ESP-IDF Native Component

[vinicius-trev]

Does anyone have an idea or suggestions on how to integrate this library as a native idf component without using PlatformIO?

I made a way for it to compile but I am not a CMake expert, thus while linking the main file there were some undefined references.

First, I added the project as a submodule, then create a parent CMakeLists.txt kind of following the idf example:

# Since we are wrapping the library inside a component,
# the component has to be registered first:
idf_component_register()

# To build a third-party library, ExternalProject CMake module can be used.
# ExternalProject offers many features which are impossible to demonstrate
# in a single example. Please refer to its documentation for more info:
#   https://cmake.org/cmake/help/latest/module/ExternalProject.html
include(ExternalProject)

# Define the location where agisostack-plus-plus will be installed:
set(AGISOSTACK_INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/agisostack-plus-plus_install)

# This function find the submodule in the project, calls CMake to configure it,
# builds the project and installs it to the specified location:
externalproject_add(agisostack-plus-plus_proj
    # Find the source files in the project third party folder
    SOURCE_DIR ${PROJECT_DIR}/src/third_party/AgIsoStack-plus-plus/AgIsoStack-plus-plus

    # Specify arguments to be passed when running CMake for this subproject.
    # Note that ExternalProject_Add also works with non-CMake projects, so this
    # is just an example.
    CMAKE_ARGS
        # Use the same CMake toolchain file as for the main project.
        -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
        # agisostack-plus-plus-specific settings: disable building everything except for the static library
        -DBUILD_TESTING=FALSE
        -DBUILD_EXAMPLES=FALSE
        -DCAN_DRIVER="TWAI"
        # Pass the install directory to the subproject.
        -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>

    # These options are set so that Ninja immediately outputs
    # the subproject build to the terminal. Otherwise it looks like the
    # build process "hangs" while the subproject is being built.
    USES_TERMINAL_DOWNLOAD TRUE
    USES_TERMINAL_CONFIGURE TRUE
    USES_TERMINAL_BUILD TRUE

    # Specify the installation directory for the subproject
    INSTALL_DIR ${AGISOSTACK_INSTALL_DIR}
    # Let CMake know that the library is generated by the subproject build step.
    BUILD_BYPRODUCTS "${AGISOSTACK_INSTALL_DIR}/lib/libHardwareIntegration.a" "${AGISOSTACK_INSTALL_DIR}/lib/libIsobus.a" "${AGISOSTACK_INSTALL_DIR}/lib/libUtility.a"
)

# Now that the subproject build is set up, we need to consume the results
# of the build: the header file and the static library.
# To do this, define an imported CMake library:
add_prebuilt_library(agisostack-plus-plus_lib "${AGISOSTACK_INSTALL_DIR}/lib/libHardwareIntegration.a" "${AGISOSTACK_INSTALL_DIR}/lib/libIsobus.a" "${AGISOSTACK_INSTALL_DIR}/lib/libUtility.a"
                     PRIV_REQUIRES cxx)


target_include_directories(agisostack-plus-plus_lib INTERFACE "${AGISOSTACK_INSTALL_DIR}/include")
add_dependencies(agisostack-plus-plus_lib agisostack-plus-plus_proj)

# Link the imported library to the current component.
target_link_libraries(${COMPONENT_LIB} INTERFACE agisostack-plus-plus_lib)

I can see the libHardwareIntegration.a libIsobus.a and libUtility.a inside the build folder, but when linking I got a bunch of undefined references for all the library functions, like:

(...)
can_hardware_interface.cpp:(.text+0x12e6): undefined reference to `_ZN6isobus43on_transmit_can_message_frame_from_hardwareERKNS_15CANMessageFrameE'
/opt/esp/tools/xtensa-esp-elf/esp-13.2.0_20230928/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/AgIsoStack-plus-plus/agisostack-plus-plus_install/lib/libHardwareIntegration.a(can_hardware_interface.cpp.obj): in function `_ZZN6isobus20CANHardwareInterface6updateEvENKUlRKSt10unique_ptrINS0_11CANHardwareESt14default_deleteIS2_EEE_clES7_':
can_hardware_interface.cpp:(.text+0x135b): undefined reference to `_ZN6isobus39receive_can_message_frame_from_hardwareERKNS_15CANMessageFrameE'
/opt/esp/tools/xtensa-esp-elf/esp-13.2.0_20230928/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/AgIsoStack-plus-plus/agisostack-plus-plus_install/lib/libHardwareIntegration.a(can_hardware_interface.cpp.obj): in function `_ZN6isobus20CANHardwareInterface6updateEv':
can_hardware_interface.cpp:(.text+0x13f8): undefined reference to `_ZN6isobus12SystemTiming15time_expired_msEmm'
/opt/esp/tools/xtensa-esp-elf/esp-13.2.0_20230928/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: can_hardware_interface.cpp:(.text+0x140d): undefined reference to `_ZN6isobus29periodic_update_from_hardwareEv'
/opt/esp/tools/xtensa-esp-elf/esp-13.2.0_20230928/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: can_hardware_interface.cpp:(.text+0x1413): undefined reference to `_ZN6isobus12SystemTiming16get_timestamp_msEv'
/opt/esp/tools/xtensa-esp-elf/esp-13.2.0_20230928/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/AgIsoStack-plus-plus/agisostack-plus-plus_install/lib/libHardwareIntegration.a(can_hardware_interface.cpp.obj):(.rodata+0x608): undefined reference to `_ZTINSt6thread6_StateE'
/opt/esp/tools/xtensa-esp-elf/esp-13.2.0_20230928/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/AgIsoStack-plus-plus/agisostack-plus-plus_install/lib/libHardwareIntegration.a(can_hardware_interface.cpp.obj):(.rodata._ZTINSt6thread11_State_implINS_8_InvokerISt5tupleIJPFvvEEEEEEE[_ZTINSt6thread11_State_implINS_8_InvokerISt5tupleIJPFvvEEEEEEE]+0x8): undefined reference to `_ZTINSt6thread6_StateE'
collect2: error: ld returned 1 exit status

[vinicius-trev]

For those having the same issues, the solution for now is to include the repository as a submodule and on the parent directory add the necessary files to the CMakeLists.txt using idf_component_register

set(agisostack_priv_requires "cxx driver")
set(agisostack_include_dirs "AgIsoStack-plus-plus/hardware_integration/include" "AgIsoStack-plus-plus/isobus/include" "AgIsoStack-plus-plus/utility/include")
set(hardware_interface_sources  "AgIsoStack-plus-plus/hardware_integration/src/can_hardware_interface.cpp"
                                "AgIsoStack-plus-plus/hardware_integration/src/mcp2515_can_interface.cpp"
                                "AgIsoStack-plus-plus/hardware_integration/src/spi_interface_esp.cpp"
                                "AgIsoStack-plus-plus/hardware_integration/src/spi_transaction_frame.cpp"
                                "AgIsoStack-plus-plus/hardware_integration/src/twai_plugin.cpp"
)

file(GLOB_RECURSE isobus_sources ${COMPONENT_DIR}/AgIsoStack-plus-plus/isobus/src/*.*)
file(GLOB_RECURSE utility_sources ${COMPONENT_DIR}/AgIsoStack-plus-plus/utility/src/*.*)

idf_component_register(SRCS ${hardware_interface_sources} ${isobus_sources} ${utility_sources}
                       INCLUDE_DIRS "${agisostack_include_dirs}"
                       PRIV_REQUIRES "${agisostack_priv_requires}"
)

When using a driver different than the ESP TWAI, changes are needed in the hardware_interface_sources to include the necessary files.