S130 Development tools V1.1.0

This repository contains high-level development tools for Sunswift embedded and DDS projects. It is separated into host/ and target/. host/ contains the dev tools we are using during development time on our host machines. target/ contains scripts that should be run on the target (NVIDIA Drive THOR computer). It is intended to be a submodule in the SR-Mjolnir repository.

It includes:

• srpkg: DDS package creation and management tool
• srbuild: Build tool for compiling and deploying DDS packages
• srlaunch: Tool for starting nodes
• srdds: (WORK IN PROGRESS) Tool for managing active nodes

Getting Started

1. Add host dev tools to your PATH

To make srpkg and srbuild available globally:

export PATH="$PATH:<absolute_path_to_repo>/sunswift-dev-tools/host"

I recommend adding this to your .bashrc

2. Using srpkg

srpkg is a tool for creating and managing DDS packages. It must be run from within the repository.

Creating a new DDS package:

To create a new DDS package in the current working directory:

srpkg create <package_name>

This will create a new directory with the following structure:

<package_name>/
├── .srpkg              # Package metadata file
├── src/                # Source files (.cpp)
├── include/            # Header files (.hpp)
├── param/              # Parameter files (JSON)
├── param/param.json    # Default parameter template
├── CMakeLists.txt      # Build configuration template
└── README.md           # Package documentation

The package will be created in your current working directory.

Package information and listing:

These commands may be used from anywhere in the repository

# Show information about a specific package
srpkg info <package_name>

# List all packages in the repository
srpkg list

3. Using srbuild

srbuild is a wrapper around CMake that simplifies building DDS packages and targets. It must be run from within the repository, but can be used from anywhere within, not necessarily root.

Output:

srbuild automatically creates or overwrites root level build/ and deploy/ directories. It builds all objects, libraries and binaries into build/ (don't bother touching this, it's needed for CMake), then installs all runtime files into deploy/ for easy deployment (use this).

SR-Mjolnir/
├── build/          # CMake-required files
├── deploy/
│     ├── bin/       # Node executables
│     ├── param/
│     └── tools/     # srlaunch, srdds
└── ...

Building all targets:

To build and install all available targets in the repository:

srbuild all

Building specific targets:

To build only specific packages or libraries:

srbuild target node1 node2 ...

This automatically builds dependencies if required.

Cleaning the build:

To delete the build directory:

srbuild clean

Parallel jobs:

By default, srbuild uses 8 parallel jobs for compilation. You can customize this:

srbuild all --jobs 4
srbuild target package1 -j 16

4. Using srlaunch

Run srlaunch from the deploy/tools directory only. The version in the submodule repo is for version control.

cd deploy/tools
./srlaunch all
./srlaunch target node1 node2

Then just Ctrl-C to shut down all nodes gracefully. It's that easy guys.

Example Workflow

1. Create a new DDS package:

   cd /path/to/repo/src
   srpkg create my_dds_node

2. Add your source code to my_dds_node/src/ and headers to my_dds_node/include/

3. Fill out the template CMakeLists.txt

4. Add add_subdirectory(relative/path/to/my_dds_node) to src/CMakeLists.txt to enable the build

5. Build the package:

   srbuild target my_dds_node
   # or
   srbuild all

6. Launch the node:

   # in deploy/tools
   ./srlaunch target my_dds_node
   # OR
   ./srlaunch all

Notes

• Both tools must be run from within the SR-Mjolnir repository
• srpkg creates packages in the current working directory
• srbuild operates on the entire repository build system
• srlaunch is used from the deploy directory
• srdds is currently work in progress

Contributors

Ryan Wong || z5417983