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NobroRTOS C++ Binding

This folder provides header-only C++ convenience wrappers over the C ABI. The wrappers are allocation-free, exception-free, and intended for control libraries, sensor libraries, host tests, and SDK-style integrations.

Header

Add both include folders to your include path:

  • bindings/c/include
  • bindings/cpp/include

Then use:

#include "nobro_rtos.hpp"

Example:

nobro_manifest_report_t report{};
report.magic = NOBRO_MANIFEST_REPORT_MAGIC;
report.version = NOBRO_REPORT_VERSION;
report.completed = 1;
report.valid = 1;
report.checksum = nobro_manifest_report_checksum(&report);

nobro::rtos::ManifestReportView view(report);
if (!nobro::rtos::passing(view.status())) {
    return -1;
}

Authoring a module in C++

include/nobro_app.hpp is a separate facade for writing module logic in C++ over the C ABI. A module is a plain struct with two static methods, registered in one line; it is deliberately bare-metal-safe (no global constructors, vtables, exceptions, RTTI, or heap):

#include "nobro_app.hpp"

struct ImuModule {
    static int32_t init() {
        const uint8_t wake[2] = {0x6B, 0x01};
        return nobro::I2c::write(0x68, wake, 2);
    }
    static int32_t poll() {
        uint8_t reg = 0x3B, raw[14];
        if (nobro::I2c::write_read(0x68, &reg, 1, raw, 14) < 0) return -1;
        /* ... parse + nobro::publish_imu(...) ... */
        return 0;
    }
};
NOBRO_REGISTER_MODULE(ImuModule)

The NobroRTOS app (core/apps/c_abi_demo) admits the module and drives the callbacks. Build with --features cpp-source: build.rs compiles the .cpp with arm-none-eabi-g++ (-fno-exceptions -fno-rtti, no libstdc++) and links it - the same extern "C" nobro_app_* symbols as the C and Rust providers. Verified on hardware (nRF52840 + an IMU): the kernel admits the C++ module and it reads the IMU to a passing NOBRO_IMU_HW_EVAL_REPORT. See examples/imu_module.cpp.

Scope

The C++ layer currently focuses on type-safe report views plus small helpers for stable hashes, AI route decisions, AI invocation preflight, AI model reports, ROS bridge summaries, ROS bridge preflight, and runtime diagnostics such as admission, runtime, health, event-log, module-runtime, and degraded-mode reports. Builders for module manifests, board packages, and adapter descriptors should remain thin wrappers over fixed-size C or Rust-compatible records.