Merge pull request #2 from mathworks/dev_R2026a

Add support for Speedgoat Linux toolchain on MATLAB R2026a.

Author: pablorcum

resources/project/uhX3sCdulACV2vjznfltYOGT8Rw/-4_c-st9ahTGrveJ-kvwfSHaFAQd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/uhX3sCdulACV2vjznfltYOGT8Rw/-4_c-st9ahTGrveJ-kvwfSHaFAQp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="speedgoat-linux-toolchain.cmake" type="File"/>

resources/project/uhX3sCdulACV2vjznfltYOGT8Rw/LDgFujdvEkAdLINrcpsZgf8RuYsd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/uhX3sCdulACV2vjznfltYOGT8Rw/LDgFujdvEkAdLINrcpsZgf8RuYsp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="x64-speedgoat-linux-static.cmake" type="File"/>

toolbox/+vcpkg/buildVcpkgDeps.m

@@ -32,7 +32,7 @@ function buildVcpkgDeps(manifestFolder, vpckgArguments, options)
 %% Figure out target triplet
 
 % Initialize variables
-qnxSdpBat = '';
+targetEnvRootBat = '';
 
 % Figure out target triplet if required
 if options.buildHostOnly
@@ -41,16 +41,28 @@ function buildVcpkgDeps(manifestFolder, vpckgArguments, options)
     targetTriplet = vcpkg.getTargetTriplet;
 
     if contains(targetTriplet, 'qnx', 'IgnoreCase', true)
-        % Using QNX with Siumink Real-Time Target Support Package
+        % Using QNX with Simulink Real-Time Target Support Package
         slrealtime.qnxSetupFcn;
         qnxSpRoot = getenv('SLREALTIME_QNX_SP_ROOT');
         qnxVersion = getenv('SLREALTIME_QNX_VERSION');
 
         if ispc
-            qnxSdpBat = ['&& ',fullfile(qnxSpRoot,qnxVersion,'qnxsdp-env.bat')];
+            targetEnvRootBat = ['&& ',fullfile(qnxSpRoot,qnxVersion,'qnxsdp-env.bat')];
         elseif isunix
             % Sourcing the .sh file for qcc compilation.
-            qnxSdpBat = ['&& ',append('source ',fullfile(qnxSpRoot,qnxVersion,'qnxsdp-env.sh'))];
+            targetEnvRootBat = ['&& ',append('source ',fullfile(qnxSpRoot,qnxVersion,'qnxsdp-env.sh'))];
+        end
+    elseif contains(targetTriplet, 'x64-speedgoat-linux', 'IgnoreCase', true)
+        % Yocto cc specific implementation
+        x64CCRoot = getenv('X64CC_ROOT');
+        if isempty(x64CCRoot)
+            %Error x64 cc root path not defined.
+            error(message('slrealtime:utils:x64CCRootNotSet'));
+        end
+        if ispc
+            targetEnvRootBat = ['&& ',fullfile(x64CCRoot,'toolchain','x64cc-setup-env.bat')];
+        else
+            error('Current host OS is still not supported.');
         end
     end
 
@@ -67,7 +79,7 @@ function buildVcpkgDeps(manifestFolder, vpckgArguments, options)
 
 % Build up vcpkg full command
 vcpkgCmd = ['cd ', manifestFolder, ' ',...
-    qnxSdpBat,...
+    targetEnvRootBat,...
     ' && vcpkg install ',targetTriplet,' --host-triplet ', vcpkg.getHostTriplet,...
     ' --overlay-triplets "', fullfile(vcpkg.getToolboxRoot,'overlay-triplets'), '" ', strjoin(vpckgArguments,' ')];
 

toolbox/+vcpkg/getTargetTriplet.m

@@ -12,7 +12,10 @@
 elseif isMATLABReleaseOlderThan('R2020b')
     triplet = 'x86-windows-static';
 else
-    error('Target triplet is not supported for MATLAB R2026a and later yet. Use buildHostOnly.');
+    % MATLAB R2026a or later
+    if exist('speedgoat','file')
+        triplet = 'x64-speedgoat-linux-static';
+    end
 end
 
 end

toolbox/overlay-triplets/qnx-toolchain.cmake

@@ -12,7 +12,7 @@ if(NOT DEFINED ENV{QNX_HOST} OR NOT DEFINED ENV{QNX_TARGET})
     message(FATAL_ERROR "QNX environment not found. Please 'source qnxsdp-env.sh' first.")
 endif()
 
-# Allow caller to choose architecture; default to aarch64
+# Allow caller to choose architecture; default to x86_64
 set(CMAKE_SYSTEM_PROCESSOR "x86_64" CACHE STRING "QNX target arch (aarch64|armv7|x86_64)")
 
 # Map arch → qcc variant string and sysroot suffix
@@ -43,7 +43,6 @@ set(CMAKE_CXX_COMPILER_TARGET ${QNX_QCC_VARIANT})
 set(CMAKE_SYSROOT "$ENV{QNX_TARGET}/${QNX_SYSROOT_SUFFIX}")
 
 # Make sure CMake finds things in the QNX sysroot first
-set(CMAKE_FIND_ROOT_PATH "$ENV{QNX_TARGET}")
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH)

toolbox/overlay-triplets/speedgoat-linux-toolchain.cmake

@@ -0,0 +1,35 @@
+# speedgoat-linux-toolchain.cmake
+
+# Require a modern-enough CMake
+cmake_minimum_required(VERSION 3.20)
+
+# Tell CMake we target Linux
+set(CMAKE_SYSTEM_NAME Linux)
+
+# Allow caller to choose architecture; default to x86_64
+set(CMAKE_SYSTEM_PROCESSOR "x86_64" CACHE STRING "Speedgoat Linux target arch (aarch64|x86_64)")
+
+# Compilers
+set(CMAKE_C_COMPILER ${CMAKE_SYSTEM_PROCESSOR}-speedgoat-linux-gcc)
+set(CMAKE_CXX_COMPILER ${CMAKE_SYSTEM_PROCESSOR}-speedgoat-linux-g++)
+
+# Sysroot
+set(CMAKE_SYSROOT "$ENV{SDKTARGETSYSROOT}")
+
+# Optimize for target architecture
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    add_compile_options(-march=core2)
+elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+    add_compile_options(-march=armv8-a+crc)
+else()
+    message(FATAL_ERROR "Unsupported processor architecture='${CMAKE_SYSTEM_PROCESSOR}'. Use aarch64|x86_64.")
+endif()
+
+# Make sure CMake finds things in the sysroot first
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE BOTH)
+
+# Set fPIC flag
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)

toolbox/overlay-triplets/x64-speedgoat-linux-static.cmake

@@ -0,0 +1,16 @@
+set(VCPKG_TARGET_ARCHITECTURE x64)
+set(VCPKG_CMAKE_SYSTEM_NAME Linux)
+
+# Linkage preferences
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE static) # common for embedded
+
+# Pass environment variables
+set(VCPKG_ENV_PASSTHROUGH SDKTARGETSYSROOT;PATH)
+
+# Absolute path to the chainloaded toolchain
+set(VCPKG_CHAINLOAD_TOOLCHAIN_FILE
+    "${CMAKE_CURRENT_LIST_DIR}/speedgoat-linux-toolchain.cmake")
+
+# Disable debug builds
+set(VCPKG_BUILD_TYPE release)