Build and install the pendant

The v5 pendant ships as one directory, RosiePendantV5, that you build on a Linux workstation and copy to a Steam Deck. It holds the native app, OLP's program logic bundled for Qt's JavaScript engine, the OLP server it runs headless on the Deck, and the source trees that server reads. To use it once it is installed, see Program from the Steam Deck pendant.

Before you start#

On the build workstation, Ubuntu 22.04 or WSL2:

sudo apt install g++ make pkg-config qtbase5-dev libassimp-dev curl

You also need:

• Qt5Qml. Install qtdeclarative5-dev, or, without root, extract it to a sysroot (below).
• Node 22 and the OLP UI's packages, for esbuild and OLP's TypeScript sources.
• Go 1.26.2, to build the OLP server for the Deck.
• The C++17 toolchain for motion-server/v1, which the build uses for the pendant's Cartesian solver.
• ssh access to the Deck, for deploying.

See Install the toolchain.

Qt5Qml without root#

The Makefile looks for a sysroot at ~/.rosie/qt5qml-sysroot, or wherever QML_SYSROOT points:

mkdir -p ~/.rosie/qt5qml-sysroot/debs && cd ~/.rosie/qt5qml-sysroot/debs
apt-get download qtdeclarative5-dev libqt5qml5 libqt5qmlmodels5 libqt5quick5
for d in *.deb; do dpkg-deb -x "$d" ..; done

Build#

From the repository root:

(cd offline-programming/v1/ui && npm ci)
make -C steamdeck/real/v5 -j4 all

This builds three things in steamdeck/real/v5/build/:

The bundle depends on every non-test .ts file under OLP's ui/src, so a change to OLP rebuilds it. That is how the pendant and the desktop stay one implementation.

Test#

make -C steamdeck/real/v5 check

Run it on the workstation#

Start an OLP server on port 8794 (the quickstart does), then:

cd steamdeck/real/v5
LD_LIBRARY_PATH=~/.rosie/qt5qml-sysroot/usr/lib/x86_64-linux-gnu \
  build/rosie-pendant-v5 --windowed --robots ../../../robot_description/robots

Leave out LD_LIBRARY_PATH if Qt5Qml is installed system-wide.

Package#

steamdeck/real/v5/package.sh                       # the app and the OLP tree
steamdeck/real/v5/package.sh --with-tesseract-env  # also the Tesseract pixi environment (about 1 GB)

package.sh runs make all, builds the OLP server for Linux x86-64, and stages steamdeck/real/v5/build/package/RosiePendantV5:

Pass --with-tesseract-env on the first deploy, and again whenever tesseract/v1/pixi.lock changes. The OLP server needs that environment.

package.sh adds the ~/.rosie toolchain directories to the front of PATH. If your Go and Node live elsewhere, have them on PATH already.

The package never contains site files: the cell catalogue, the rt-core binding, planner.env or credentials.

Deploy#

Exit the pendant on the Deck first. Then, with your Deck's address:

steamdeck/real/v5/deploy.sh deck@rosie-deck.local

The optional second argument is the directory on the Deck. It defaults to devkit-game/RosiePendantV5 in the deck user's home. deploy.sh:

1. refuses while the pendant or its rosie-v5-olp unit is running, so nothing that holds a machine grant is replaced underneath it
2. removes the files of the retired browser kiosk from the app directory
3. copies the package over ssh
4. checks every staged hash on the Deck with sha256sum -c SHA256SUMS, and prints deploy: all staged hashes match

Site files on the Deck are left alone.

Add it to Steam#

1. Add run.sh as a non-Steam game (or devkit) shortcut.
2. Set controller.vdf as that shortcut's Steam Input layout. It maps the rear buttons L4, L5, R4 and R5 to F1, F2, F3 and F4, makes the right trackpad an absolute mouse, and makes the left trackpad scroll. See Pendant controls.

run.sh:

• starts start-olp.sh as the systemd user unit rosie-v5-olp, unless it is already running
• waits up to 30 s for http://127.0.0.1:8794/api/offline-programming/v1/health
• starts the app full screen, with Steam's LD_PRELOAD and LD_LIBRARY_PATH removed, LD_LIBRARY_PATH set to the package's lib/, QT_QPA_PLATFORM=xcb and a scale factor of 1
• stops the unit when the app exits. The server's shutdown stops any machine it armed before it releases control.

Arguments to run.sh go to the app. The server's log is journalctl --user -u rosie-v5-olp.

Site files#

Put these beside run.sh on each Deck. They are never committed and never packaged:

start-olp.sh also sets OFFLINE_PROGRAMMING_EXECUTION_BACKEND=rt_core, OFFLINE_PROGRAMMING_JOG_BACKEND=rt_core and the solver path, and starts offline-programming-linux serve --listen 127.0.0.1:8794 --enable-local-simulator. It leaves ROSIE_RT_* unset on purpose: OLP's disconnected local jog would otherwise take the simulation adapter's only controller slot and lock the pendant out.

planner.env#

Planning and Load both need a weld planner on a workstation the Deck can reach. Every plan also runs the seam worker once on the Deck, to pack the .weldplan. The package ships the seam worker's sources but no pixi environment. Packing uses only the Python standard library, so the Deck's system Python can run it:

OFFLINE_PROGRAMMING_WELD_PLANNER_MOTION_ORIGIN=http://planner.local:8796
SEAM_WORKER_PYTHON=/usr/bin/python3
# Spare workers preload OpenCASCADE, which the system Python does not have.
SEAM_WORKER_SPARES=0

Without an origin, the RUN page shows the server's refusal and nothing is planned or loaded. Without SEAM_WORKER_PYTHON and without pixi on the Deck, planning fails because the seam worker cannot start. The alternative is pixi on the Deck and pixi install -e default in olp/weld_planner/v1.

A complete plan, Load and Play from the Deck against the weld planner has not been qualified.

Related pages#

• Program from the Steam Deck pendant
• Pendant controls
• Run the weld planner
• Use the virtual pendant