Writing EEROS Applications for Beaglebone Blue Board

Back to Use on a Beaglebone Blue Board.

You will use C++ to develop your EEROS applications. For this you need at least some knowledge of the basic language features. A good starting point might be https://www.cplusplus.com/doc/tutorial/. Minimal help can also be found under C++ for Beginners.

All the necessary libraries are already on our images, notably eeros, librobotcontrol and bbblue-eeros. What do you want to do next?

Say Hello with EEROS

Create a project directory and change into it with
```
$ mkdir hello
$ cd hello 
```

Create a text file “main.cpp” and copy the following code into it

#include <iostream>
#include <eeros/logger/Logger.hpp>
#include <eeros/logger/StreamLogWriter.hpp>
 
int main() {
  using namespace eeros::logger;
 
  Logger::setDefaultStreamLogger(std::cout);
  Logger log = Logger::getLogger();
 
  log.info() << "Hello, EEROS";
 
  return 0;
}

Create a text file “CMakeLists.txt” and copy the following text into it:

cmake_minimum_required(VERSION 3.10)
project(helloworld)
 
set(CMAKE_CXX_STANDARD 14)
find_package(EEROS REQUIRED)
 
add_executable(helloworld main.cpp)
target_link_libraries(helloworld PRIVATE EEROS::eeros)

Create a build directory and change into it with
```
$ mkdir build-armhf
$ cd build-armhf 
```
Source the script for the SDK which has been installed in Install SDK on the Host with
```
$ . ~/ost-devel/1.0/environment-setup-cortexa8hf-neon-poky-linux-gnueabi
```
This step has to be done only once. However, you have to repeat it as soon as you open another shell.
Build the project with
```
$ cmake ..
$ make
```
Make changes to “main.cpp”, save them and rebuild with
```
$ make
```
In order to be able to write your own EEROS programs, you could use any text editor. However, we recommend to use an integrated development environment, see Use KDevelop with Existing Build Configuration.

Continue with Deploy to Beaglebone Blue Board.

Use Existing Project

As an example we use the Control a Single Motor demo program.

Clone the code for the project, change into the directory and checkout a stable version with

$ git clone https://github.com/eeros-project/simple-motor-control.git
$ cd simple-motor-control
$ git checkout v1.0.0

Create a build directory and change into it with
```
$ mkdir build-armhf
$ cd build-armhf 
```
Source the script for the SDK which has been installed in Install SDK on the Host with
```
$ . ~/ost-devel/1.0/environment-setup-cortexa8hf-neon-poky-linux-gnueabi
```
This step has to be done only once. However, you have to repeat it as soon as you open another shell. - Build the project with
```
$ cmake -DUSE_BBBLUE=TRUE ..
$ make
```

Continue with Deploy to Beaglebone Blue Board.