Using Rust with the Kubos SDK¶
The Kubos SDK comes with pre-built support for Rust and Cargo. Additionally, it includes tooling to assist with cross-compiling for a target OBC and to build projects which use both Rust and C.
Cross-compilation¶
The Kubos SDK provides Rust cross-compilation targets for each of the supported OBCs.
The target name varies depending which command is used to compile the project.
| OBC | cargo build target |
cargo kubos target |
| Beaglebone Black | arm-unknown-linux-gnueabihf | kubos-linux-beaglebone-gcc |
| ISIS-OBC | armv5te-unknown-linux-gnueabi | kubos-linux-isis-gcc |
| Pumpkin MBM2 | arm-unknown-linux-gnueabihf | kubos-linux-pumpkin-mbm2-gcc |
Some Rust crates require that the C compiler be explicitly declared when cross-compiling.
| OBC | Compiler Path |
| Beaglebone Black | /usr/bin/bbb_toolchain/usr/bin/arm-linux-gcc |
| ISIS-OBC | /usr/bin/iobc_toolchain/usr/bin/arm-linux-gcc |
| Pumpkin MBM2 | /usr/bin/bbb_toolchain/usr/bin/arm-linux-gcc |
To simplify development when cross-compiling, use the cargo kubos command to automatically setup
the build environment. The cargo kubos command takes a required cargo sub-command (i.e. build,
test), and a target. For example, to build a project for the ISIS iOBC:
$ cargo kubos -c build -t kubos-linux-isis-gcc
Cross compiling can also be done manually by specifying the C compiler path in the CC
environment variable like so:
$ CC={path} cargo build --target {target}
For example, the equivalent command as above using cargo build:
$ CC=/usr/bin/iobc_toolchain/usr/bin/arm-linux-gcc cargo build --target armv5te-unknown-linux-gnueabi
Some crates also depend on pkg-config, which requires that an additional environment variable,
PKG_CONFIG_ALLOW_CROSS, be set in order to enable cross-compiling:
$ PKG_CONFIG_ALLOW_CROSS=1 CC=/usr/bin/iobc_toolchain/usr/bin/arm-linux-gcc cargo build --target armv5te-unknown-linux-gnueabi
Transferring to Target¶
Rust binaries can be transferred to the target OBC via a supported file transfer method.
Binaries may be transferred to any location on the target board, however, they should be copied to /home/system/usr/bin if you would like them to be automatically accessible via the system PATH.
Running on Target¶
Once transferred, the binary can be started with /path/to/binary-name, or by simply specifying
the binary name if the file was transferred to a system PATH directory.