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Install Dependencies on Linux

This guide explains how to install the Linux build dependencies for OpenXilEnv on Ubuntu/Debian. Other distributions may work but are not actively supported.

All commands are for bash shell.

Choose your folders

We recommend the following folder structure and will stick to it during this build manual. You can change the layout to your preference and adopt the command lines accordingly.

$HOME/dev/
├── tools/                  # $TOOLS_ROOT
│   ├── mingw64/            # MinGW (niXman, 14.2.0, win32-seh-ucrt)
│   ├── Qt6_9_3/            # Qt install prefix
│   └── OpenXilEnv/         # OpenXilEnv install prefix
│
├── src/                    # $SRC_ROOT
│   ├── Qt6_9_3/            # Qt source code
│   └── OpenXilEnv/         # OpenXilEnv source code
│
├── build/                  # $BUILD_ROOT
│   ├── Qt6_9_3/            # Qt build directory
│   └── OpenXilEnv/         # OpenXilEnv build directory

Set these variables once and reuse them everywhere. Adjust to your preference.

export TOOLS_ROOT="$HOME/dev/tools"
export SRC_ROOT="$HOME/dev/src"
export BUILD_ROOT="$HOME/dev/build"

Folder layout example:

  • $TOOLS_ROOT/openxilenv - OpenXilEnv install prefix
  • $SRC_ROOT/openxilenv - OpenXilEnv source code
  • $BUILD_ROOT/openxilenv - OpenXilEnv build directory

1. Prerequisites

Install essential build tools and libraries using apt.

sudo apt update
sudo apt install -y build-essential cmake ninja-build python3 \
    libgl1-mesa-dev libglu1-mesa-dev libxkbcommon-dev \
    libxcb1-dev libxcb-cursor-dev libxcb-glx0-dev libxcb-icccm4-dev \
    libxcb-image0-dev libxcb-keysyms1-dev libxcb-randr0-dev \
    libxcb-render-util0-dev libxcb-shape0-dev libxcb-shm0-dev \
    libxcb-sync-dev libxcb-xfixes0-dev libxcb-xinerama0-dev \
    libxcb-xkb-dev libx11-xcb-dev libfontconfig1-dev \
    libfreetype6-dev libharfbuzz-dev libpng-dev libjpeg-dev \
    git wget

Verify versions:

cmake --version
gcc --version
python3 --version
ninja --version

Minimum requirements:

  • CMake >= 3.20
  • GCC >= 9.0 (for C++17 support)
  • Python >= 3.6

2. Install Qt 6

The recommended way to install Qt is via the package manager.

Ubuntu 24.04 (Noble) and later:

sudo apt install -y qt6-base-dev qt6-base-dev-tools

Ubuntu 22.04 (Jammy) and earlier:

Qt 6.9 is not available in the default repositories. You have two options:

  1. Use a PPA (if available for your version)
  2. Build from source (see Appendix below)

After installation, verify Qt is available:

qmake6 --version
# or
qmake -qt6 --version

3. Create Directory Structure

mkdir -p "$TOOLS_ROOT" "$SRC_ROOT" "$BUILD_ROOT"

4. Optional / Additional Dependencies

  • pugixml 1.15 - required if building with -DBUILD_WITH_FMU2_SUPPORT=ON or -DBUILD_WITH_FMU3_SUPPORT=ON
cd "$SRC_ROOT"
wget https://github.com/zeux/pugixml/releases/download/v1.15/pugixml-1.15.tar.gz
tar -xzf pugixml-1.15.tar.gz
  • FMU Parser (FMI 2.0 / 3.0) - required for FMU support

For FMI 2.0:

cd "$SRC_ROOT"
wget https://github.com/modelica/fmi-standard/releases/download/v2.0.4/FMI-Standard-2.0.4.zip
unzip FMI-Standard-2.0.4.zip -d FMI_2_0_4

For FMI 3.0:

cd "$SRC_ROOT"
wget https://github.com/modelica/fmi-standard/releases/download/v3.0.1/FMI-Standard-3.0.1.zip
unzip FMI-Standard-3.0.1.zip -d FMI_3_0_1

Keep the source paths handy to pass via:

-DPUGIXML_SOURCE_PATH=$SRC_ROOT/pugixml-1.15/src
-DFMI2_SOURCE_PATH=$SRC_ROOT/FMI_2_0_4/headers
-DFMI3_SOURCE_PATH=$SRC_ROOT/FMI_3_0_1/headers

5. RT-Preempt Patch (Optional - for HiL systems)

If you plan to use OpenXilEnv as a HiL system with <1 ms response times, install the RT-Preempt kernel patch:

# Check available RT kernels
apt search linux-image-rt

# Install RT kernel (example for Ubuntu)
sudo apt install linux-image-rt linux-headers-rt

For custom kernels or more information, see the official RT-Preempt documentation at: https://wiki.linuxfoundation.org/realtime/start

After installation, reboot and select the RT kernel from GRUB menu.

6. Known-Good Versions (reference)

  • GCC: >= 9.0 (tested with 9.x, 10.x, 11.x, 12.x, 13.x)
  • Qt: 6.9.x (qtbase)
  • CMake: >= 3.20
  • Python: >= 3.6
  • Ninja: >= 1.10

Appendix: Building Qt 6.9 from Source (Alternative Method)

If Qt 6.9 is not available via package manager, you can build it from source.

Folder layout for source build:

  • $TOOLS_ROOT/Qt6.9 - Qt install prefix
  • $SRC_ROOT/Qt6.9 - Qt source code
  • $BUILD_ROOT/Qt6.9 - Qt build directory

Steps:

  1. Fetch sources (download ZIP file or use git):
cd "$SRC_ROOT"
wget https://github.com/qt/qtbase/archive/refs/tags/v6.9.3.zip
unzip v6.9.3.zip

Or using git:

cd "$SRC_ROOT"
git clone --branch v6.9.3 --depth 1 https://github.com/qt/qtbase.git
  1. Create build directory:
mkdir -p "$BUILD_ROOT/Qt6.9"
cd "$BUILD_ROOT/Qt6.9"
  1. Configure (Qt's configure script will generate a CMake build tree):
"$SRC_ROOT/qtbase_6_9_3/configure" \
    -release \
    -opensource \
    -confirm-license \
    -prefix "$TOOLS_ROOT/Qt6.9" \
    -nomake examples \
    -nomake tests

Note: You can use -debug-and-release instead of -release for both build types, though this may not be available on all platforms. If you encounter issues, use either -release or -debug separately.

  1. Build:
cmake --build . --parallel $(nproc)
  1. Install:
cmake --install .

If you built with separate debug/release configurations:

cmake --install . --config Release
cmake --install . --config Debug
  1. Add Qt to PATH and LD_LIBRARY_PATH:
export PATH="$TOOLS_ROOT/Qt6.9/bin:$PATH"
export LD_LIBRARY_PATH="$TOOLS_ROOT/Qt6.9/lib:$LD_LIBRARY_PATH"
export Qt6_DIR="$TOOLS_ROOT/Qt6.9/lib/cmake/Qt6"

To make these permanent, add them to your ~/.bashrc:

echo 'export PATH="$TOOLS_ROOT/Qt6.9/bin:$PATH"' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH="$TOOLS_ROOT/Qt6.9/lib:$LD_LIBRARY_PATH"' >> ~/.bashrc
echo 'export Qt6_DIR="$TOOLS_ROOT/Qt6.9/lib/cmake/Qt6"' >> ~/.bashrc

Then reload:

source ~/.bashrc

With all dependencies installed, you can now build OpenXilEnv.