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F Prime on the Jetson AGX Orin

SCALES has developed an F Prime deployment for the Jetson AGX Orin that can be found in our fprime-scales-ref GitHub in JetsonDeployment.

How to Clone

There are a few git submodules used here, so when cloning be sure to init and update them.

git clone https://github.com/BroncoSpace-Lab/fprime-scales-ref.git
cd fprime-scales-ref
make setup
make arena-init
source fprime-venv/bin/activate

Necessary Changes

Some lines need to be commented in lib/fprime/cmake/API.cmake in order to use fprime-python. Comment out lines 545 and 562.

After this, you should be good to go!

JetsonDeployment Build Configuration

You must generate build JetsonDeployment on the Jetson, we have not set up cross-compilation for aarch64-linux yet.

JetsonDeployment Build Configuration Details Your `settings.ini` should look like this: 
[fprime]
project_root: .
framework_path:     ./lib/fprime
; uncomment this line for JetsonDeployment
library_locations:  ./lib/fprime-python:./lib/fprime-scales
; uncomment this line for ImxDeployment
; library_locations:  ./lib/fprime-scales:

default_cmake_options:  FPRIME_ENABLE_FRAMEWORK_UTS=OFF
                        FPRIME_ENABLE_AUTOCODER_UTS=OFF
Your `project.cmake` should look like this: 
# This CMake file is intended to register project-wide objects.
# This allows for reuse between deployments, or other projects.

add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Components")
# add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImxDeployment/")
add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/JetsonDeployment/")
add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/lib/")
# add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/lib/fprime-scales/scales/scalesSvc")
Your `CMakeLists.txt` in the root project directory should have line 17 containing `register_fprime_target("${CMAKE_SOURCE_DIR}/lib/fprime-python/cmake/target/pybind.cmake")` **uncommented**. Your `Components/CMakeLists.txt` should look like this: 
# Include project-wide components here

# add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/StandardBlankComponent/")
# add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PythonComponent/")
add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/MLComponent/")
add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RunLucidCamera/")

After all of this, on the Jetson you should be able to generate and build the JetsonDeployment.

To generate: 

fprime-util generate aarch64-linux -f

To build and set up the build environment:

make build-jetson