Add support for buildroot image

.gitignore

@@ -5,3 +5,7 @@ SAM.pro.user
 *.user
 
 Makefile
+
+build/
+
+builddir/

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "RPI3",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "compilerPath": "/opt/sam-sdk/arm-buildroot-linux-gnueabihf_sdk-buildroot/bin/arm-none-linux-gnueabihf-g++",
+            "cStandard": "c17",
+            "cppStandard": "c++20",
+            "intelliSenseMode": "linux-gcc-arm",
+            "compileCommands": "${workspaceFolder}/builddir/compile_commands.json"
+        }
+    ],
+    "version": 4
+}

.vscode/extensions.json

@@ -0,0 +1,7 @@
+{
+    "recommendations": [
+        "asabil.meson",
+        "ms-vscode.cpptools",
+        "webfreak.debug"
+    ]
+}

.vscode/launch.json

@@ -0,0 +1,24 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "remote gdb",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/builddir/sam",
+            "cwd": "${workspaceFolder}",
+            "MIMode": "gdb",
+            "miDebuggerPath": "/usr/bin/gdb-multiarch",
+            "miDebuggerArgs": "",
+            "miDebuggerServerAddress": "10.0.0.1:4444",
+            "logging": {
+                "engineLogging": true
+            },
+            "externalConsole": true,
+            "preLaunchTask": "Launch remote gdbserver"
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,65 @@
+{
+    "files.associations": {
+        "exception": "cpp",
+        "stdexcept": "cpp",
+        "*.tcc": "cpp",
+        "unordered_map": "cpp",
+        "numeric": "cpp",
+        "ostream": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "cctype": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "vector": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ranges": "cpp",
+        "sstream": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "complex": "cpp",
+        "cstring": "cpp",
+        "map": "cpp",
+        "fstream": "cpp"
+    },
+    "mesonbuild.configureOnOpen": true
+}

.vscode/tasks.json

@@ -0,0 +1,92 @@
+{
+	"version": "2.0.0",
+	"tasks": [
+		{
+			"label": "Clear build dir",
+			"type": "shell",
+			"command": "rm -r builddir",
+			"group": "build",
+			"problemMatcher": [],
+			"options": {
+				"cwd": "${workspaceFolder}"
+			},
+			"presentation": {
+				"echo": true,
+				"reveal": "always",
+				"focus": false,
+				"panel": "shared",
+				"showReuseMessage": true,
+				"clear": true
+			}
+		},
+		{
+			"label": "Setup meson",
+			"type": "shell",
+			"command": "meson . builddir --cross-file meson/cross_file.ini",
+			"group": "build",
+			"problemMatcher": [],
+			"options": {
+				"cwd": "${workspaceFolder}"
+			},
+			"presentation": {
+				"echo": true,
+				"reveal": "always",
+				"focus": false,
+				"panel": "shared",
+				"showReuseMessage": true,
+				"clear": true
+			},
+			"dependsOn": "Clear build dir"
+		},
+		{
+			"label": "Build",
+			"type": "shell",
+			"command": "ninja",
+			"group": "build",
+			"problemMatcher": [],
+			"options": {
+				"cwd": "${workspaceFolder}/builddir"
+			},
+			"presentation": {
+				"echo": true,
+				"reveal": "always",
+				"focus": false,
+				"panel": "shared",
+				"showReuseMessage": true,
+				"clear": true
+			}
+		},
+		{
+			"label": "Deploy",
+			"type": "shell",
+			"command": "scp sam root@10.0.0.1:/opt/sam",
+			"group": "build",
+			"problemMatcher": [],
+			"options": {
+				"cwd": "${workspaceFolder}/builddir"
+			},
+			"dependsOn": "Build"
+		},
+		{
+			"label": "Kill remote gdbserver",
+			"type": "shell",
+			"command": "ssh root@10.0.0.1 \"killall -q gdbserver; exit 0;\"",
+			"group": "test"
+		},
+		{
+			"label": "Launch remote gdbserver",
+			"type": "shell",
+			"command": "gnome-terminal -- ssh -t root@10.0.0.1 gdbserver localhost:4444 /opt/sam/sam",
+			"group": "test",
+			"dependsOn": "Kill remote gdbserver",
+			"presentation": {
+				"echo": true,
+				"reveal": "always",
+				"focus": true,
+				"panel": "dedicated",
+				"showReuseMessage": true,
+				"clear": true
+			}
+		}
+	]
+}

meson.build

@@ -0,0 +1,121 @@
+project(
+  'sam',
+  ['c','cpp'],
+  version : '1.0.0',
+  default_options : ['cpp_std=c++17']
+)
+
+sam_public_headers = include_directories(['src'])
+
+sam_src = [
+    'src/main.cpp',
+    'src/components/external/myoband/myoLinux/gattclient.cpp',
+    'src/components/external/myoband/myoLinux/myoclient.cpp',
+    'src/components/external/myoband/myoLinux/serial.cpp',
+    'src/components/external/myoband/myoband.cpp',
+    'src/components/external/ngimu/Osc99/OscAddress.c',
+    'src/components/external/ngimu/Osc99/OscBundle.cpp',
+    'src/components/external/ngimu/Osc99/OscCommon.c',
+    'src/components/external/ngimu/Osc99/OscError.c',
+    'src/components/external/ngimu/Osc99/OscMessage.cpp',
+    'src/components/external/ngimu/Osc99/OscPacket.cpp',
+    'src/components/external/ngimu/Osc99/OscSlip.cpp',
+    'src/components/external/ngimu/ngimu.cpp',
+    'src/components/external/optitrack/optitrack_listener.cpp',
+    'src/components/external/ximu/ximu.cpp',
+    'src/components/internal/actuators/epos/epos.cpp',
+    'src/components/internal/actuators/roboclaw/answer.cpp',
+    'src/components/internal/actuators/roboclaw/factory.cpp',
+    'src/components/internal/actuators/roboclaw/message.cpp',
+    'src/components/internal/actuators/roboclaw/roboclaw.cpp',
+    'src/components/internal/actuators/actuator.cpp',
+    'src/components/internal/actuators/custom_elbow.cpp',
+    'src/components/internal/actuators/elbow_cybathlon.cpp',
+    'src/components/internal/actuators/osmer_elbow.cpp',
+    'src/components/internal/actuators/pronosupination.cpp',
+    'src/components/internal/actuators/shoulder_rotator.cpp',
+    'src/components/internal/actuators/wrist_flexor.cpp',
+    'src/components/internal/actuators/wrist_rotator.cpp',
+    'src/components/internal/actuators/wrist_cybathlon.cpp',
+    'src/components/internal/adc/adafruit_ads1115.cpp',
+    'src/components/internal/dac/mcp4728.cpp',
+    'src/components/internal/gpio/gpio.cpp',
+    'src/components/internal/hand/quantum_hand.cpp',
+    'src/components/internal/hand/touch_bionics_hand.cpp',
+    'src/control/algo/lawimu_we.cpp',
+    'src/control/algo/lawimu_wrist.cpp',
+    'src/control/algo/lawjacobian.cpp',
+    'src/control/algo/lawopti.cpp',
+    'src/control/algo/myocontrol.cpp',
+    'src/control/compensation_imu.cpp',
+    'src/control/compensation_optitrack.cpp',
+    'src/control/controle_bretelles.cpp',
+    'src/control/cybathlon.cpp',
+    'src/control/demo.cpp',
+    'src/control/demo_imu.cpp',
+    'src/control/jf_opti.cpp',
+    'src/control/jfimu_sk.cpp',
+    'src/control/jfimu_v3.cpp',
+    'src/control/jfimu_v4.cpp',
+    'src/control/jfoptiorientation.cpp',
+    'src/control/matlab_receiver.cpp',
+    'src/control/myo_2electrodes.cpp',
+    'src/control/pushbuttons.cpp',
+    'src/control/read_adc.cpp',
+    'src/control/recorddata.cpp',
+    'src/control/remote_computer_control.cpp',
+    'src/control/test_imu.cpp',
+    'src/control/voluntary_control.cpp',
+    'src/sam/sam.cpp',
+    'src/sam/samanager.cpp',
+    'src/sam/system_monitor.cpp',
+    'src/ui/menu/menu_console.cpp',
+    'src/ui/menu/menu_frontend.cpp',
+    'src/ui/menu/menu_mqtt.cpp',
+    'src/ui/sound/buzzer.cpp',
+    'src/ui/visual/ledstrip.cpp',
+    'src/utils/interfaces/menu_user.cpp',
+    'src/utils/interfaces/mqtt_user.cpp',
+    'src/utils/log/logger.cpp',
+    'src/utils/log/safe_stream.cpp',
+    'src/utils/monitoring/abstract_monitor.cpp',
+    'src/utils/monitoring/cpu_freq_monitor.cpp',
+    'src/utils/monitoring/cpu_load_monitor.cpp',
+    'src/utils/monitoring/cpu_temp_monitor.cpp',
+    'src/utils/monitoring/vc_based_monitor.cpp',
+    'src/utils/named_object.cpp',
+    'src/utils/param.cpp',
+    'src/utils/serial_port.cpp',
+    'src/utils/socket.cpp',
+    'src/utils/threaded_loop.cpp',
+    'src/utils/watchdog.cpp',
+    'src/utils/worker.cpp',
+    'src/ux/menu/menu_backend.cpp',
+    'src/ux/menu/menu_broker.cpp',
+    'src/ux/menu/menu_item.cpp',
+    'src/ux/mosquittopp/client.cpp',
+    'src/ux/mosquittopp/connect_factory.cpp',
+    'src/ux/mosquittopp/connect_helper.cpp',
+    'src/ux/mosquittopp/message.cpp',
+    'src/ux/mosquittopp/subscription_factory.cpp',
+    'src/ux/mosquittopp/subscription.cpp',
+]
+
+i2c_dep = declare_dependency(link_args : ['-li2c'])
+eposcmd_dep = declare_dependency(link_args : ['-lEposCmd'])
+mosquitto_dep = declare_dependency(link_args : ['-lmosquitto'])
+bcm2835_dep = declare_dependency(link_args : ['-lbcm2835'])
+vc_dep = declare_dependency(link_args : ['-lvcos', '-lvchiq_arm', '-lvchostif'])
+cppfs_dep = declare_dependency(link_args: ['-lstdc++fs'])
+thread_dep = dependency('threads')
+
+add_project_arguments('-DMOSQUITTO_SERVER_IP="127.0.0.1"', language : 'cpp')
+add_project_arguments('-DMOSQUITTO_SERVER_PORT=1883', language : 'cpp')
+add_project_arguments('-DDEFAULT_CPU_CORE=2', language : 'cpp')
+add_project_arguments('-DDEFAULT_THREAD_PRIO=20', language : 'cpp')
+
+sam_target = executable('sam', 
+    sam_src, 
+    include_directories : sam_public_headers, 
+    dependencies : [bcm2835_dep, cppfs_dep, eposcmd_dep, i2c_dep, mosquitto_dep, thread_dep, vc_dep],
+)

meson/cross_file.ini

@@ -0,0 +1,21 @@
+[host_machine]
+system = 'linux'
+cpu_family = 'arm'
+cpu = 'armv7'
+endian = 'little'
+
+[constants]
+arch = '/opt/sam-sdk/arm-buildroot-linux-gnueabihf_sdk-buildroot/bin/arm-none-linux-gnueabihf-'
+sysroot = '/opt/sam-sdk/arm-buildroot-linux-gnueabihf_sdk-buildroot/arm-buildroot-linux-gnueabihf/sysroot/'
+cpp_flags = ['--sysroot=' + sysroot, '-isystem' + sysroot + '/opt/vc/include', '-isystem' + sysroot + '/usr/local/include', '-isystem' + sysroot + '/usr/include/arm-linux-gnueabihf']
+link_flags = ['-L' + sysroot + '/usr/lib/arm-linux-gnueabihf', '-L' + sysroot + '/opt/vc/lib','-L' + sysroot + '/usr/local/lib']
+
+[properties]
+cpp_args = cpp_flags
+cpp_link_args = link_flags
+
+[binaries]
+c = arch + 'gcc'
+cpp = arch + 'g++'
+ar = arch + 'ar'
+strip = arch + 'strip'

meson/native.ini

@@ -0,0 +1,8 @@
+[constants]
+cpp_flags = ['-isystem/opt/vc/include', '-isystem/usr/local/include']
+link_flags = ['-L/opt/vc/lib','-L/usr/local/lib']
+
+[properties]
+cpp_args = cpp_flags
+cpp_link_args = link_flags
+