我正在尝试使用 MinGW 从 Linux 交叉编译到 Windows 的机器人控制器（.exe），用于 Webots（模拟软件）。
Webots 提供Makefile.include所有平台通用的文件，为编译准备构建环境（必要的依赖项）：
我当前的makefile，我根据MinGW和我的webbots安装设置了几个变量：
WEBOTS_HOME = /usr/share/webots/resources/windows_home
#WEBOTS_HOME = /usr/share/webots
RESOURCES_PATH = $(WEBOTS_HOME)/resources/projects/robots/darwin-op
SOURCES_PATH = src
SOCKET_PATH = ../../../extra/socket/src
KIN_INCLUDE = ../../lib/OPKinematics/include
KIN_LIB = ../../lib/OPKinematics/lib/libOPKinematics64.a
EXT_INCLUDE = ../../lib/include
CFLAGS = -g -Wall
INCLUDE=-I$(RESOURCES_PATH)/libraries/darwin/darwin/Framework/include -I$(RESOURCES_PATH)/include -I$(KIN_INCLUDE) -I$(EXT_INCLUDE) -I$(SOCKET_PATH)
LIBRARIES = -Wl,-Bstatic -lws2_32 -lpthread -lboost_system-mt -lboost_serialization-mt -static-libgcc -static-libstdc++ -Wl,-Bdynamic $(RESOURCES_PATH)/libraries/darwin/darwin.dll $(KIN_LIB)
CXX_SOURCES = $(SOURCES_PATH)/main.cpp $(SOURCES_PATH)/DarwinRobot.cpp $(SOURCES_PATH)/dyn_system.cpp $(SOURCES_PATH)/writefilestuff.cpp $(SOCKET_PATH)/socket_boost.cpp
#CC=x86_64-w64-mingw32-g++
CXX=x86_64-w64-mingw32-g++
EXE_EXTENSION=.exe
OSTYPE=windows
CFLAGS += -DWIN_MAKE
# ----------------------------------------------------
#
### Do not modify: this includes Webots global Makefile.include
space :=
space +=
WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
include $(WEBOTS_HOME_PATH)/resources/Makefile.include
# No pre or post build rules are necessary, override the default set on Makefile.include
pre-build: ;
post-build: main-build ;
@echo $(CC)
@echo $(OSTYPE)
# ---------------------------------------------------
另外，我已经在我的 Windows 机器上安装了 Webots，并将安装文件夹复制到我的 Linux 机器上的安装文件夹中，这样我就可以访问预编译的 Windows 库。
问题是当链接器试图找到几个库（-lController和-lCppController，它们附加在里面Makefile.include）时：
# linking build/release/darwin_socket.exe
x86_64-w64-mingw32-g++ -s -Wl,--enable-auto-import -o build/release/darwin_socket.exe build/release/main.o build/release/DarwinRobot.o build/release/dyn_system.o build/release/writefilestuff.o build/release/socket_boost.o -Wl,-Bstatic -lws2_32 -lpthread -lboost_system-mt -lboost_serialization-mt -static-libgcc -static-libstdc++ -Wl,-Bdynamic /usr/share/webots/resources/windows_home/resources/projects/robots/darwin-op/libraries/darwin/darwin.dll ../../lib/OPKinematics/lib/libOPKinematics64.a -lmingw32 -B"/usr/share/webots/resources/windows_home\mingw\lib\gcc\mingw32\5.1.0" -L"/usr/share/webots/resources/windows_home/lib" -lController -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/libController.a when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/Controller.lib when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/Controller.dll when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/libController.a when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/libController.a when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/Controller.lib when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/Controller.dll when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/Controller.lib when searching for -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32 /bin/ld: cannot find -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/libCppController.a when searching for -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/CppController.dll when searching for -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/libCppController.a when searching for -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/libCppController.a when searching for -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: skipping incompatible /usr/share/webots/resources/windows_home/lib/CppController.dll when searching for -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: cannot find -lCppController
collect2: error: ld returned 1 exit status
/usr/share/webots/resources/windows_home/resources/Makefile.include:529: recipe for target 'build/release/darwin_socket.exe' failed
make: *** [build/release/darwin_socket.exe] Error 1
从我收集到的信息来看，这个问题通常是在尝试将 32 位库链接到 64 位二进制文件时引起的（反之亦然），但我的 makefile-m32或. 我的操作系统都是 64 位的，所以我认为库的类型应该没有任何问题。-m64Makefile.include
我尝试过使用 Webots 的本机 linux 安装文件夹，但我遇到了类似的问题：
# linking build/release/darwin_socket.exe
x86_64-w64-mingw32-g++ -s -Wl,--enable-auto-import -o build/release/darwin_socket.exe build/release/main.o build/release/DarwinRobot.o build/release/dyn_system.o build/release/writefilestuff.o build/release/socket_boost.o -Wl,-Bstatic -lws2_32 -lpthread -lboost_system-mt -lboost_serialization-mt -static-libgcc -static-libstdc++ -Wl,-Bdynamic /usr/share/webots/resources/projects/robots/darwin-op/libraries/darwin/darwin.dll ../../lib/OPKinematics/lib/libOPKinematics64.a -lmingw32 -B"/usr/share/webots\mingw\lib\gcc\mingw32\5.1.0" -L"/usr/share/webots/lib" -lController -lCppController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: cannot find -lController
/usr/lib/gcc/x86_64-w64-mingw32/5.1.0/../../../../x86_64-w64-mingw32/bin/ld: cannot find -lCppController
collect2: error: ld returned 1 exit status
/usr/share/webots/resources/Makefile.include:529: recipe for target 'build/release/darwin_socket.exe' failed
make: *** [build/release/darwin_socket.exe] Error 1
这很奇怪，因为libController.so和libCppController.so都在里面/usr/share/webots/lib/。
那么我到底错过了什么？