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| <section id="c-example-using-cmake"> |
| <span id="cpp-cmake"></span><h1>C++ Example using CMake<a class="headerlink" href="#c-example-using-cmake" title="Permalink to this heading"></a></h1> |
| <p>In some situations, developers intend to implement software using the NuttX platform in |
| a previously set hardware and configuration where it is not possible or allowed to make |
| changes. In such situations, less contact with the operating source tree is better, where |
| it is only used for the application.</p> |
| <p>Some approaches are possible to do that today:</p> |
| <ul class="simple"> |
| <li><p><a class="reference external" href="https://cwiki.apache.org/confluence/display/NUTTX/Building+NuttX+with+Applications+Outside+of+the+Source+Tree">https://cwiki.apache.org/confluence/display/NUTTX/Building+NuttX+with+Applications+Outside+of+the+Source+Tree</a></p></li> |
| <li><p><a class="reference external" href="https://www.programmersought.com/article/61604062421/">https://www.programmersought.com/article/61604062421/</a></p></li> |
| </ul> |
| <p>We have been seen the increase of the use of C++ language in embedded systems application. And |
| CMake (<a class="reference external" href="https://www.cmake.org">https://www.cmake.org</a>) is the preferred build system used to build C++ projects. NuttX |
| support C++ based projects.</p> |
| <p>Using the ‘build as a library’ procedure of NuttX, it is possible to build NuttX |
| applications using C++ language and also the cmake build tool.</p> |
| <p>This document will show how to reimplement the hellocpp project using this cmake.</p> |
| <section id="preparation"> |
| <h2>Preparation<a class="headerlink" href="#preparation" title="Permalink to this heading"></a></h2> |
| <ol class="arabic"> |
| <li><p>Base NuttX compilation changes</p> |
| <blockquote> |
| <div><p>For this example, load the configuration ‘stm32f4discovery:nsh’ for building (Linux host)</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span><span class="nb">cd</span><span class="w"> </span>nuttx |
| <span class="gp">$ </span>./tools/configure.sh<span class="w"> </span>-l<span class="w"> </span>stm32f4discovery:nsh |
| </pre></div> |
| </div> |
| <p>See <a class="reference internal" href="../quickstart/compiling_make.html#initialize-configuration"><span class="std std-ref">Initialize Configuration</span></a> for more information about configure.sh tool.</p> |
| <p>In menuconfig, the main points to be changed on a typical NuttX configuration are the following:</p> |
| <ul class="simple"> |
| <li><p>RTOS Features -> Tasks and Scheduling -> Application entry point to ‘main’</p></li> |
| <li><p>Library Routines -> Have C++ compiler</p></li> |
| <li><p>Library Routines -> Have C++ initialization -> C++ Library -> Toolchain C++ support (you can also choose the basic version or the LLVM one)</p></li> |
| <li><p>Library Routines -> Have C++ initialization -> C++ Library -> C++ low level library select -> GNU low level libsupc++</p></li> |
| <li><p>Library Routines -> Language standard -> choose the version you want - for this example we will use “c++17”</p></li> |
| <li><p>Library Routines -> Enable Exception Support -> to enable to support C++ exceptions - for this example we will select it</p></li> |
| <li><p>Library Routines -> Enable RTTI Support -> to enable to support C++ RTTI features (like dynamic_cast()/typeid()) - for this example we will not enable it</p></li> |
| </ul> |
| <p>Build NuttX and generate the export</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make<span class="w"> </span><span class="nb">export</span> |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| </ol> |
| </section> |
| <section id="creating-the-project"> |
| <h2>Creating the project<a class="headerlink" href="#creating-the-project" title="Permalink to this heading"></a></h2> |
| <ol class="arabic"> |
| <li><p>Create your project file structure</p> |
| <blockquote> |
| <div><p>The project structure is organized as follow:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">hellocpp/</span> |
| <span class="go">hellocpp/CMakeLists.txt</span> |
| <span class="go">hellocpp/nuttx-export-12.10.0/</span> |
| <span class="go">hellocpp/main.cpp</span> |
| <span class="go">hellocpp/HelloWorld.h</span> |
| <span class="go">hellocpp/HelloWorld.cpp</span> |
| </pre></div> |
| </div> |
| <p>The directory ‘nuttx-export-12.10.0’ is the unzipped content from the file created during |
| make export procedure done before.</p> |
| </div></blockquote> |
| </li> |
| <li><p>File contents</p></li> |
| </ol> |
| <ul class="simple"> |
| <li><p>hellocpp/CMakeLists.txt</p></li> |
| </ul> |
| <div class="highlight-cmake notranslate"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span><span class="w"> </span><span class="s">3.12...3.31</span><span class="p">)</span> |
| |
| <span class="nb">project</span><span class="p">(</span><span class="s">HelloCpp</span> |
| <span class="w"> </span><span class="s">VERSION</span><span class="w"> </span><span class="s">1.0</span> |
| <span class="w"> </span><span class="s">DESCRIPTION</span><span class="w"> </span><span class="s2">"Hello world C++ NuttX"</span> |
| <span class="p">)</span> |
| |
| <span class="nb">set</span><span class="p">(</span><span class="s">CMAKE_CXX_STANDARD</span><span class="w"> </span><span class="s">17</span><span class="p">)</span> |
| <span class="nb">set</span><span class="p">(</span><span class="s">CMAKE_CXX_STANDARD_REQUIRED</span><span class="w"> </span><span class="s">ON</span><span class="p">)</span> |
| |
| <span class="nb">set</span><span class="p">(</span><span class="s">SOURCE_FILES</span> |
| <span class="w"> </span><span class="o">${</span><span class="nv">CMAKE_CURRENT_SOURCE_DIR</span><span class="o">}</span><span class="s">/HelloWorld.cpp</span> |
| <span class="w"> </span><span class="o">${</span><span class="nv">CMAKE_CURRENT_SOURCE_DIR</span><span class="o">}</span><span class="s">/main.cpp</span> |
| <span class="p">)</span> |
| |
| <span class="nb">set</span><span class="p">(</span><span class="s">EXE_NAME</span><span class="w"> </span><span class="s2">"hello"</span><span class="p">)</span> |
| <span class="nb">add_executable</span><span class="p">(</span><span class="o">${</span><span class="nv">EXE_NAME</span><span class="o">}</span><span class="w"> </span><span class="o">${</span><span class="nv">SOURCE_FILES</span><span class="o">}</span><span class="p">)</span> |
| |
| <span class="nb">add_custom_command</span><span class="p">(</span> |
| <span class="w"> </span><span class="s">TARGET</span><span class="w"> </span><span class="o">${</span><span class="nv">EXE_NAME</span><span class="o">}</span> |
| <span class="w"> </span><span class="s">POST_BUILD</span> |
| <span class="w"> </span><span class="s">COMMAND</span><span class="w"> </span><span class="o">${</span><span class="nv">CMAKE_OBJCOPY</span><span class="o">}</span><span class="w"> </span><span class="s">ARGS</span><span class="w"> </span><span class="s">-S</span><span class="w"> </span><span class="s">-O</span><span class="w"> </span><span class="s">binary</span><span class="w"> </span><span class="o">${</span><span class="nv">CMAKE_BINARY_DIR</span><span class="o">}</span><span class="s">/</span><span class="o">${</span><span class="nv">EXE_NAME</span><span class="o">}</span><span class="w"> </span><span class="o">${</span><span class="nv">CMAKE_BINARY_DIR</span><span class="o">}</span><span class="s">/</span><span class="o">${</span><span class="nv">EXE_NAME</span><span class="o">}</span><span class="s">.bin</span> |
| </pre></div> |
| </div> |
| <ul class="simple"> |
| <li><p>hellocpp/main.cpp</p></li> |
| </ul> |
| <div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span><span class="w"> </span><span class="cpf"><memory></span> |
| |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf">"HelloWorld.h"</span> |
| |
| <span class="k">extern</span><span class="w"> </span><span class="s">"C"</span><span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">main</span><span class="p">(</span><span class="kt">int</span><span class="p">,</span><span class="w"> </span><span class="kt">char</span><span class="o">*</span><span class="p">[])</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">pHelloWorld</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">make_shared</span><span class="o"><</span><span class="n">CHelloWorld</span><span class="o">></span><span class="p">();</span> |
| <span class="w"> </span><span class="n">pHelloWorld</span><span class="o">-></span><span class="n">HelloWorld</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="n">CHelloWorld</span><span class="w"> </span><span class="n">helloWorld</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">helloWorld</span><span class="p">.</span><span class="n">HelloWorld</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <ul class="simple"> |
| <li><p>hellocpp/HelloWorld.h</p></li> |
| </ul> |
| <div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="cp">#ifndef HELLOWORLD_H</span> |
| <span class="cp">#define HELLOWORLD_H</span> |
| |
| <span class="k">class</span><span class="w"> </span><span class="nc">CHelloWorld</span> |
| <span class="p">{</span> |
| <span class="k">public</span><span class="o">:</span> |
| <span class="w"> </span><span class="n">CHelloWorld</span><span class="p">();</span> |
| <span class="w"> </span><span class="o">~</span><span class="n">CHelloWorld</span><span class="p">()</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="k">default</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="nf">HelloWorld</span><span class="p">();</span> |
| |
| <span class="k">private</span><span class="o">:</span> |
| <span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">mSecret</span><span class="p">;</span> |
| <span class="p">};</span> |
| |
| <span class="cp">#endif</span> |
| </pre></div> |
| </div> |
| <ul class="simple"> |
| <li><p>hellocpp/HelloWorld.cpp</p></li> |
| </ul> |
| <div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span><span class="w"> </span><span class="cpf"><cstdio></span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf"><string></span> |
| |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf">"HelloWorld.h"</span> |
| |
| <span class="n">CHelloWorld</span><span class="o">::</span><span class="n">CHelloWorld</span><span class="p">()</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">mSecret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">42</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">printf</span><span class="p">(</span><span class="s">"Constructor: mSecret=%d</span><span class="se">\n</span><span class="s">"</span><span class="p">,</span><span class="n">mSecret</span><span class="p">);</span> |
| <span class="p">}</span> |
| |
| |
| <span class="kt">bool</span><span class="w"> </span><span class="n">CHelloWorld</span><span class="o">::</span><span class="n">HelloWorld</span><span class="p">()</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">printf</span><span class="p">(</span><span class="s">"HelloWorld: mSecret=%d</span><span class="se">\n</span><span class="s">"</span><span class="p">,</span><span class="n">mSecret</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">string</span><span class="w"> </span><span class="n">sentence</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"Hello"</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">printf</span><span class="p">(</span><span class="s">"TEST=%s</span><span class="se">\n</span><span class="s">"</span><span class="p">,</span><span class="n">sentence</span><span class="p">.</span><span class="n">c_str</span><span class="p">());</span> |
| |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">mSecret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="mi">42</span><span class="p">)</span> |
| <span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">printf</span><span class="p">(</span><span class="s">"CHelloWorld: HelloWorld: Hello, world!</span><span class="se">\n</span><span class="s">"</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="w"> </span><span class="k">else</span> |
| <span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">printf</span><span class="p">(</span><span class="s">"CHelloWorld: HelloWorld: CONSTRUCTION FAILED!</span><span class="se">\n</span><span class="s">"</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </section> |
| <section id="building"> |
| <h2>Building<a class="headerlink" href="#building" title="Permalink to this heading"></a></h2> |
| <p>To launch build, you use the cmake procedure:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>mkdir<span class="w"> </span>build |
| <span class="gp">$ </span><span class="nb">cd</span><span class="w"> </span>build |
| <span class="gp">$ </span>cmake<span class="w"> </span>..<span class="w"> </span>-DCMAKE_TOOLCHAIN_FILE<span class="o">=</span>../nuttx-export-12.10.0/scripts/toolchain.cmake |
| <span class="gp">$ </span>make |
| </pre></div> |
| </div> |
| <p>Two binaries are generated: an elf one - useful for debug purpose - and a binary one to be flashed on the board</p> |
| </section> |
| </section> |
| |
| |
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