Bug 5133197: Add cmake toolchain and and update the CMakeList of some sample for tegra linux cross build

cmake/Modules/FindFreeImage.cmake

@@ -4,7 +4,7 @@ find_path(FreeImage_INCLUDE_DIR
 )
 
 find_library(FreeImage_LIBRARY
-  NAMES freeimage
+  NAMES freeimage FreeImage
   PATHS /usr/lib /usr/local/lib
 )
 

cmake/Modules/FindNVSCI.cmake

@@ -0,0 +1,61 @@
+# Find the NVSCI libraries and headers
+#
+# This module defines the following variables:
+#  NVSCI_FOUND        - True if NVSCI was found
+#  NVSCI_INCLUDE_DIRS - NVSCI include directories
+#  NVSCI_LIBRARIES    - NVSCI libraries
+#  NVSCIBUF_LIBRARY   - NVSCI buffer library
+#  NVSCISYNC_LIBRARY  - NVSCI sync library
+
+# Find the libraries
+find_library(NVSCIBUF_LIBRARY
+    NAMES nvscibuf libnvscibuf
+    PATHS 
+        /usr/lib
+        /usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu
+    PATH_SUFFIXES nvidia
+)
+
+find_library(NVSCISYNC_LIBRARY
+    NAMES nvscisync libnvscisync
+    PATHS 
+        $/usr/lib
+        $/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu
+    PATH_SUFFIXES nvidia
+)
+
+# Find the header files
+find_path(NVSCIBUF_INCLUDE_DIR
+    NAMES nvscibuf.h
+    PATHS 
+        /usr/include
+        /usr/local/include
+)
+
+find_path(NVSCISYNC_INCLUDE_DIR
+    NAMES nvscisync.h
+    PATHS 
+        /usr/include
+        /usr/local/include
+)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(NVSCI
+    REQUIRED_VARS 
+        NVSCIBUF_LIBRARY
+        NVSCISYNC_LIBRARY
+        NVSCIBUF_INCLUDE_DIR
+        NVSCISYNC_INCLUDE_DIR
+)
+
+if(NVSCI_FOUND)
+    set(NVSCI_LIBRARIES ${NVSCIBUF_LIBRARY} ${NVSCISYNC_LIBRARY})
+    set(NVSCI_INCLUDE_DIRS ${NVSCIBUF_INCLUDE_DIR} ${NVSCISYNC_INCLUDE_DIR})
+endif()
+
+mark_as_advanced(
+    NVSCIBUF_LIBRARY
+    NVSCISYNC_LIBRARY
+    NVSCIBUF_INCLUDE_DIR
+    NVSCISYNC_INCLUDE_DIR
+) 

cmake/toolchains/toolchain-aarch64-linux.cmake

@@ -0,0 +1,59 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
+
+# Specify the cross-compilers
+set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER aarch64-linux-gnu-g++)
+set(CMAKE_AR aarch64-linux-gnu-ar)
+set(CMAKE_RANLIB aarch64-linux-gnu-ranlib)
+
+# Indicate cross-compiling.
+set(CMAKE_CROSSCOMPILING TRUE)
+
+# Set CUDA compiler flags
+set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -ccbin ${CMAKE_CXX_COMPILER}" CACHE STRING "" FORCE)
+
+# Use a local sysroot copy
+if(DEFINED TARGET_FS)
+    set(CMAKE_SYSROOT "${TARGET_FS}")
+    list(APPEND CMAKE_FIND_ROOT_PATH
+        "/usr/local/cuda/targets/aarch64-linux"
+    )
+
+    set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+    set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+    set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+    
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Xcompiler --sysroot=${TARGET_FS}")
+
+    set(LIB_PATHS
+        "${TARGET_FS}/usr/lib/"
+        "${TARGET_FS}/usr/lib/aarch64-linux-gnu"
+        "${TARGET_FS}/usr/lib/aarch64-linux-gnu/nvidia"
+    )
+    # Add rpath-link flags for all library paths
+    foreach(lib_path ${LIB_PATHS})
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-rpath-link,${lib_path}")
+        set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-rpath-link,${lib_path}")
+    endforeach()
+
+    # Add the real path of CUDA installation on TARGET_FS for nvvm
+    find_program(TARGET_CUDA_NVCC_PATH nvcc 
+    PATH "${TARGET_FS}/usr/local/cuda/bin"
+    NO_DEFAULT_PATH
+    NO_CMAKE_PATH
+    )
+    if(TARGET_CUDA_NVCC_PATH)
+        # Get the real path of CUDA installation on TARGET_FS
+        get_filename_component(TARGET_CUDA_PATH "${TARGET_CUDA_NVCC_PATH}" REALPATH)
+        get_filename_component(TARGET_CUDA_ROOT "${TARGET_CUDA_PATH}" DIRECTORY)
+        get_filename_component(TARGET_CUDA_ROOT "${TARGET_CUDA_ROOT}" DIRECTORY)
+    endif()
+
+    if (DEFINED TARGET_CUDA_ROOT)
+        list(APPEND CMAKE_LIBRARY_PATH "${TARGET_CUDA_ROOT}/targets/aarch64-linux/lib")
+        # Define NVVM paths for build and runtime
+        set(ENV{LIBNVVM_HOME} "${TARGET_CUDA_ROOT}")
+        set(RUNTIME_LIBNVVM_PATH "${TARGET_CUDA_ROOT}/nvvm/lib64")
+    endif()
+endif()