Merge remote-tracking branch 'origin/main' into user/dfriend01/add-mypy

.devcontainer/base-dev/base-dev.Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f as base
+FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f-mongo_367-v2 as base
 
 # install base apt dependencies
 ENV DEBIAN_FRONTEND=noninteractive
@@ -22,6 +22,12 @@ RUN apt-get update \
     && rosdep init || echo "rosdep already initialized"
 ENV DEBIAN_FRONTEND=
 
+# install base pip dependencies
+RUN pip3 install \
+    plotly \
+    pyproj \
+    shapely
+
 # root bash configuration
 ENV ROS_WORKSPACE=/workspaces/sailbot_workspace
 COPY update-bashrc.sh /sbin/update-bashrc

.devcontainer/config/sailbot_workspace.code-workspace

@@ -6,6 +6,9 @@
         {
             "path": "../../src/boat_simulator"
         },
+        {
+            "path": "../../src/controller"
+        },
         {
             "path": "../../src/custom_interfaces"
         },
@@ -18,6 +21,9 @@
         {
             "path": "../../src/network_systems"
         },
+        {
+            "path": "../../src/notebooks"
+        },
         {
             "path": "../../src/raye-local-pathfinding"
         },
@@ -41,6 +47,7 @@
         "cSpell.words": [
             "athackst",
             "autopep",
+            "bsoncxx",
             "buildx",
             "cmake",
             "cppcheck",
@@ -54,6 +61,7 @@
             "isort",
             "kmph",
             "mkdocs",
+            "mongocxx",
             "mypy",
             "noqa",
             "OMPL",
@@ -124,6 +132,8 @@
             "editor.formatOnSave": true,
             "editor.rulers": [99],
         },
+        "notebook.formatOnCellExecution": true,
+        "notebook.formatOnSave.enabled": true,
         "python.analysis.diagnosticMode": "workspace",
         "python.analysis.extraPaths": [
             "/workspaces/sailbot_workspace/install/lib/python3.10/site-packages",
@@ -178,6 +188,17 @@
             "editor.rulers": [120],
         },
 
+		"testMate.cpp.discovery.loadOnStartup": true,
+		// The following setting just changes the default prelaunch task from "build" to "debug"
+		"testMate.cpp.test.advancedExecutables": [
+			{
+				"pattern": "{build,Build,BUILD,out,Out,OUT}/**/*{test,Test,TEST}*",
+				"runTask": {
+					"before": [ "debug" ]
+				}
+			}
+		],
+
         // markdown
         // copied from docs: https://github.com/UBCSailbot/docs/blob/main/.vscode/settings.json
         "[markdown]": {
@@ -230,7 +251,8 @@
                 "request": "launch",
                 "program": "${workspaceFolder:sailbot_workspace}/install/lib/${input:node}",
                 "args": [],
-                "preLaunchTask": "Build All",
+                // Have testMate extension build before starting debug session to avoid building twice
+                // "preLaunchTask": "debug",
                 "stopAtEntry": false,
                 "cwd": "${workspaceFolder:sailbot_workspace}",
                 "externalConsole": false,
@@ -420,9 +442,9 @@
             // Workspace editing tasks
             {
                 "label": "clone source repositories",
-                "detail": "Clone the repositories specified in src/new_project.repos to src/",
+                "detail": "Clone the repositories specified in src/polaris.repos to src/",
                 "type": "shell",
-                "command": "vcs import < src/new_project.repos src --skip-existing",
+                "command": "vcs import < src/polaris.repos src --skip-existing",
                 "problemMatcher": []
             },
             {

.devcontainer/devcontainer.json

@@ -3,7 +3,7 @@
 	"name": "Sailbot Workspace",
 	"dockerComposeFile": [
 		// Uncomment the files containing the programs you need
-		// "docker-compose.db.yml", // mongodb
+		"docker-compose.db.yml", // mongodb
 		// "docker-compose.docs.yml", // docs
 		// "docker-compose.website.yml", // grafana, website
 
@@ -22,6 +22,20 @@
 	},
 	// Set *default* container specific settings.json values on container create.
 	"customizations": {
+		"codespaces": {
+			"repositories": {
+				"UBCSailbot/boat_simulator": {"permissions": "write-all"},
+				"UBCSailbot/controller": {"permissions": "write-all"},
+				"UBCSailbot/custom_interfaces": {"permissions": "write-all"},
+				"UBCSailbot/docs": {"permissions": "write-all"},
+				"UBCSailbot/local_pathfinding": {"permissions": "write-all"},
+				"UBCSailbot/network_systems": {"permissions": "write-all"},
+				"UBCSailbot/notebooks": {"permissions": "write-all"},
+				"UBCSailbot/raye-local-pathfinding": {"permissions": "write-all"},
+				"UBCSailbot/website": {"permissions": "write-all"},
+				"UBCSailbot/virtual_iridium": {"permissions": "write-all"}
+			}
+		},
 		"vscode": {
 			"settings": {
 				"terminal.integrated.profiles.linux": {
@@ -60,14 +74,17 @@
 				"jeff-hykin.better-cpp-syntax",
 				"KevinRose.vsc-python-indent",
 				"llvm-vs-code-extensions.vscode-clangd",
+				"matepek.vscode-catch2-test-adapter",
 				"mongodb.mongodb-vscode",
 				"ms-iot.vscode-ros",
 				"ms-python.black-formatter",
 				"ms-python.isort",
 				"ms-python.vscode-pylance",
+				"ms-toolsai.jupyter",
 				"ms-vsliveshare.vsliveshare",
 				"ms-python.mypy-type-checker",
 				"njpwerner.autodocstring",
+				"stevejpurves.cucumber",
 				"streetsidesoftware.code-spell-checker",
 				"vscode-icons-team.vscode-icons",
 				"zxh404.vscode-proto3"

.devcontainer/pre-base/build-pre-base.sh

@@ -2,6 +2,6 @@
 
 docker buildx build . \
     --file pre-base.Dockerfile \
-    --tag ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f \
+    --tag ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f-mongo_367-v2 \
     --platform linux/arm64,linux/amd64 \
     --push

.devcontainer/pre-base/pre-base.Dockerfile

@@ -1,4 +1,15 @@
-FROM ubuntu:22.04 AS ompl-source
+FROM ubuntu:22.04 AS fix-certificates
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        ca-certificates \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+ENV DEBIAN_FRONTEND=
+
+FROM fix-certificates AS ompl-source
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
@@ -11,7 +22,7 @@ WORKDIR /ompl
 RUN git reset --hard 4c86b2f
 
 # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
-FROM ubuntu:22.04 AS ros-pre-base
+FROM fix-certificates AS ros-pre-base
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -55,7 +66,7 @@ ENV ROS_VERSION=2
 ENV DEBIAN_FRONTEND=
 
 # Based on https://github.com/ompl/ompl/blob/4c86b2fecf7084ae9073bf6a837176d0be169721/scripts/docker/ompl.Dockerfile
-FROM ros-pre-base AS ompl-builder
+FROM fix-certificates AS ompl-builder
 # avoid interactive configuration dialog from tzdata, which gets pulled in
 # as a dependency
 ENV DEBIAN_FRONTEND=noninteractive
@@ -99,6 +110,30 @@ RUN cmake \
     && ninja -j `nproc` \
     && ninja install
 
+FROM fix-certificates AS mongo-cxx-driver-builder
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        libmongoc-dev \
+        wget \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# setup MongoDB C++ Packages
+# mongo-cxx-driver version must match libmongoc-dev version - see https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz \
+    && tar -xzf mongo-cxx-driver-r3.6.7.tar.gz \
+    && cd mongo-cxx-driver-r3.6.7/build \
+    && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \
+    && cmake --build . \
+    && cmake --build . --target  install
+ENV DEBIAN_FRONTEND=
+
 FROM ros-pre-base as pre-base
 LABEL org.opencontainers.image.source = "https://github.com/UBCSailbot/sailbot_workspace"
 
@@ -115,6 +150,7 @@ RUN apt-get update \
         libboost-system-dev \
         libeigen3-dev \
         libflann-dev \
+        libmongoc-dev \
         libode-dev \
         libtriangle-dev \
         ninja-build \
@@ -129,3 +165,4 @@ RUN apt-get update \
 ENV DEBIAN_FRONTEND=
 
 COPY --from=ompl-builder /usr /usr
+COPY --from=mongo-cxx-driver-builder /usr/local /usr/local

.devcontainer/website/website.Dockerfile

@@ -15,9 +15,6 @@ FROM mcr.microsoft.com/vscode/devcontainers/javascript-node:0-${VARIANT}
 # RUN su node -c "npm install -g <your-package-list-here>"
 
 # Adapted from https://www.digitalocean.com/community/tutorials/how-to-build-a-node-js-application-with-docker
-RUN mkdir -p /website/node_modules
 WORKDIR /website
-COPY src/website/package*.json ./
-RUN npm install
 EXPOSE 3005
-CMD [ "npm", "run", "dev" ]
+CMD npm install --legacy-peer-deps && npm run dev

.github/actions/ament-lint/action.yml

@@ -1,6 +1,25 @@
 name: 'Ament Lint'
 description: 'Ament Lint using devcontainer'
+
+inputs:
+  linter:
+    description: 'The linter to run'
+    required: true
+  disable_vcs:
+    description: 'Whether to disable VCS cloning all repositories'
+    required: true
+
 runs:
-  using: 'docker'
-  image: '../../../.devcontainer/Dockerfile'
-  entrypoint: ".github/actions/ament-lint/run.sh"
+  using: "composite"
+  steps:
+    - name: Build Containers
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml build
+
+    - name: Run Containers
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml up -d
+
+    - name: Run Tests
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml exec -T sailbot-workspace /bin/bash -c "export LINTER=${{ inputs.linter}} && export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/ament-lint/run.sh"

.github/actions/ament-lint/run.sh

@@ -48,5 +48,5 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
 cd src
 
 # Exclude repos and files we don't want to lint
-VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e new_project.repos)
+VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e polaris.repos)
 lint ${VALID_SRC_DIRS}

.github/actions/checkout/action.yml

@@ -0,0 +1,24 @@
+name: 'Checkout Repositories'
+description: 'Checkout the repositories depending on the inputs'
+
+inputs:
+  repository:
+    description: 'The repository name: github.event.repository.name'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - name: Checkout ROS package
+      if: ${{ inputs.repository != 'sailbot_workspace' }}
+      uses: actions/checkout@v4
+      with:
+          repository: UBCSailbot/${{ inputs.repository }}
+          path: src/${{ inputs.repository }}
+
+    - name: Checkout custom_interfaces ROS package
+      if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
+      uses: actions/checkout@v4
+      with:
+          repository: UBCSailbot/custom_interfaces
+          path: src/custom_interfaces

.github/actions/clang-tidy/action.yml

@@ -1,6 +1,22 @@
 name: 'Clang-Tidy'
 description: 'Clang-Tidy using devcontainer'
+
+inputs:
+  disable_vcs:
+    description: 'Whether to disable VCS cloning all repositories'
+    required: true
+
 runs:
-  using: 'docker'
-  image: '../../../.devcontainer/Dockerfile'
-  entrypoint: ".github/actions/clang-tidy/run.sh"
+  using: "composite"
+  steps:
+    - name: Build Containers
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml build
+
+    - name: Run Containers
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml up -d
+
+    - name: Run Tests
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/clang-tidy/run.sh"

.github/actions/test/action.yml

@@ -1,6 +1,22 @@
 name: 'Test'
 description: 'Test using devcontainer'
+
+inputs:
+  disable_vcs:
+    description: 'Whether to disable VCS cloning all repositories'
+    required: true
+
 runs:
-  using: 'docker'
-  image: '../../../.devcontainer/Dockerfile'
-  entrypoint: ".github/actions/test/run.sh"
+  using: "composite"
+  steps:
+    - name: Build Containers
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml -f .devcontainer/docker-compose.db.yml build
+
+    - name: Run Containers
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml -f .devcontainer/docker-compose.db.yml up -d
+
+    - name: Run Tests
+      shell: bash
+      run: docker-compose -f .devcontainer/docker-compose.yml -f .devcontainer/docker-compose.db.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/test/run.sh"