Installation

1. Clone repository
2. Install rust
   • With rustup (https://www.rust-lang.org/tools/install)
   • Install the rust ARM toolchain
     • $ rustup target add arm-unknown-linux-gnueabi
3. Install RoboRIO toolchain
   • From https://github.com/wpilibsuite/roborio-toolchain/releases
   • Unzip and copy the roborio/ folder to ./toolchain/ (copy the roborio folder itself, not the contents inside)
4. Install clang (required by bindgen)
   • Follow https://rust-lang.github.io/rust-bindgen/requirements.html
     • For Mac, install homebrew if you haven't already (https://brew.sh/)
5. Install wpilib/vendor dependencies
   • Run the install_deps.py script
     • $ cd frc-sys && ./install_deps.py
6. Compile 2021 swerve robot test package
   • $ cargo build -p r2021-swerve --release
7. Code editor
   • Recommended: VSCode + rust-analyzer extention
     • https://marketplace.visualstudio.com/items?itemName=matklad.rust-analyzer
   • Alternative: IntelliJ Ultimate/CLion + rust extension

Project structure

├── frc             - package containing friendly wrappers around frc-sys
├── frc-sys         - package containing generated rust bindings to frc libraries
│   ├── include     - frc headers installed with install_deps.py
│   ├── lib         - frc libraries installed with install_deps.py
│   ├── src         - frc autogenerated bindings
│   ├── vendordeps  - frc dependency JSON files
│   └── wrappers    - frc C headers to generate rust bindings from
├── r2021-swerve    - 2021 swerve robot (mainly for testing)
└── toolchain       - roborio toolchain

Remote debugging

Reference: https://github.com/frc1678/robot-code-public/blob/master/docs/gdb.md

1. Debug server on robot
   • ssh into robot
   • Kill autostarting code
     • $ . /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null
   • Run gdbserver
     • $ gdbserver localhost:2345 ./frcUserProgram
2. Run gdb on computer
   • Install gdb (Mac)
     • toolchain/roborio/bin/arm-frc2021-linux-gnueabi-gdb works but crashes randomly a lot
     • Install with homebrew
       • Use the solution here https://stackoverflow.com/questions/54541783/installing-gdb-with-all-targets-on-mac-with-homebrew to install ARM target as well
   • Run gdb
   • $ gdb target/arm-unknown-linux-gnueabi/debug/rswerve
     • Setup remote
       • target remote roborio-846-frc.local:2345
       • set sysroot remote:/
     • Start robot code
       • continue