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112 lines
3.8 KiB
Markdown
112 lines
3.8 KiB
Markdown
UAVCAN stack in C++
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===================
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[](https://scan.coverity.com/projects/1513)
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Portable reference implementation of the [UAVCAN protocol stack](http://uavcan.org) in C++ for embedded systems
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and Linux.
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UAVCAN is a lightweight protocol designed for reliable communication in aerospace and robotic applications via CAN bus.
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## Documentation
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* [UAVCAN website](http://uavcan.org)
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* [UAVCAN discussion group](https://groups.google.com/forum/#!forum/uavcan)
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* [Libuavcan overview](http://uavcan.org/Implementations/Libuavcan/)
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* [List of platforms officially supported by libuavcan](http://uavcan.org/Implementations/Libuavcan/Platforms/)
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* [Libuavcan tutorials](http://uavcan.org/Implementations/Libuavcan/Tutorials/)
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## Library usage
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### Dependencies
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* Python 2.7 or 3.2 or newer
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Note that this reporitory includes [Pyuavcan](http://uavcan.org/Implementations/Pyuavcan) as a submodule.
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Such inclusion enables the library to be built even if pyuavcan is not installed in the system.
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### Cloning the repository
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```bash
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git clone https://github.com/UAVCAN/libuavcan
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cd libuavcan
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git submodule update --init
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```
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If this repository is used as a git submodule in your project, make sure to use `--recursive` when updating it.
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### Building and installing
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This is only needed if the library is used in a Linux application.
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```bash
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mkdir build
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cd build
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cmake .. # Default build type is RelWithDebInfo, which can be overriden if needed.
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make -j8
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sudo make install
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```
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The following components will be installed into the system:
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* Libuavcan headers and the static library
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* Generated DSDL headers
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* Libuavcan DSDL compiler (Python script `libuavcan_dsdlc`)
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* Libuavcan DSDL compiler's support library (Python package `libuavcan_dsdl_compiler`)
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Pyuavcan will not be installed into the system together with the library; you'll need to install it separately.
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The installed DSDL compiler will not function unless pyuavcan is installed.
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## Library development
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Despite the fact that the library itself can be used on virtually any platform that has a standard-compliant
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C++03 or C++11 compiler, the library development process assumes that the host OS is Linux.
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Prerequisites:
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* Google test library for C++ - gtest (see [how to install on Debian/Ubuntu](http://stackoverflow.com/questions/13513905/how-to-properly-setup-googletest-on-linux))
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* C++03 *and* C++11 capable compiler with GCC-like interface (e.g. GCC, Clang)
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* CMake 2.8+
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* Optional: static analysis tool for C++ - cppcheck (on Debian/Ubuntu use package `cppcheck`)
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Building the debug version and running the unit tests:
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```bash
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mkdir build
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cd build
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cmake .. -DCMAKE_BUILD_TYPE=Debug
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make
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```
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Test outputs can be found in the build directory under `libuavcan`.
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Contributors, please follow the [Zubax Style Guide](https://github.com/Zubax/zubax_style_guide).
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### Developing with Eclipse
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An Eclipse project can be generated like that:
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```bash
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cmake ../../libuavcan -G"Eclipse CDT4 - Unix Makefiles" \
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-DCMAKE_ECLIPSE_VERSION=4.3 \
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-DCMAKE_BUILD_TYPE=Debug \
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-DCMAKE_CXX_COMPILER_ARG1=-std=c++11
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```
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Path `../../libuavcan` in the command above points at the directory where the top-level `CMakeLists.txt` is located;
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you may need to adjust this per your environment.
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Note that the directory where Eclipse project is generated must not be a descendant of the source directory.
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### Submitting a Coverity Scan build
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First, [get the Coverity build tool](https://scan.coverity.com/download?tab=cxx). Then build the library with it:
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```bash
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export PATH=$PATH:<coverity-build-tool-directory>/bin/
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mkdir build && cd build
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cmake <uavcan-source-directory> -DCMAKE_BUILD_TYPE=Debug
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cov-build --dir cov-int make -j8
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tar czvf uavcan.tgz cov-int
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```
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Then upload the resulting archive to Coverity.
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