Write a Guidance Mode in C++

e267 · April 22, 2022, 3:38pm

Hi,

I’m trying to write a guidance mode in C++, I’ve written my code following what’s explained on Guidance - 7.7 and I’ve made changes to the ‘atom.mk’ file however I can’t figure out how to make the whole thing work. My cpp file is compiled but doesn’t seem to be taken into account. I feel like I’m missing something on how executables are dealt with. Could anyone help me ? Is there any documentation that I could refer to ?

Thank you

Ronan · April 26, 2022, 5:47pm

Hi e267,

We are working on adding more examples to the airsdk samples repository. but they are not ready (including an example of C++ guidance mode).

Please find a template of a atom.mk to be placed in you guidance/native directory and included by the main atom.mk of autopilot-plugins by adding ‘include $(LOCAL_PATH)/guidance/native/atom.mk’ at the end of the file.

template.zip (495 Bytes)

You can find documentation on how to write an atom.mk here (it is part of Alchemy build system documentation):

github.com

Parrot-Developers/alchemy/blob/master/doc/alchemy.html

<p><title>Alchemy</title>
<link href="markdown.css" rel="stylesheet"></link></p>

<script src="toc.js" type="text/javascript"></script>

<p><body onload="generateTOC(document.getElementById('toc'));"></p>

<h1>Introduction</h1>

<p><code>Alchemy</code> is a new build system based on the one used in Android. A central
makefile instance scans a workspace to find user makefiles, includes them and
register modules to be built. Modules are described by a set of variables
(<code>LOCAL_XXX</code>) specifying source files, custom compilation flags, include
directories and some other more advanced stuff.</p>

<p>Modules can be libraries (static and shared), executable, prebuilt binaries of
components built by another build system (like autotools suite for many linux
packages). Build of external modules is similar to what is done in buildroot.</p>

<p><code>Alchemy</code> is hence a mix of what can be done in Android (building source files

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Thanks,

Ronan · April 26, 2022, 5:49pm

Also you will need to enable it in the build config.

To edit the configuration file (and enable your module), you can use the ./build.sh -p hello-pc -A xconfig (graphical) or ./build.sh -p hello-pc -A menuconfig (ncurses) tasks, which work similarly to the linux kernel configuration tools.

This will allow the -t all task to properly build your new module.

Thanks,

e267 · May 2, 2022, 12:29pm

Hi Ronan,

Thanks a lot ! However I’ve followed your instructions and it still doesn’t work.
This is what I’ve done so far :
(1) I’ve added the template of the atom.mk file and the guidance modes written in cpp under the directory guidance/native
(2) I’ve changed how the guidance messages.proto is handled in the main atom.mk following the same syntax used for the service’s messages.proto and added the line ‘include $(LOCAL_PATH)/guidance/native/atom.mk’
(3) I’ve removed anything relative to the guidance file written in python in the main atom.mk

It builds just fine using ‘./build.sh -p hello-pc -A xconfig’ and then ‘./build.sh -p hello-pc -t all -j’ but when I launch the mission and want to use a mode it doesn’t work.

Is there something else that I should know and/or could try ? Here is how I’ve written my guidance modes :

I’ve also added the functions guidance_plugin_init(guidance::Guidance *guidance) and void guidance_plugin_shutdown(guidance::Guidance *guidance) at the end of the file.

Thanks,

e267 · May 2, 2022, 1:19pm

Also, when the mission is launched I get the following log :
guidance (guidance-337) : Adding guidance mode ‘ModeTest’

There is no errors but I can’t see my log “DEBUG TEST”

e267 · May 2, 2022, 4:26pm

Issue solved : the name given to the mode in the cpp file was different from the one used with the set_guidance_mode() function

system · May 5, 2022, 4:26pm

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