Build Instructions
This section contains the build instructions from the source code available at our GitHub page.
Development Setup
Prerequisites
Compiling Instructions
Getting the Source Code
Get the source code from git:
git clone https://github.com/PhotonVision/photonvision
or alternatively download to source code from github and extract the zip:
Install Necessary Node JS Dependencies
In the photon-client directory:
npm install
Build and Copy UI to Java Source
In the root directory:
./gradlew buildAndCopyUI
./gradlew buildAndCopyUI
gradlew buildAndCopyUI
Build and Run the Source
To compile and run the project, issue the following command in the root directory:
./gradlew run
./gradlew run
gradlew run
Running the following command under the root directory will build the jar under photon-server/build/libs:
./gradlew shadowJar
./gradlew shadowJar
gradlew shadowJar
Using PhotonLib Builds
The build process includes the following task:
./gradlew generateVendorJson
./gradlew generateVendorJson
gradlew generateVendorJson
This generates a vendordep JSON of your local build at photon-lib/build/generated/vendordeps/photonlib.json.
The photonlib source can be published to your local maven repository after building:
./gradlew publishToMavenLocal
./gradlew publishToMavenLocal
gradlew publishToMavenLocal
After adding the generated vendordep to your project, add the following to your project’s build.gradle under the plugins {} block.
repositories {
mavenLocal()
}
Debugging a local PhotonVision build
One way is by running the program using gradle with the --debug-jvm flag. Run the program with ./gradlew run --debug-jvm, and attach to it with VSCode by adding the following to launch.json. Note args can be passed with --args="foobar".
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"type": "java",
"name": "Attach to Remote Program",
"request": "attach",
"hostName": "localhost",
"port": "5005",
"projectName": "photon-core",
}
]
}
PhotonVision can also be run using the gradle tasks plugin with "args": "--debug-jvm" added to launch.json.
Running examples
You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the photonlib-java-examples and photonlib-cpp-examples subdirectories, respectively. The projects currently available include:
- photonlib-java-examples:
aimandrange:simulateJava
aimattarget:simulateJava
getinrange:simulateJava
simaimandrange:simulateJava
simposeest:simulateJava
- photonlib-cpp-examples:
aimandrange:simulateNative
getinrange:simulateNative
To run them, use the commands listed below. Photonlib must first be published to your local maven repository, then the copyPhotonlib task will copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though unsupported.
~/photonvision$ ./gradlew publishToMavenLocal
~/photonvision$ cd photonlib-java-examples
~/photonvision/photonlib-java-examples$ ./gradlew copyPhotonlib
~/photonvision/photonlib-java-examples$ ./gradlew <example-name>:simulateJava
~/photonvision$ cd photonlib-cpp-examples
~/photonvision/photonlib-cpp-examples$ ./gradlew copyPhotonlib
~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative