Build & Run

The master build is CMake-driven. Corrosion invokes Cargo to compile the Rust core/ into a static library that links into the C++ targets. Third-party C++ dependencies come in via CMake FetchContent (MTL5, Universal, Catch2, yaml-cpp, stb) — no vcpkg/Conan, because the cross-compilation story for the custom SoC depends on every dependency living under the master toolchain.

SITL (host x86, emulated MemoryProvider) — default

cmake -B build -DBUILD_TARGET_KPU=OFF
cmake --build build -j$(nproc)
cd build && ctest --output-on-failure

KPU target (cross-compile, real KPU/DMA kernel bindings)

cmake -B build -DCMAKE_TOOLCHAIN_FILE=cross-toolchain.cmake -DBUILD_TARGET_KPU=ON
cmake --build build -j$(nproc)

The BUILD_TARGET_KPU flag

This one flag controls both sides of the FFI:

• it sets TARGET_KPU / TARGET_SITL for the C++ targets, and
• it exports RUST_HAL_TARGET=KPU|SITL so the Rust MemoryProvider selects between the real kernel-driver implementation and the POSIX-shm emulation.

The C++ operators (sdk/) and math (math/) never branch on the build target — that distinction stays confined to the Rust core/ HAL.

CMake presets

Four presets remove the need to memorize flag chains:

Preset	Build type	Purpose
sitl-debug	Debug	Primary host build; what CI runs
sitl-release	Release	Optimized host build (latency budgets are enforced here)
kpu-cross	Release	aarch64 cross-compile for KPU silicon
wsl2-sitl	Debug	Linux build from the Windows/Visual Studio IDE via WSL2

cmake --preset sitl-release
cmake --build --preset sitl-release
ctest --preset sitl-release

Running specific tests

The suite is Catch2-based and registered with catch_discover_tests, so ctest -R filters by name:

# the VIO trajectory metrics + EuRoC harness
ctest -R vio_euroc --output-on-failure

# the MSCKF and estimator suites
ctest -R 'sdk_msckf|sdk_vio' --output-on-failure

The EuRoC accuracy benchmark and the latency budget are dataset-/optimized-build gated — they run when you point CORTEX_EUROC_V101 at a sequence and build under NDEBUG, and otherwise skip cleanly so CI stays green without the dataset. See Benchmarks & Validation.

Toolchain notes

• C++20 is required (std::span, the concepts MTL5 leans on). Do not lower it.
• The Rust toolchain is pinned in rust-toolchain.toml (currently 1.83.0); bumps are deliberate PRs of their own.
• If CI compile time grows, the answer is sccache, not a package manager.
• MLIR/LLVM (when introduced) are installed as pre-built binaries, never FetchContent’d — building LLVM from source destroys iteration time.