All programs should work on GNU+Linux Mac OS X 10.10 and Windows >= 7. Building is tested automatically on recent Ubuntu versions (currently 18.04 and 20.04)
Currently, the software is also manually tested and proven to run for openSuse Leap and Manjaro
In order to build the framework, you will need:
cmake>=3.5(3.7on Windows)g++>=7.5Qt>=5.9(NOT5.9.[0-2]on Windows)libssl
Also, protobuf >= 2.6.0 is required, but will be built from source when no
suitable version is found.
Certain features require additional libraries:
libusb-1.0>=1.0.9- USB communication with a wireless transceiverlibsdl2>=2.0.2- Gamepad supportlibudev- required for Gamepad support (only required iflibsdl2is not available via the package manager)libqt5svg5-dev- Required for taking SVG screenshots of the fieldwidgetpython2andgit- Required to build V8
None of the additional libraries are required to use the simulator. You'll just need to install the required dependencies.
The following instructions advise to execute make without arguments, thus
building all targets. This is not needed if you just want to use the
simulator-cli. Build it using make simulator-cli, that will be significantly
faster.
The package names are
cmake protobuf-compiler libprotobuf-dev qtbase5-dev libqt5opengl5-dev g++ libusb-1.0-0-dev libsdl2-dev libqt5svg5-dev libssl-dev
where protobuf-compiler and libprotobuf-dev will be built from source if
not already installed.
The package names are
cmake qt5-base patch pck-conf sdl2 libusb pkgconf openssl
There is a provided protobuf package, however its current version breaks
compilation. It is advisable to let the build system build protobuf from
source.
The required packages can be installed with
sudo zypper install git cmake libqt5-qtbase-devel libusb-1_0-devel libqt5-qtsvg-devel python2-pip libudev-devel patch glu-devel openssl-devel
For building V8 you need to select pip2 as pip, with
sudo alternatives --config pip
Currently, builing the firmware on open suse is not supported. To ignore the firmware, even if you already have some arm compiler installed, use
cmake -DBUILD_FIRMWARE=false ..
instead of the normale cmake command (cmake ..)
Note, that this is not required for the simulator.
There are multiple options to obtain V8 binaries.
-
Download the precompiled version through CMake by specifying the
DOWNLOAD_V8option. To do so, invokecmakeusingcmake -DDOWNLOAD_V8=ONThis might not support all operating systems or distributions. -
Build V8 yourself. Take a look at
data/scripts/README.md.
The recommended way of building a project with CMake is by doing an out-of-source build. This can be done like this:
mkdir build && cd build
cmake ..
make
Alternatively in order to select which Qt-Installation to use specify it using a similar command line:
cmake -DCMAKE_PREFIX_PATH=~/Qt/5.6/gcc_64/lib/cmake ..
In order to download and use the precompiled V8, use:
cmake -DDOWNLOAD_V8=TRUE ..
The framework has an "easy mode" version we use to introduce new members to our software. It disables some of the features to make it less likely for new people to accidentally change something they didn't want to change. For example the simulator, kicker and internal referee can't be disabled in this version. It also changes the default config to make it easier to just start, e.g. select all robots. To build the easy mode version use:
cmake -DEASY_MODE=TRUE ..
To be able to use the USB transceiver / JTAG programmer the rights for udev have to be modified. This only needs to be done once.
sudo cp data/udev/99-robotics-usb-devices.rules /etc/udev/rules.d/99-robotics-usb-devices.rules
Ra and the Logplayer can be started from the build/bin/ directory. To install the desktop files use this command:
make install-menu
Compilation on Windows is done using MSYS2 and cmake. You'll also need to
install Qt 5.
First, download dependencies and setup the compiler environment. The setup is tested using the given versions.
Use the cmake 3.15.5 installer
and select add to PATH.
Run the most recent installer (e.g. msys2-x86_64-20190524.exe)
(use the default path C:\msys64). Open MSYS2 MINGW64 (NOT MSYS2 UCRT) and run the following command
$ pacman -Syu
Close the console when prompted and open it again
$ pacman -Su
# Dependencies for Ra
$ pacman -S patch make mingw-w64-x86_64-gcc mingw-w64-x86_64-cmake mingw-w64-x86_64-ninja
# Dependencies for V8
$ pacman -S python2 git
Close the MSYS console. It is very helpful to set the home directory of mingw to your actual home directory (the default one is something like C:\msys2\mingw64\usr\home). To accomplish that you can set/create the environment variable HOME to whatever you want e.g. C:\Users<insert your username>. If you don't know how to do that google "set environment variable windows".
Run the online installer (use the default install path).
- On 32bit, install
QT 5.13.2 > MinGW 7.3.0 32-bit - On 64bit, install
QT 5.13.2 > MinGW 7.3.0 64-bit
In case you use the offline installer, change to install path such that Qt 5.13.2 ends up in c:\Qt\5.13.2.
After setting up the dependencies, you are ready to start the compilation
DO
- USE THE
MSYS2CONSOLE CORRESPONDING TO YOUR ARCHITECTURE TO COMPILE EVERYTHING i.e.MSYS2 MinGW 32-biton 32-bit systems, andMSYS2 MinGW 64-biton 64-bit systems - Use a folder with a short path like
C:\softwareas base folder - Recreate the build folder after updating
Qtor the compiler
DON'T
- Use a folder whose path contains whitespace
- Use a base folder with a path name longer 30 characters
If you're compiling on a 32bit system, setup the shell like this
$ export USED_QT=/c/Qt/5.13.2/mingw73_32/lib/cmake
On a 64bit system, do this
$ export PATH=/c/Qt/Tools/mingw730_64/bin:$PATH
$ export USED_QT=/c/Qt/5.13.2/mingw73_64/lib/cmake
To compile Ra, run the following commands
$ libs/v8/build.sh
$ mkdir build-win && cd build-win
$ cmake -GNinja -DCMAKE_PREFIX_PATH="$USED_QT" -DCMAKE_BUILD_TYPE=Release ..
To use precompiled V8, use the following commands instead of the commands above
$ mkdir build-win && cd build-win
$ cmake -GNinja -DDOWNLOAD_V8=TRUE -DCMAKE_PREFIX_PATH="$USED_QT" -DCMAKE_BUILD_TYPE=Release ..
Then close the shell to reset the PATH variable and in the new shell you can build with
$ cmake --build .
$ cmake --build . --target assemble
Automatic packing of Ra is possible with
$ cmake --build . --target pack
Note than when doing this, the other calls to cmake --build are not necessary.
Install Zadig try to find the device that causes problems (you may need to select "list all devices" for it to show up in the list) and then install the WinUSB driver for it.
In case windows does not automatically find the driver for the transceiver, follow the following steps:
- Access the website http://catalog.update.microsoft.com/
- Search for "windows phone winusb" and download "Windows Phone - Other hardware - WinUsb Device"
- Unpack the downloaded cab files, so that there is a file with the name
winusbcompat.inf - Open the device manager and choose to manually select a driver for the transceiver.
Then select the folder containing the
winusbcompat.inf.
Homebrew requires Xcode and Command Line Utilities.
Install Xcode from the App Store, run it once and then install the utilities with:
xcode-select --install
Get dependencies using Homebrew:
brew install cmake git sdl2 protobuf libusb python@2 qt@5
Build using:
$ cd path/to/framework
$ libs/v8/build.sh
$ mkdir build-mac && cd build-mac
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make
(If starting Ra.app the normal way doesn't work launch it from Qt Creator)