This repository contains the code meant to run on the boat for the WPI Sailbot in the 2016-2017 school year.
Structure
The exact locations of things is a bit subject to change right now, but:
- The top level is reserved for build file, READMEs, etc.
ipc/
contains the code for, well, IPC.util/
contains what is, right now, any other infrastructure-related code
Building and Running the Code
I have been using Bazel for the build system. If you
install bazel on your system, you should be able to run bazel build //...
to
build all of the code.
Unfortunately, I have not yet integrated all of the dependencies with bazel and there are almost certainly prerequisites missing beyond that which I list here:
- A C++ compiler that bazel will recognize/locate (I assume gcc and clang both work)
- Probably some other things I'm missing
In order to compile for the BBB, use bazel build --cpu=bbb //some/target:here
Tests and Examples
There are a few tests/examples that I have throughout the code:
//ipc:queue_test
needs system resources in order to run, and so must be run manually, rather than throughbazel test
.//util:ping
,//util:pong
, and//util:logger_main
can be run simultaneously to test out the framework and see how it works. The logs can then be read back using the example//util:log_reader_main
TODO
- Clean up build process so it has fewer prerequisites and is generally cleaner
- Also, the gtest download/build should be cleaned up
- Documentaion (always)
- More unit testing
- Validate system more thoroughly
- Get started on hardware-specific libraries
- Set up cross-compilation for BBB (Mostly done)
- Separate out ping, pong, and log examples into separate location
- Set up infrastructure for log replay
- Actually replaying the logs
- Take a closer look at Boost's implementation of queues
Notes
- We are using proto2, not proto3, because I (James) observed some oddities where ParseFromArray would Clear the message and force re-allocation of internal sub-messages. Still not 100% sure why proto2 is working better than 3.