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SSL - AI

Development Guidelines

The code follows the guideline describe in ROS. ROS_Guideline

Format

We using a .clang-format file. Caution ! Use the clang-format version 6.0, if your OS doesn't install it automatically then install clang-format-6.0 and rename the command to use the format script.

Requirements

System dependencies

You will need theses packets:

sudo apt-get install -y g++ cmake libprotobuf-dev \
  protobuf-compiler php php-cli php-xml \
  libgtest-dev libwebsockets-dev gnuplot

To install the new viewer, we have conflits between the npm and the libwebsockets. Go to here https://github.com/nodesource/distributions/blob/master/README.md and install npm.

Catkin

Now install catkin:

sudo apt-get install -y python-pip python-empy
# Eventually, if necessary, install python3-trollius
sudo apt-get install -y python3-trollius
sudo pip install -U catkin_tools

Dependencies

After cloning this repository, run:

./workspace setup
./workspace install

This will install all the dependencies.

See also clang-format above.

Building

To build, run:

./workspace build

Then, you can use the following debugging binaries:

  • ./bin/vision, to display informations from the vision (see client/vision.cpp)
  • ./bin/referee, to display informations from the referee (see client/referee.cpp)
  • ./bin/sim, to send commands to the simulator (see client/sim.cpp)

Documentation

From workspace root:

cd doc
mkdir build
cd build
cmake ..
make doc

Documentation is inside html directory.

Testing

Tests can be built using the command: ./workspace tests

To run the tests (once built), use the command: ./workspace test

Access to the test message is controlled by adding the flag --verbose.

Example: Building and showing tests, but only for ssl_ai ./workspace tests --verbose --no-deps ssl_ai

Packages

Here are the packages:

  • client: the package to communicate with the SSL official software (vision, referee and simulator)
    • Note that this provides test binaries in bin/ directory
  • viewer: the viewer to interact with the strategies
  • TODO!

QtCreator

To use QtCreator, you have to add following line at the end of the file .workspace/SetupCommand.php:

below the line:

OS::run('catkin config --profile release -x _release --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-Wall -msse2"');

add the two lines:

OS::run('catkin config --profile qtcreator_debug -x _qtdebug --cmake-args -G"CodeBlocks - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="-Wall -msse2"');

OS::run('catkin config --profile qtcreator_release -x _qtrelease --cmake-args -G"CodeBlocks - Unix Makefiles" -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-Wall -msse2"');

This will create a debug and release profile with CodeBlocks support (needed by QtCreator).

Then:

./workspace setup
./workspace build --profile=qtcreator_debug
./workspace build --profile=qtcreator_release

Now, you can load a CMakeLists.txt into QtCreator:

qtcreator src/ai/CMakeLists.txt

In the configure project window, uncheck desktop and choose "import compil from..." and select build_qtdebug/ssl_ai then click on Import button. This will create a temporary imported kit with only one checked. You can add various setup (debug/release/...) by selecting the right building directory (i.e. build_qtrelease/ssl_ai).

Finally, click on "Configure Project" button.

If you want to reset your Qt configuration, just remove the file CMakeLists.txt.user. Also, please never add this file to the git repository.