Can all targets be built for Pi64?

[ubgk]

I can do make build just fine, so I know my toolchain works for some elements, but the recipe only includes some agents and spines.

Nevertheless, I cannot build certain targets for RaspberryPi, with some linker errors about the standard library.

In my case, I want to benchmark some tests on the RaspberryPi directly, but I also get the same issue with the bullet_spine. Here are the build logs (truncated):

debian_user@debianAMD:~/upkie$ ./tools/bazel build --config=pi64 --sandbox_debug //spines:bullet_spine
INFO: Analyzed target //spines:bullet_spine (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
ERROR: /home/debian_user/upkie/spines/BUILD:9:10: Linking spines/bullet_spine failed: (Exit 1): linux-sandbox failed: error executing command 
  (cd /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/execroot/upkie && \
  exec env - \
    PATH=/home/debian_user/.cache/bazelisk/downloads/bazelbuild/bazel-6.2.0-linux-x86_64/bin:/home/debian_user/upkie/tools:/home/debian_user/miniforge3/bin:/home/debian_user/miniforge3/condabin:/opt/orbstack-guest/bin-hiprio:/opt/orbstack-guest/data/bin/cmdlinks:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games:/opt/orbstack-guest/bin \
    PWD=/proc/self/cwd \
    TMPDIR=/tmp \
  /home/debian_user/.cache/bazel/_bazel_debian_user/install/edecd2b1233e0abfae42ec33ee10b762/linux-sandbox -t 15 -w /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/execroot/upkie -w /tmp -w /dev/shm -S /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/stats.out -D -- external/rpi_bazel/tools/cc_toolchain/wrapper/clang-clang @bazel-out/aarch64-opt/bin/spines/bullet_spine-2.params)
1721398837.590227135: src/main/tools/linux-sandbox.cc:152: calling pipe(2)...
1721398837.590963510: src/main/tools/linux-sandbox.cc:171: calling clone(2)...
1721398837.591448969: src/main/tools/linux-sandbox.cc:180: linux-sandbox-pid1 has PID 75568
1721398837.591656094: src/main/tools/linux-sandbox-pid1.cc:681: Pid1Main started
1721398837.591877344: src/main/tools/linux-sandbox.cc:197: done manipulating pipes
1721398837.592773761: src/main/tools/linux-sandbox-pid1.cc:285: working dir: /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/execroot/upkie
1721398837.593116761: src/main/tools/linux-sandbox-pid1.cc:320: writable: /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/execroot/upkie
1721398837.593172469: src/main/tools/linux-sandbox-pid1.cc:320: writable: /tmp
1721398837.593183802: src/main/tools/linux-sandbox-pid1.cc:320: writable: /dev/shm
1721398837.593906136: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /
1721398837.593935219: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev
1721398837.593963053: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/fuse
1721398837.593980386: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/net/tun
1721398837.593997178: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/ppp
1721398837.594004886: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vhost-net
1721398837.594012636: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/kmsg
1721398837.594024803: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/loop-control
1721398837.594033886: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/autofs
1721398837.594041469: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/userfaultfd
1721398837.594068011: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/btrfs-control
1721398837.594077136: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/binder
1721398837.594083969: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vndbinder
1721398837.594110219: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/hwbinder
1721398837.594118553: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vhost-vsock
1721398837.594126136: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vdb1
1721398837.594134303: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vdb1
1721398837.594141428: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vda
1721398837.594148928: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/vdb
1721398837.594161136: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/mqueue
1721398837.594171928: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/.lxc/proc
1721398837.594182469: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/.lxc/sys
1721398837.594230094: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/pts
1721398837.594238428: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/ptmx
1721398837.594246178: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /dev/console
1721398837.594266803: src/main/tools/linux-sandbox-pid1.cc:400: remount rw: /dev/shm
1721398837.594286011: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /proc
1721398837.594293969: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /proc/sys/kernel/random/boot_id
1721398837.594312219: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /proc/sys/fs/binfmt_misc
1721398837.594325094: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys
1721398837.594332844: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/devices/virtual/net
1721398837.594342094: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/fs/fuse/connections
1721398837.594351594: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/kernel/security
1721398837.594358719: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/fs/bpf
1721398837.594367219: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/kernel/tracing
1721398837.594425178: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/kernel/debug
1721398837.594435011: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /sys/fs/cgroup
1721398837.594442886: src/main/tools/linux-sandbox-pid1.cc:400: remount rw: /tmp
1721398837.594451261: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /opt/orbstack-guest
1721398837.594460261: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /opt/orbstack-guest/data
1721398837.594478886: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /mnt/mac
1721398837.594485261: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Applications
1721398837.594490761: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Library
1721398837.594496261: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Users
1721398837.594502344: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Users/debian_user/OrbStack
1721398837.594601761: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Users/debian_user/OrbStack/debian
1721398837.594615094: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Users/debian_user/OrbStack/debianAMD
1721398837.594624261: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /Volumes
1721398837.594629761: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /private
1721398837.594660303: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /private/tmp/com.apple.launchd.lbcMNJtt99
1721398837.594693636: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /mnt/machines
1721398837.594701969: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /mnt/machines/debian
1721398837.594709261: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /mnt/machines/debianAMD
1721398837.594716178: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run
1721398837.594722553: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run/lock
1721398837.594733136: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run/credentials/systemd-sysctl.service
1721398837.594741969: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run/credentials/systemd-sysusers.service
1721398837.594749594: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run/credentials/systemd-tmpfiles-setup-dev.service
1721398837.594765053: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run/credentials/systemd-tmpfiles-setup.service
1721398837.594779553: src/main/tools/linux-sandbox-pid1.cc:400: remount ro: /run/user/1019736241
1721398837.594797719: src/main/tools/linux-sandbox-pid1.cc:400: remount rw: /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/execroot/upkie
1721398837.594812761: src/main/tools/linux-sandbox-pid1.cc:400: remount rw: /home/debian_user/.cache/bazel/_bazel_debian_user/d06121fdde5b29a6acc3ee7f13441180/sandbox/linux-sandbox/505/execroot/upkie
1721398837.594819386: src/main/tools/linux-sandbox-pid1.cc:400: remount rw: /tmp
1721398837.594825136: src/main/tools/linux-sandbox-pid1.cc:400: remount rw: /dev/shm
1721398837.594898844: src/main/tools/linux-sandbox-pid1.cc:491: calling fork...
1721398837.595284345: src/main/tools/linux-sandbox-pid1.cc:521: child started with PID 2
ld.lld: error: undefined symbol: std::runtime_error::~runtime_error()
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::format_error::~format_error())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::error_handler::on_error(char const*))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::error_handler::on_error(char const*))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::buffer_appender<char> fmt::v7::detail::write<char, fmt::v7::detail::buffer_appender<char>, long double, 0>(fmt::v7::detail::buffer_appender<char>, long double, fmt::v7::basic_format_specs<char>, fmt::v7::detail::locale_ref))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::buffer_appender<char> fmt::v7::detail::write<char, fmt::v7::detail::buffer_appender<char>, long double, 0>(fmt::v7::detail::buffer_appender<char>, long double, fmt::v7::basic_format_specs<char>, fmt::v7::detail::locale_ref))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::buffer_appender<char> fmt::v7::detail::write<char, fmt::v7::detail::buffer_appender<char> >(fmt::v7::detail::buffer_appender<char>, char const*))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::buffer_appender<char> fmt::v7::detail::write<char, fmt::v7::detail::buffer_appender<char> >(fmt::v7::detail::buffer_appender<char>, char const*))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(char const* fmt::v7::detail::parse_align<char, fmt::v7::detail::specs_checker<fmt::v7::detail::specs_handler<fmt::v7::basic_format_parse_context<char, fmt::v7::detail::error_handler>, fmt::v7::basic_format_context<fmt::v7::detail::buffer_appender<char>, char> > >&>(char const*, char const*, fmt::v7::detail::specs_checker<fmt::v7::detail::specs_handler<fmt::v7::basic_format_parse_context<char, fmt::v7::detail::error_handler>, fmt::v7::basic_format_context<fmt::v7::detail::buffer_appender<char>, char> > >&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(char const* fmt::v7::detail::parse_align<char, fmt::v7::detail::specs_checker<fmt::v7::detail::specs_handler<fmt::v7::basic_format_parse_context<char, fmt::v7::detail::error_handler>, fmt::v7::basic_format_context<fmt::v7::detail::buffer_appender<char>, char> > >&>(char const*, char const*, fmt::v7::detail::specs_checker<fmt::v7::detail::specs_handler<fmt::v7::basic_format_parse_context<char, fmt::v7::detail::error_handler>, fmt::v7::basic_format_context<fmt::v7::detail::buffer_appender<char>, char> > >&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::detail::int_writer<fmt::v7::detail::buffer_appender<char>, char, unsigned int>::on_error())
>>> referenced 29 more times

ld.lld: error: undefined symbol: operator delete(void*)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(fmt::v7::format_error::~format_error())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::pattern_formatter::clone() const)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::pattern_formatter::clone() const)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::pattern_formatter::clone() const)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::pattern_formatter::clone() const)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced 3671 more times

ld.lld: error: undefined symbol: operator new(unsigned long)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::logger::clone(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::upper_leg_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::wheel_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > >::vector<char**>(char**, std::__1::enable_if<(__is_cpp17_forward_iterator<char**>::value) && (is_constructible<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::iterator_traits<char**>::reference>::value), char**>::type))
>>> referenced 920 more times

ld.lld: error: undefined symbol: std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >::basic_string(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&)
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__unique_if<spdlog::pattern_formatter>::__unique_single std::__1::make_unique<spdlog::pattern_formatter, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, spdlog::pattern_time_type const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::unordered_map<char, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> >, std::__1::hash<char>, std::__1::equal_to<char>, std::__1::allocator<std::__1::pair<char const, std::__1::unique_ptr<spdlog::custom_flag_formatter, std::__1::default_delete<spdlog::custom_flag_formatter> > > > >&&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::upper_leg_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::upper_leg_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::upper_leg_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::upper_leg_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::wheel_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::model::wheel_joints())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::actuation::BulletInterface::Parameters::configure(palimpsest::Dictionary const&))
>>> referenced 183 more times

ld.lld: error: undefined symbol: std::__1::__shared_weak_count::~__shared_weak_count()
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::logger::clone(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cppv
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::details::registry::registry())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spdlog::details::registry::registry())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__shared_ptr_emplace<spdlog::sinks::ansicolor_stdout_sink<spdlog::details::console_mutex>, std::__1::allocator<spdlog::sinks::ansicolor_stdout_sink<spdlog::details::console_mutex> > >::~__shared_ptr_emplace())
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(std::__1::__shared_ptr_emplace<spdlog::sinks::ansicolor_stdout_sink<spdlog::details::console_mutex>, std::__1::allocator<spdlog::sinks::ansicolor_stdout_sink<spdlog::details::console_mutex> > >::~__shared_ptr_emplace())
>>> referenced 15 more times

ld.lld: error: undefined symbol: __cxa_guard_acquire
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::clear_shared_memory(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::clear_shared_memory(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::clear_shared_memory(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::utils::get_log_path(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced 118 more times

ld.lld: error: undefined symbol: __cxa_guard_release
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::clear_shared_memory(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::clear_shared_memory(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::clear_shared_memory(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::main(char const*, spines::bullet::CommandLineArguments const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(upkie::utils::get_log_path(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced by bullet_spine.cpp
>>>               bazel-out/aarch64-opt/bin/spines/_objs/bullet_spine/bullet_spine.o:(spines::bullet::CommandLineArguments::CommandLineArguments(std::__1::vector<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::allocator<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > const&))
>>> referenced 118 more times

ld.lld: error: too many errors emitted, stopping now (use -error-limit=0 to see all errors)
clang: error: linker command failed with exit code 1 (use -v to see invocation)
1721398837.822655646: src/main/tools/linux-sandbox-pid1.cc:538: wait returned pid=2, status=0x100
1721398837.822714854: src/main/tools/linux-sandbox-pid1.cc:556: child exited normally with code 1
1721398837.823624563: src/main/tools/linux-sandbox.cc:233: child exited normally with code 1
Target //spines:bullet_spine failed to build
Use --verbose_failures to see the command lines of failed build steps.
INFO: Elapsed time: 3.032s, Critical Path: 0.93s
INFO: 2 processes: 2 internal.
FAILED: Build did NOT complete successfully

[ubgk]

After some digging, I realised that I needed to compile the standard library by adding @org_llvm_libcxx//:libcxx in the deps attribute of the relevant Bazel targets: mjbots/rpi_bazel@6e90762

[ubgk]

What I don't fully understand yet is why this is not needed when compiling for Raspberry Pi for some targets (even if they use the std lib?)

My hunch is that, the targets (A) that can be built without specifying the standard library as a dependency are those that depend on other targets (B) that build it. This works fine as long as the dependent target A uses only the same built object files, and once we include something else that was not linked by the depended target B, we get the linker error.

[stephane-caron]

After some digging, I realised that I needed to compile the standard library by adding @org_llvm_libcxx//:libcxx in the deps attribute of the relevant Bazel targets:

Would it make sense to select them so that future travelers don't encounter the same question? For example:

 + select({
        "@//:osx": ["@org_llvm_libcxx//:libcxx"],
        "//conditions:default": [],
    })

Or pi64_config for the raspi. Configuration settings (used in select) are listed in the root BUILD file.

[ubgk]

Yes, it would make sense, thank you for the suggestion.

Just to be clear, in my experience all works well on macOS (ARM). I only encounter issues when running natively on ARM based Debian or cross-compiling for the Raspberry Pi. Now that I think of it, maybe the ARM/Debian build also uses the pi64 toolchain, so we don't have system libraries there. (TBC)