带有QT5.7和SegemtationError 5.47的ConnectDevice

Question

我正在尝试让下面的git运行https://github.com/com2m/anki-overdrive-goes-iot/blob/master/Documentation.md#bluez5.42

在构建它时，我遇到了一个错误，这似乎是gcc 7中的一个错误。我跟随Compile error when running make after Qmake来编译它。

之后，我在运行build/ankioverdrive时遇到了Segemntation故障

运行gdb时，请以BT全文给我以下信息

#0  0x00007ffff7931ccb in QLowEnergyController::connectToDevice() () from /usr/lib/x86_64-linux-gnu/libQt5Bluetooth.so.5
No symbol table info available.
#1  0x00005555555718cc in AnkiCar::reconnect (this=0x5555557a82d0) at src/ankicar.cpp:444
No locals.
#2  0x00005555555654b3 in DriveMode::requestBatteryUpdate (this=0x5555557a6400) at src/drivemode.cpp:102
        racecar = 0x5555557a82d0
        _container_ = {c = {<QListSpecialMethods<Racecar*>> = {<No data fields>}, {p = {static shared_null = {ref = {atomic = {_q_value = {<std::__atomic_base<int>> = {static _S_alignment = 4, 
                          _M_i = -1}, <No data fields>}}}, alloc = 0, begin = 0, end = 0, array = {0x0}}, d = 0x5555557a85a0}, d = 0x5555557a85a0}}, i = {i = 0x5555557a85b8}, e = {i = 0x5555557a85d0}, 
          control = 1}
#3  0x00005555555768df in DriveMode::qt_static_metacall (_o=0x5555557a6400, _c=QMetaObject::InvokeMetaMethod, _id=8, _a=0x7fffffffdf20) at moc_drivemode.cpp:156
        _t = 0x5555557a6400
#4  0x00007ffff745f5b5 in QMetaObject::activate(QObject*, int, int, void**) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#5  0x00007ffff746c027 in QTimer::timeout(QTimer::QPrivateSignal) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#6  0x00007ffff746c388 in QTimer::timerEvent(QTimerEvent*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#7  0x00007ffff74600db in QObject::event(QEvent*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#8  0x00007ffff7430991 in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#9  0x00007ffff7488d8e in QTimerInfoList::activateTimers() () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#10 0x00007ffff7489551 in ?? () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#11 0x00007ffff5002287 in g_main_context_dispatch () from /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#12 0x00007ffff50024c0 in ?? () from /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#13 0x00007ffff500254c in g_main_context_iteration () from /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
No symbol table info available.
#14 0x00007ffff74898ef in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#15 0x00007ffff742e9ea in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#16 0x00007ffff7437a84 in QCoreApplication::exec() () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
No symbol table info available.
#17 0x000055555555b42e in main (argc=1, argv=0x7fffffffe468) at src/main.cpp:29
        a = <incomplete type>

我觉得这是蓝军的问题。我运行的是bluez 5.47，在确保配置允许运行实验模式的同时

./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var --enable-experimental --enable-maintainer-mode

并更改了/lib/systemd/system/bluetooth.service

我通过打电话确保我的蓝牙在运行

sudo hciconfig hci0 up

用我的血牙装置hci0

但还是没有成功

我正在Kubuntu18.04上尝试所有这些发行版。

我想不出怎么解决这个问题了。

Answer 1

在尝试重新连接蓝牙控制器之前，我已经更改了ankicar.cpp，以检查蓝牙控制器当前是否未连接：

void AnkiCar::reconnect() {
    if (lowEnergyController != 0) {
        if (lowEnergyController->state() == QLowEnergyController::UnconnectedState)
            lowEnergyController->connectToDevice();
    }
}

随着这一变化，汽车连接和连接似乎稳定(即使没有--experimental开关，如上文所述)。

[E6:45:5A:32:6E:4A]>> CONNECTED.
[E6:45:5A:32:6E:4A]>> SERVICE DISCOVERY FINISHED.
[E6:45:5A:32:6E:4A]>> FOUND ANKI SERVICE.
[E6:45:5A:32:6E:4A]>> SERVICE CHARACTERISTICS DISCOVERED.
[E6:45:5A:32:6E:4A]>> SDK ON.
[E6:45:5A:32:6E:4A]>> DESCRIPTOR SUCCESSFULLY WRITTEN.
[E6:45:5A:32:6E:4A]>> NOT CHARGING, NOT ON TRACK.
[E6:45:5A:32:6E:4A]>> ATTEMPT TO ACCESS GAMEPAD FAILED.
[E6:45:5A:32:6E:4A]>> USING GAMEPAD #1.
[E6:45:5A:32:6E:4A]>> READY.
[E6:45:5A:32:6E:4A]>> NOT CHARGING, ON TRACK.

你需要把车在赛道上移动一点点，才能让它识别为ON TRACK。我安装了以下软件包，以便能够构建该项目：

pi@raspberrypi:~ $ sudo apt-get install bluetooth bluez blueman
pi@raspberrypi:~ $ sudo apt-get install bluez bluez-firmware       
pi@raspberrypi:~ $ sudo apt-get install pi-bluetooth
pi@raspberrypi:~ $ sudo apt-get install qt5-qmake
pi@raspberrypi:~ $ sudo apt-get install qt5-default
pi@raspberrypi:~ $ sudo apt-get install qtconnectivity5-dev

我还需要将QMAKE_CFLAGS_ISYSTEM = -I添加到项目文件ankioverdrive.pro (参见next )

QT文档在http://doc.qt.io/qt-5.6/qlowenergycontroller.html#connectToDevice中表示

void QLowEnergyController::connectToDevice()
// Connects to the remote Bluetooth Low Energy device.

如果控制器的state()不等于UnconnectedState，则此函数不执行任何操作。一旦成功建立连接，就会发出连接()信号。在Linux/BlueZ系统上，不可能使用该类的两个实例连接到同一个远程设备。对此函数的第二次调用可能会出错。这一限制可能会在以后的版本中被取消。