LibXR

Want to be the best embedded framework

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Who is this library for

• People who do not require desktop and web applications.
• Realtime and high performance.
• Finish the entire project quickly and reliably.
• Don't want to care about the differences in APIs.

Hardware Support

Platform Peripheral Support List

System Layer

1. The application will never exit unless it reboot or enter into low-power mode.
2. All memory is only allocated during initializtion and will never be released.
3. The minimum Non-blocking delay is 1us, minimum blocking delay is 1ms.
4. All unused functions will not be linked.

System	Thread	Timer	Semaphore	Mutex	Queue	ASync
None	✅	✅	✅	✅	✅	✅
FreeRTOS	✅	✅	✅	✅	✅	✅
ThreadX	✅	✅	✅	✅	✅	✅
Linux	✅	✅	✅	✅	✅	✅
Webots(Linux)	✅	✅	✅	✅	✅	✅
WebAssembly(SingleThread)	✅	✅	✅	✅	✅	✅

Data structure

Structure	List	Stack	RBTree	LockFreeQueue	LockFreeList
	✅	✅	✅	✅	✅

Middleware

Middleware	Event	Message	Ramfs	Terminal	Database	Log
	✅	✅	✅	✅	✅	✅

Utils

Some useful tools for debugging, robotics, and communication.

Kinematics	Forward-Kinematics	Inverse-Kinematics	Coordinate	Pose and Position
	✅	✅	❌	✅

Dynamics	Inertia	Torque	G-Compensation
	✅	❌	❌

Control	PID	LQR	MPC
	✅	❌	❌

Signal	LP Filter	Kalman Filter	FFT	FunctionGen
	❌	❌	❌	❌

Math	CycleValue	CRC8/16/32	Triangle
	✅	✅	❌

Usage

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# LibXR
set(LIBXR_SYSTEM FreeRTOS) # None/Linux/FreeRTOS...
set(LIBXR_DRIVER st)       # st/Linux/...
add_subdirectory(path_to_libxr)

target_link_libraries(${CMAKE_PROJECT_NAME}
    xr
)

target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
    PUBLIC $<TARGET_PROPERTY:xr,INTERFACE_INCLUDE_DIRECTORIES>
)

General CMake Configuration

System and Driver Platform Selection

By default, the host system (Linux, Windows) is automatically detected, and LIBXR_SYSTEM and LIBXR_DRIVER are set accordingly. You can also manually specify them via the CMake command line or in an external CMakeLists.txt, corresponding to the different folders under system and driver.

# Manually specify system and driver
set(LIBXR_SYSTEM Linux)
set(LIBXR_DRIVER Linux)

Build as Shared/Static Library

By default, the library is built as an object target. You can explicitly set the build type in the CMake command line or your own CMakeLists.txt:

# Build as a shared library
set(LIBXR_SHARED_BUILD True)

# Build as a static library
set(LIBXR_STATIC_BUILD True)

Disable Eigen

This option disables building the Eigen library and will also disable any code depending on Eigen. This is useful for platforms with incomplete C++ standard library support.

set(LIBXR_NO_EIGEN True)

Default Scalar Type

The default scalar type is double. This option only affects the default value for constructors.

set(LIBXR_DEFAULT_SCALAR float)

Internal Printf Buffer Size

Defaults to 128 for bare-metal/RTOS platforms, and 1024 for Linux. This option sets the buffer size for the LibXR::STDIO::Printf function. Setting this to 0 will disable all log printing.

set(LIBXR_PRINTF_BUFFER_SIZE 256)

Maximum Log Message Length

Defaults to 64 for bare-metal/RTOS, and 256 for Linux.

set(XR_LOG_MESSAGE_MAX_LEN 256)

Log Level

Levels 4-0 correspond to DEBUG, INFO, PASS, WARNING, and ERROR, with the default set to 4. This option determines the maximum log level allowed to be published to topics.

set(LIBXR_LOG_LEVEL 4)

Log Print Level

Levels 4-0 correspond to DEBUG, INFO, PASS, WARNING, and ERROR, with the default set to 4. This option determines the maximum log level allowed to be printed to STDIO::write_.

Unit Testing

Enable this option to build unit tests on the Linux platform.

set(LIBXR_TEST_BUILD True)

Others

STM32 C++ Code Generator

libxr-python-package

Video Tutorial

Bilibili

License