‘void*â€&trade; to ‘void* (*)(void*)â€&trade; [-fpermissive]
         status = pthread_create(&subRateThread[i], &attr, (void *) subrateTask, (void *)&taskId[i]);
                                                                                                   ^
In file included from linuxinitialize.h:11:0,
                 from linuxinitialize.cpp:8:
/usr/include/pthread.h:244:12: note: initializing argument 3 of ‘int pthread_create(pthread_t*, const pthread_attr_t*, void* (*)(void*), void*)â€&trade;
 extern int pthread_create (pthread_t *__restrict __newthread,
            ^
In file included from ert_main.cpp:22:0:
linuxinitialize.h:4:0: warning: "_GNU_SOURCE" redefined
 #define _GNU_SOURCE
 ^
<command-line>:0:0: note: this is the location of the previous definition
In file included from ert_main.cpp:22:0:
ert_main.cpp: In function ‘void* terminateTask(void*)â€&trade;:
ert_main.cpp:143:75: warning: invalid conversion from ‘void*â€&trade; to ‘void**â€&trade; [-fpermissive]
       CHECK_STATUS(pthread_join(subRateThread[i],(void *)&threadJoinStatus), 0,
                                                                           ^
linuxinitialize.h:18:50: note: in definition of macro ‘CHECK_STATUSâ€&trade;
 #define CHECK_STATUS(status, expStatus, fcn) if (status != expStatus) {fprintf(stderr, "Call to %s returned error status (%d).\n", fcn, status); perror(fcn); fflush(stderr); exit(EXIT_FAILURE);}
                                                  ^
In file included from /usr/include/arm-linux-gnueabihf/c++/4.9/bits/gthr-default.h:35:0,
                 from /usr/include/arm-linux-gnueabihf/c++/4.9/bits/gthr.h:148,
                 from /usr/include/c++/4.9/ext/atomicity.h:35,
                 from /usr/include/c++/4.9/bits/ios_base.h:39,
                 from /usr/include/c++/4.9/ios:42,
                 from /usr/include/c++/4.9/ostream:38,
                 from /usr/include/c++/4.9/iostream:39,
                 from Ublox.h:43,
                 from Navio2Sensors.h:22,
                 from Teste.h:35,
                 from ert_main.cpp:17:
/usr/include/pthread.h:261:12: note: initializing argument 2 of ‘int pthread_join(pthread_t, void**)â€&trade;
 extern int pthread_join (pthread_t __th, void **__thread_return);
            ^
In file included from ert_main.cpp:22:0:
ert_main.cpp:143:75: warning: invalid conversion from ‘void*â€&trade; to ‘void**â€&trade; [-fpermissive]
       CHECK_STATUS(pthread_join(subRateThread[i],(void *)&threadJoinStatus), 0,
                                                                           ^
linuxinitialize.h:18:137: note: in definition of macro ‘CHECK_STATUSâ€&trade;
 #define CHECK_STATUS(status, expStatus, fcn) if (status != expStatus) {fprintf(stderr, "Call to %s returned error status (%d).\n", fcn, status); perror(fcn); fflush(stderr); exit(EXIT_FAILURE);}
                                                                                                                                         ^
In file included from /usr/include/arm-linux-gnueabihf/c++/4.9/bits/gthr-default.h:35:0,
                 from /usr/include/arm-linux-gnueabihf/c++/4.9/bits/gthr.h:148,
                 from /usr/include/c++/4.9/ext/atomicity.h:35,
                 from /usr/include/c++/4.9/bits/ios_base.h:39,
                 from /usr/include/c++/4.9/ios:42,
                 from /usr/include/c++/4.9/ostream:38,
                 from /usr/include/c++/4.9/iostream:39,
                 from Ublox.h:43,
                 from Navio2Sensors.h:22,
                 from Teste.h:35,
                 from ert_main.cpp:17:
/usr/include/pthread.h:261:12: note: initializing argument 2 of ‘int pthread_join(pthread_t, void**)â€&trade;
 extern int pthread_join (pthread_t __th, void **__thread_return);
            ^

../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.cpp.o): In function `rt_InitInfAndNaN':
rt_nonfinite.cpp:(.text+0x0): multiple definition of `rt_InitInfAndNaN'
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.c.o):rt_nonfinite.c:(.text+0x0): first defined here
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.cpp.o): In function `rtIsInf':
rt_nonfinite.cpp:(.text+0x40): multiple definition of `rtIsInf'
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.c.o):rt_nonfinite.c:(.text+0x90): first defined here
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.cpp.o): In function `rtIsInfF':
rt_nonfinite.cpp:(.text+0x78): multiple definition of `rtIsInfF'
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.c.o):rt_nonfinite.c:(.text+0xf4): first defined here
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.cpp.o): In function `rtIsNaN':
rt_nonfinite.cpp:(.text+0xb0): multiple definition of `rtIsNaN'
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.c.o):rt_nonfinite.c:(.text+0x158): first defined here
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.cpp.o): In function `rtIsNaNF':
rt_nonfinite.cpp:(.text+0xc4): multiple definition of `rtIsNaNF'
../slprj/ert/_sharedutils/rtwshared.lib(rt_nonfinite.c.o):rt_nonfinite.c:(.text+0x198): first defined here
collect2: error: ld returned 1 exit status
make: *** [../Teste.elf] Error 1

Answer 1

[Ricardo Borges]

I've found a solution to the problem. I've cleaned all MATLAB-generated files in Raspberry Pi, and then all worked fine.

[Jhon Ardilla]

Como hiciste eso Ricardo?

Algun Comando?

[Ricardo Borges]

I just deleted the files that are generated by MATLAB in the root directory (typically ir is at /home/pi).

You can delete the files using command line via SSH or using a FTP client like Filezilla.

[Nurul Farhana Mohd Fadzli]

@Ricardo Borges I get error quite same like you. Do you think I need to delete the files generated by Matlab in the Jetson(ubuntu) too? Before this it works fine but this time it produce error.

[Sylvain]

@Nurul Farhana Mohd Fadzli, I solved a similar error like this yesterday

[Ricardo Borges]

@Nurul Farhana Mohd Fadzli In my experience, Matlab/Simulink sometimes get lost with the cache files and fails to update cache files for models that have been modified. So, in general, I always delete the contents of the cache folder and generated code folder in case I'm getting code generation/compilation errors.