Build Targets Overview

When building aruw-mcb, there are a few targets that one can select to build. In particular, you may choose to build for either the hosted or MCB target. While running on the hosted target, you may choose to run either the unit test suite or the simulator.

Hosted Target

The hosted target is defined here. Please read this definition before reading the next section. In the codebase, when the hosted target is enabled, the macro PLATFORM_HOSTED is defined.

"Simulated MCB" Environment

The simulated MCB environment runs the main MCB code on the hosted target (i.e. main is run). The simulator also encompasses any periphery programs used to fake GPIO devices that communicate with the MCB. This is (currently) independent of any simulation CV does.

Unit Test Environment

The unit test environment runs all the unit tests in the directory aruw-mcb-project/tests. Everything in aruw-mcb-project/src is compiled except for main.cpp and <robot_type>_control.cpp, where <robot_type> is one of the valid robots. In the codebase, when the unit test environment is enabled, the ENV_UNIT_TESTS macro is enabled.

MCB Target

Targeting the MCB during compilation simply means that you intend to deploy the code to the MCB. There are no explicit macros in the codebase used to indicate we are building on the MCB target. Instead, use the PLATFORM_HOSTED target to differentiate between the MCB and hosted target.