Kubos SDK Cheatsheet¶
Note
This doc refers to the process used for creating and interacting with projects written in C. Please see the separate docs for details about using Rust or Python.
Creating a Project¶
Run the kubos init -l command followed by the name of your project to
bootstrap your Kubos project. This will create a new directory under
your current working directory with your project’s name and add the
source files for a basic Kubos C project (kubos-linux-example).
$ kubos init -l linux-project-name # Creates a project
Note
Inside of the build system there are several reserved words,
which cannot be used as the name of the project. These are test,
source, include, yotta_modules and yotta_targets.
The contents of your project directory should look something like this:
$ ls
CONTRIBUTING LICENSE.txt module.json README source yotta_modules yotta_targets
Here is a quick rundown of the files that were generated:
| File/folder | Description |
|---|---|
| project-name | This folder is where header files live |
| source | This folder is where source files live |
| test | This folder is where test source files live |
| module.json | This file is yotta’s module description file |
| yotta_modules | This directory holds the symlinks for the project’s module dependencies |
| yotta_targets | This directory holds the symlinks for the available Kubos targets |
| CONTRIBUTING.md | The doc outlining the process of contributing to a Kubos project |
| LICENSE.txt | The software license associated with the example project |
| README.md | The readme for the example project that outlines some of the basic details of the example |
Kubos uses the yotta build/module system, which is where this file structure comes from. You can read more about yotta here.
Selecting a Target¶
Kubos needs to know which target you intend to build for so it can select the proper cross compiler. Kubos currently supports several different targets:
| Vendor | Kubos Target | Description |
|---|---|---|
| ISIS | kubos-linux-isis-gcc | ISIS-OBC |
| Pumpkin | kubos-linux-pumpkin-mbm2-gcc | Pumpkin Motherboard Module 2 |
| Beaglebone | kubos-linux-beaglebone-gcc | Beaglebone Black, Rev. C |
| (Vagrant) | x86-linux-native | Native target for the Kubos Vagrant image |
To select a target, use the kubos target command with the appropriate value from the
“Kubos Target” column.
For example
$ kubos target kubos-linux-beaglebone-gcc
To see all of the available targets run:
$ kubos target --list
Building a Project¶
To build a Kubos project, all we need to do is run the kubos build
command. The Kubos CLI will read the module.json file, determine what
libraries are needed, and build them.
Basic build command:
$ kubos build
Build with verbose output:
$ kubos build -- -v
Note
The Kubos CLI commands have their own specific arguments that
can be used. There are also global arguments (like --verbose or
-v). A double hyphen -- separates the command specific arguments
from the global arguments
Clean command:
$ kubos clean
To build a project from scratch run kubos clean to remove all
remaining files generated for previous builds followed by
kubos build.
Linking Local Modules and Targets¶
The Kubos SDK comes with all of the latest Kubos modules and targets pre-packaged and pre-linked. If a module or target needs to be modified locally, the CLI comes with the ability to link that local module into the build process.
Modules and Targets¶
Modules are groups of source code that implement a feature or unit of functionality. Kubos operating systems are split into a number of modules. An example of a Kubos module is the Kubos HAL
Targets are groups of configuration files that allow toolchains to build and cross-compile modules for specific hardware targets. One example of a Kubos target is the Beaglebone Black Target
Linking Modules¶
Links are made in two steps - first globally, then locally.
By linking a module globally you are making it available to link into any of your projects. By linking the module locally you are including the linked module in your build.
To link a module globally:
$ cd .../<module-directory>/ $ kubos link
To link a module that is already globally linked into a project:
$ cd .../<project-directory>/ $ kubos link <module name>
The next time your project is built it will use your local development module, rather than the packaged version.
Note
Use kubos list to see the modules and depencies being used by
your project as well as the directories they are being referenced from
Linking Targets¶
Custom or modified targets are linked in a very similar way to modules.
Links are made in two steps - first globally, then locally.
By linking a target globally you are making it available to link into any of your projects. By linking the target locally you are now able to use the linked target in your build.
To link a target globally:
$ cd .../<target-directory>/ $ kubos link-target
To link a target that is already globally linked into a project:
$ cd .../<project-directory>/ $ kubos link-target <target name>
You may now use the standard target command to select the newly linked target:
$ cd ../<project-directory>/ $ kubos target <target name>
The next time your project is built it will use your local development target, rather than the packaged version.
Note
Running kubos target will show you whether you are using a
local or a linked copy of a target
Flashing your Project¶
Ensure that your board is plugged into your computer.
Running the following command will list all of the available devices in your Kubos SDK box.
$ lsusb
Run the flash command
$ kubos flash
Note
If your current user does not have read/write permission to your hardware device you may need to run this command as root
$ sudo kubos flash