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Merged
mcm001 merged 6 commits into from
Mar 2, 2026
Merged

docs: Add headless test instructions + reshuffle build doc format #2374

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ef376f9
docs: Add headless test instructions + reshuffle build doc format
cswilson252 Feb 24, 2026
a6b77b9
Add gradle docs link
cswilson252 Feb 24, 2026
6fcdc45
Update instructions for PhotonVision building
cswilson252 Mar 2, 2026
c090350
be slightly more specific when saying "run tests"
cswilson252 Mar 2, 2026
5ad0bd0
fix up prose
mcm001 Mar 2, 2026
972bb40
Merge branch 'main' into xHeadlessTests
mcm001 Mar 2, 2026
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109 changes: 68 additions & 41 deletions docs/source/docs/contributing/building-photon.md
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Expand Up @@ -167,42 +167,67 @@ repositories {
}
```

### VSCode Test Runner Extension
### Debugging PhotonVision Running on a CoProcessor

With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:
Set up a VSCode configuration in {code}`launch.json`

```{image} assets/vscode-runner-tests.png
:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
```json
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"type": "java",
"name": "Attach to CoProcessor",
"request": "attach",
"hostName": "photonvision.local",
"port": "5801",
"projectName": "photon-core"
},
]
}
```

To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
Stop any existing instance of PhotonVision.

### Running Tests With UI
Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar`

By default, tests are run with UI disabled so they are not obtrusive during a build. All tests should be useful when the UI is disabled. However, if a particular test would benefit from having UI access (i.e. for debugging info), the UI can be enabled by passing the `enableTestUi` project property to Gradle. This will run all tests by default, but the Gradle `--tests` option can be used to [filter for specific tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering).
Once the program says it is listening on port 5801, launch the debug configuration in VSCode.

The program will wait for the VSCode debugger to attach before proceeding.


## Running Tests

### Running Headless Tests

Most unit tests [run as "headless" tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering) (i.e have no UI component during the test).
To run a headless test, pass the test name(s):

```{eval-rst}
.. tab-set::

.. tab-item:: Linux
:sync: linux

``./gradlew test -PenableTestUi``
``./gradlew test --tests <Test Name>``

.. tab-item:: macOS
:sync: macos

``./gradlew test -PenableTestUi``
``./gradlew test --tests <Test Name>``

.. tab-item:: Windows (cmd)
:sync: windows

``gradlew test -PenableTestUi``
``gradlew test --tests <Test Name>``
```

### Debugging PhotonVision Running Locally
### Debugging PhotonVision Tests Locally

Unit tests can instead be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
Unit tests can also be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:

```{image} assets/vscode-gradle-tests.png
:alt: An image showing how unit tests can be debugged in VSCode through the Gradle for Java extension.
Expand All @@ -216,42 +241,44 @@ Similarly, a local instance of PhotonVision can be debugged in the same way usin
:alt: An image showing how VSCode gradle tasks can specify additional arguments.
```

### Debugging PhotonVision Running on a CoProcessor
### Running Tests With UI

Set up a VSCode configuration in {code}`launch.json`
By default, tests are run with UI disabled so they are not obtrusive during a build. All tests should be useful when the UI is disabled. However, if a particular test would benefit from having UI access (i.e. for debugging info), the UI can be enabled by passing the `enableTestUi` project property to Gradle. This will run all tests by default, but the Gradle `--tests` option can be used to [filter for specific tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering).

```json
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"type": "java",
"name": "Attach to CoProcessor",
"request": "attach",
"hostName": "photonvision.local",
"port": "5801",
"projectName": "photon-core"
},
]
}
```{eval-rst}
.. tab-set::

.. tab-item:: Linux
:sync: linux

``./gradlew test -PenableTestUi``

.. tab-item:: macOS
:sync: macos

``./gradlew test -PenableTestUi``

.. tab-item:: Windows (cmd)
:sync: windows

``gradlew test -PenableTestUi``
```

Stop any existing instance of PhotonVision.
### VSCode Test Runner Extension

Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar`
With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack), you can get the Test Runner for Java and Gradle for Java extensions. This lets you easily run specific tests through the IDE:

Once the program says it is listening on port 5801, launch the debug configuration in VSCode.
```{image} assets/vscode-runner-tests.png
:alt: An image showing how unit tests can be ran in VSCode through the Test Runner for Java extension.
```

The program will wait for the VSCode debugger to attach before proceeding.
To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.

### Running examples
## Running examples

You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the photonlib-*-examples subdirectories for each language.

#### Running C++/Java
### Running C++/Java

PhotonLib must first be published to your local maven repository. This will also copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though not yet supported.

Expand All @@ -265,7 +292,7 @@ PhotonLib must first be published to your local maven repository. This will also
~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
```

#### Running Python
### Running Python

PhotonLibPy must first be built into a wheel.

Expand All @@ -289,21 +316,21 @@ Then, run the examples:
> run.bat <example name>
```

#### Downloading Pipeline Artifacts
### Downloading Pipeline Artifacts

Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from pipelines by run ID and name:

```
~/photonvision$ gh run download 11759699679 -n jar-Linux
```

#### MacOS Builds
### MacOS Builds

MacOS builds are not published to releases as MacOS is not an officially
supported platform. However, MacOS builds are still available from the MacOS
build action, which can be found [here](https://github.com/PhotonVision/photonvision/actions/workflows/build.yml).

#### Forcing Object Detection in the UI
### Forcing Object Detection in the UI

In order to force the Object Detection interface to be visible, it's necessary to hardcode the platform that `Platform.java` returns. This can be done by changing the function that detects the RK3588S/QCS6490 platform to always return true, and changing the `getCurrentPlatform()` function to always return the RK3588S/QCS6490 architecture.
Alternatively, it's possible to modify the frontend code by changing all instances of `useSettingsStore().general.supportedBackends.length > 0` to `true`, which will force the card to render.
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