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Navi Building Guide

Dependencies

  • make (GNU make) - required to manage the method of building the project
  • doxygen (Doxygen) - generates documentation from comments in source files
  • g++ - GNU project C and C++ compiler
  • ld - GNU linker. used alongside g++ to compile the binary from the project sources.

additional dependencies include:

  • librealsense2 [v.2.54.2] - to drive the distance sensing camera
  • opencv [v.4.8.1] - to process images from the camera
    • vtk [v.9.3.0] - required by opencv
    • hdf5 [v.1.14.3] - required by opencv
  • WebSocket++ [v.0.8.2] - to create a websocket server
    • boost [v.1.83.0] - required by WebSocket++

Build Commands

In a linux shell, the following rules have been provided via the build system:

  • make/make default: build the navi binary.
  • make doc: use doxygen to generate documentation from the source files.
  • make test_ALL: test every submodule included in the project.
  • make clean: remove build files and return the repository to its original state.

Create a New Submodule

  1. Put module sources in src/my_submodule_name/. (Name the folder appropriately.)
  2. Put module header files (*.hpp, *.h) in the include/ directory.
  3. Copy an example rules.mk into your submodule.
  4. Replace the object file names in rules.mk with your object files, and the source file names with your source files.
  1. In Makefile, include the following lines with the other submodules:
DIR := $(SRC_DIR)/sample_submodule
include $(DIR)/rules.mk
  1. profit.

Documentation Notes

One-line summaries of functions should be prefixed by //!.

Multi-line detailed descriptions of functions should be surrounded by /*! and */.

Refer to the example submodules for an example.

A Guide to Rules.mk

Each submodule has one rules.mk file, which must define the following rules for the following purposes: build_$(DIR):: used to build the submodule. clean_$(DIR):: used to clean any artifacts that the submodule makes. test_$(DIR):: used to test the submodule.

Particularly observant readers may notice the special syntax $(DIR) embedded within the rules. Yet more astute readers may connect this to step 5 in the section Create a New Submodule:

DIR := $(SRC_DIR)/sample_submodule

This syntax means that, for example, if your submodule lives at /home/zelda/projects/Navi/src/fairy-fountain, then the three commands to build, clean, and test the submodule become:

  • make build_/home/zelda/projects/Navi/src/fairy-fountain
  • make clean_/home/zelda/projects/Navi/src/fairy-fountain
  • make test_/home/zelda/projects/Navi/src/fairy-fountain

respectively. obviously, this is quite painful to write. Thus, it may be useful to alias rules by defining new rules like this:

build_fairy_fountain: build_$(DIR)
clean_fairy_fountain: clean_$(DIR)
test_fairy_fountain: test_$(DIR)

This way, to build the fairy fountain submodule, you could run

make build_fairy_fountain

which would call the internal command make build_$(DIR) and build your submodule.