m3rcuriel / hyperion

Hyperion: Research utilities, production performance

"But as with so many things in our lives, the reason for doing something is not the important thing. It is the fact of doing that remains."

— Dan Simmons, Hyperion (1989)

Table of Contents

• About Hyperion
• Building Hyperion

About Hyperion

Hyperion is a real-time general purpose robotics framework built in Rust.

Building Hyperion

Currently Hyperion is only supported within a monolithic repository structure. Eventually it may support being included in other repositories, but for the moment any project build with Hyperion must be a subfolder of a cloned version of Hyperion, i.e

+ hyperion
  + execution/
  + math/
  + your_project/
  ...

Hyperion can be built on most modern Linux platforms. Currently only some specific platforms are supported through Bazel:

• //tools/platforms:bionic-linux-x86_64
• //tools/platforms:disco-linux-x86_64
• //tools/platforms:cortex-m7f-none

These can be switched between via Bazel flags --host_platform= and --target_platforms=. The differentiating feature between the two ubuntu platforms as far as I can tell currently is whether or not Clang is built against libtinfo6 or libtinfo5. For example, the Ubuntu Disco toolchain works on Arch Linux kernel version 5.0.8.

All unit tests in the project can be tested via bazel test //.... Be aware that pending a patch to Bazel to allow something similar to CPU environment groups, this may break if some ocmponents are only meant to be built for a single platform.