The middleware framework of in-vehicle soa, based on C++.

Note: This is a top-layer project, you can enter the subprojects to build separately.

The subprojects is here:

mifsa-base

mifsa-gnss

mifsa-ota

The yocto-layer is here:

meta-mifsa

The yocto-build-project is here:

mifsa-yocto-build

Detailed documentation is found in introduction(中文).

• Implementation based on Modern c++ （c++14）.
• Soa-based architecture design, support dds someip fdbus .
• Hierarchical design, low in coupling, support non-intrusive development
• Modern cmake project management, standard export of support libraries.
• Platform abstraction and plug-in, with good portability.
• Cross-platform support
• Fewer dependencies on 3rd party libraries (only hpp).
• Support Fuzz-test (TODO).

Compiler: this makes heavy use of C++11 and requires a recent compiler and STL. The following compilers are known to compile the test programs:

• msvc2015+ on Windows7
• clang-3.4+ on Ubuntu-14.04
• g++-4.9+ on Ubuntu-14.04
• qcc7.0.0+ on Qnx7.0.0
• ndk r12+ on Android8

This repository uses the following header only C++ library:

• dylib

• ghc

• popl

One of the following rpc communication libraries is required:

• fdbus protobuf

• commonapi-core-runtime commonapi-someip-runtime capicxx-core-tools capicxx-someip-tools

• rclcpp(ros2)

Note: Also supports custom rpc.

cmake -B build
cmake --build build --target install

Optional:

• -DMIFSA_BUILD_EXAMPLES:

  whether to compile the examples, default is on.

• -DMIFSA_BUILD_TESTS :

  whether to compile the tests, default is on.

• -DMIFSA_IDL_TYPE:

  Select the rpc communication component (idl), support auto/ros/vsomeip/fdbus/custom, default is auto.

Examples:

cmake -B build \
	-DCMAKE_INSTALL_PREFIX=build/install \
	-DMIFSA_BUILD_EXAMPLES=ON \
	-DMIFSA_BUILD_TESTS=OFF \
	-DMIFSA_IDL_TYPE=fdbus
cmake --build build --target install -j8

Note:
For vsomeip support, capicxx-core-tools Need to link to the bin directory.
Example:
ln -sf [capicxx-core-tools dir]/commonapi-core-generator-linux-x86_64 /usr/local/bin/capicxx-core-gen
ln -sf [capicxx-core-tools dir]/commonapi-someip-generator-linux-x86_64 /usr/local/bin/capicxx-someip-gen

For ros2 support, you should set following environment
export AMENT_PREFIX_PATH=[ros2 install dir] #example: opt/ros2_install
export CMAKE_PREFIX_PATH=[ros2 install dir] #example: opt/ros2_install
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH;[ros2 lib install dir] #example: opt/ros2_install/lib
export PYTHONPATH=[ros2 python install path] #example: opt/ros2_install/lib/python3.10/site-packages

Note: Only support in linux.

./copyproject.sh
#inpurt project name to copy
#inpurt target project name
#inpurt string to replace
#inpurt target string

Examples:

./copyproject.sh
mifsa_gnss
mifsa_media
gnss
media

Then，modify other content to complete the adaptation of the module.

Juntuan.Lu, 2020-2030, All rights reserved.