Authors: Braden McDorman, Nafis Zarman, Zachary Sasser, Tim Corbly, Erin Harrington

libkipr

Library for interfacing with KIPR Robot Controllers.

Documentation can be viewed at https://www.kipr.org/doc/index.html or by clicking the "Help" button in the KIPR Software Suite IDE.

CMake Options

Each of the following options may be specified when executing CMake by prefixing the option with -D (e.g., -Dwith_accel=OFF).

Modules

with_accel (default: ON) - Build accelerometer support.
with_analog (default: ON) - Build analog sensor support.
with_audio (default: ON) - Build audio support.
with_battery (default: ON) - Build battery support.
with_botball (default: ON) - Build botball support.
with_camera (default: ON) - Build camera support.
with_compass (default: ON) - Build compass support.
with_console (default: ON) - Build console support.
with_create (default: ON) - Build iRobot Create 2 support.
with_digital (default: ON) - Build digital sensor support.
with_graphics (default: ON) - Build graphics support (requires X11 development files, such as x11proto-dev on Debian/Ubuntu).
with_gyro (default: ON) - Build gyroscope support.
with_magneto (default: ON) - Build magnetometer support.
with_motor (default: ON) - Build motor support.
with_network (default: ON) - Build network support.
with_servo (default: ON) - Build servo support.
with_tello (default: ON) - Build Tello support.
with_thread (default: ON) - Build thread support.
with_time (default: ON) - Build time support.
with_wait_for (default: ON) - Build wait_for support.

Bindings

with_python_binding (default: ON) - Build Python binding (requires Python 3+ development files, such as libpython3.10-dev on Debian/Ubuntu).

Miscellaneous

with_documentation (default: ON) - Build documentation support (requires doxygen installed on system).
with_tests (default: ON) - Build tests.

Cross-compiling to aarch64-linux-gnu (e.g., Wombat)

apt install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
cd libkipr
cmake -Bbuild -DCMAKE_TOOLCHAIN_FILE=$(pwd)/toolchain/aarch64-linux-gnu.cmake .

Cross-compiling to JavaScript/WASM (e.g., Simulator)

Without Python Support

libkipr can be compiled to statically link to a C program that has been compiled to emscripten. The resulting libkipr.a should be used.

source emsdk/emsdk_env.sh
cd libkipr
emcmake cmake -Bbuild -Dwith_graphics=OFF -Dwith_camera=OFF -Dwith_tello=OFF -Dwith_python_binding=OFF .

With Python Support

libkipr can be compiled to dynamically link to a cpython that has been compiled to emscripten. The resulting kipr.wasm should be placed in cpython's virtual filesystem on the PYTHONPATH (see simulator for details).

source emsdk/emsdk_env.sh
cd libkipr
emcmake cmake -Bbuild -Dwith_graphics=OFF -Dwith_camera=OFF -Dwith_tello=OFF -DPYTHON_LIBRARY=$PYTHON_LIBRARY -DPYTHON_INCLUDE_DIR=$PYTHON_INCLUDE_DIR -Dwasm=ON .

where:

$PYTHON_LIBRARY is the libpythonVERSION.a file that has been compiled to emscripten-browser.
$PYTHON_INCLUDE_DIR is that python's include directory.

License

libkipr is licensed under the terms of the GPLv3 License.

Contributing

Want to Contribute? Start Here!: https://github.com/kipr/KIPR-Development-Toolkit