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Build & Setup

This guide covers building the binary and the host setup needed to run it. For the things that will stop a clean reproduction on a fresh machine, read known-issues.md alongside this page.

Toolchain

g++ with C++17 (-std=c++17), GNU Make. The C file ini.c is compiled with gcc.
Linux. Developed/deployed on a tower PC (LattePanda Sigma) running Linux; serial device is /dev/ttyACM0.

See Makefile — CXXFLAGS := -std=c++17 -g -Wall -I.

Dependencies

The link line in the Makefile is:

-lpaho-mqttpp3 -lpaho-mqtt3a -lopencv_core -lopencv_highgui -ljxl -ljxl_threads -lboost_program_options -lVmbC -lVmbCPP

Dependency	Libraries linked	Headers used	Typical source
Eclipse Paho MQTT C++	`paho-mqttpp3`, `paho-mqtt3a`	`mqtt/async_client.h`	`libpaho-mqttpp-dev` / build from source (also needs Paho MQTT C)
OpenCV	`opencv_core`, `opencv_highgui`	`opencv2/opencv.hpp`	`libopencv-dev`
libjxl (JPEG XL)	`jxl`, `jxl_threads`	`jxl/encode.h`, `jxl/encode_cxx.h`, `jxl/thread_parallel_runner*.h`	`libjxl-dev` / build from source
Boost	`boost_program_options`	`boost/asio.hpp`, `boost/program_options.hpp`, `boost/spirit/include/qi.hpp`, `phoenix.hpp`	`libboost-all-dev` (or at least program_options, system, and the header-only Asio/Spirit)
Allied Vision Vimba X SDK	`VmbC`, `VmbCPP`	`VmbC/VmbC.h`, `VmbCPP/VmbCPP.h`	Proprietary — download from Allied Vision (see below)

cxxopts.hpp is bundled but not used (the active CLI parser is Boost.Program_options); it does not need to be installed.

Debian/Ubuntu package hint

The non-proprietary dependencies are roughly:

sudo apt install build-essential libboost-all-dev libopencv-dev libjxl-dev \
                 libpaho-mqttpp-dev libpaho-mqtt-dev

Package names vary by distro/version; libjxl-dev and the Paho C++ packages may not exist on older releases and then have to be built from source. This machine is Manjaro/Arch — use pacman/AUR equivalents (boost, opencv, libjxl, paho-mqtt-c, paho-mqtt-cpp).

Allied Vision Vimba X SDK (proprietary — required)

VmbC/VmbCPP are not available through any package manager. Download and install the Vimba X SDK from Allied Vision (https://www.alliedvision.com/en/products/software/vimba-x-sdk/). After install you typically need to:

Make the SDK headers visible to the compiler (add -I<vimbax>/api/include) and the libs to the linker (-L<vimbax>/api/lib), and/or add the lib dir to LD_LIBRARY_PATH / an ld.so.conf.d entry at runtime.
Run the SDK's transport-layer setup so cameras are discoverable (GenICam GenTL producers).

The current Makefile assumes the headers/libs are already on the default include/link paths; on a fresh machine you will likely need to extend CXXFLAGS/LDFLAGS with the SDK paths.

Build

make            # compiles ini.c, main.cpp, MQTT.cpp, Camera.cpp → bin/Fire_Gimbal_Control.out
make clean      # removes object files and the binary

Object files land in obj/ (the Makefile uses OBJDIR := obj).
The output binary is bin/Fire_Gimbal_Control.out.

Note: the committed build artifacts live under bin/x64/Release/ and obj/x64/Release/, but the current Makefile writes to bin/ and obj/. The x64/Release/ layout is the deployed layout the running binary expects for config and image output (see below and known-issues.md).

Directory layout (build vs. deployed)

<repo>/
├── obj/                         ← Makefile object output
├── bin/Fire_Gimbal_Control.out  ← Makefile binary output
└── bin/x64/Release/             ← deployed/runtime directory
    ├── Fire_Gimbal_Control.out  ← deployed binary
    ├── config.ini               ← runtime config (differs from repo-root config.ini)
    ├── startup_gimbal.sh        ← launches with --start 1
    ├── startup_gimbal_with_init.sh ← launches with --init 1 --start 1
    ├── test_smoke.jxl           ← demo-mode placeholder image
    ├── RGB/  (ACR/  NIR/)       ← image output folders (created on demand)
    └── crash_genicam.txt        ← captured GenICam trigger error log (reference)

compile_commands.json is present for editor/clangd integration.

Host setup to run

Serial device — the motor controller must enumerate as /dev/ttyACM0 at 115200 8N1. Add your user to the dialout group (or set a udev rule) for non-root access:
```
sudo usermod -aG dialout "$USER"   # log out/in afterward
```
Cameras — connect the Allied Vision cameras and confirm Vimba X can see them (vendor VimbaXViewer / ListCameras). The camera IDs in config.ini must match (GigE IPs like 192.168.11.101 or USB DEV_... IDs). For GigE, configure the host NIC on the 192.168.11.x subnet.
MQTT broker — a broker must be reachable at the zkms_server_ip from config.ini with the configured username/password. The program exits immediately if it cannot connect (main.cpp lines 162-165). For local testing run e.g. Mosquitto and point zkms_server_ip at 127.0.0.1.
Paths — the binary reads config from a hardcoded absolute path and writes images under $HOME/projects/Fire_Gimbal_Control/.... See known-issues.md for the exact paths and how to satisfy them.

Run

# from the deployed directory
./Fire_Gimbal_Control.out --help          # show options
./Fire_Gimbal_Control.out --start 1       # connect, start camera capture immediately
./Fire_Gimbal_Control.out --init 1 --start 1   # find endstops, then start
./Fire_Gimbal_Control.out --demo 1        # demo mode (copies test_smoke.jxl instead of encoding)

Type exit on the console (or send EOF) to stop. See configuration.md for all CLI flags and the interactive console commands.

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