diff --git a/.devcontainer/base-dev/base-dev.Dockerfile b/.devcontainer/base-dev/base-dev.Dockerfile index ddb28aa9f..3c3324d18 100644 --- a/.devcontainer/base-dev/base-dev.Dockerfile +++ b/.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 diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace index 2ad4b7241..615f005e4 100644 --- a/.devcontainer/config/sailbot_workspace.code-workspace +++ b/.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": [] }, { diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index c50468f2d..35709ce3f 100644 --- a/.devcontainer/devcontainer.json +++ b/.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" diff --git a/.devcontainer/pre-base/build-pre-base.sh b/.devcontainer/pre-base/build-pre-base.sh index 121e458f9..7cdba38e5 100755 --- a/.devcontainer/pre-base/build-pre-base.sh +++ b/.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 diff --git a/.devcontainer/pre-base/pre-base.Dockerfile b/.devcontainer/pre-base/pre-base.Dockerfile index b73beb1a1..66c342830 100644 --- a/.devcontainer/pre-base/pre-base.Dockerfile +++ b/.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 diff --git a/.devcontainer/website/website.Dockerfile b/.devcontainer/website/website.Dockerfile index d7b17b04f..893136ada 100644 --- a/.devcontainer/website/website.Dockerfile +++ b/.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 " # 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 diff --git a/.github/actions/ament-lint/action.yml b/.github/actions/ament-lint/action.yml index f5fcfb578..e18805155 100644 --- a/.github/actions/ament-lint/action.yml +++ b/.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" diff --git a/.github/actions/ament-lint/run.sh b/.github/actions/ament-lint/run.sh index 4fe4d8e50..4737950b0 100755 --- a/.github/actions/ament-lint/run.sh +++ b/.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} diff --git a/.github/actions/checkout/action.yml b/.github/actions/checkout/action.yml new file mode 100644 index 000000000..c616eeeb1 --- /dev/null +++ b/.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: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }} + uses: actions/checkout@v4 + with: + repository: UBCSailbot/custom_interfaces + path: src/custom_interfaces diff --git a/.github/actions/clang-tidy/action.yml b/.github/actions/clang-tidy/action.yml index e398c2b4d..d8b5a9039 100644 --- a/.github/actions/clang-tidy/action.yml +++ b/.github/actions/clang-tidy/action.yml @@ -1,6 +1,22 @@ name: 'Clang-Tidy' description: 'Clang-Tidy using devcontainer' + +inputs: + disable_vcs: + description: 'Whether to disable VCS cloning all repositories' + required: true + runs: - using: 'docker' - image: '../../../.devcontainer/Dockerfile' - entrypoint: ".github/actions/clang-tidy/run.sh" + using: "composite" + steps: + - name: Build Containers + shell: bash + run: docker-compose -f .devcontainer/docker-compose.yml build + + - name: Run Containers + shell: bash + run: docker-compose -f .devcontainer/docker-compose.yml up -d + + - name: Run Tests + shell: bash + run: docker-compose -f .devcontainer/docker-compose.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/clang-tidy/run.sh" diff --git a/.github/actions/test/action.yml b/.github/actions/test/action.yml index 4e4cf0011..46da4d182 100644 --- a/.github/actions/test/action.yml +++ b/.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" diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml index 163020234..15519bdd1 100644 --- a/.github/workflows/build-images.yml +++ b/.github/workflows/build-images.yml @@ -19,22 +19,22 @@ jobs: steps: - name: Set up QEMU - uses: docker/setup-qemu-action@v2 + uses: docker/setup-qemu-action@v3 - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 + uses: docker/setup-buildx-action@v3 with: platforms: linux/arm64,linux/amd64 - name: Login to GitHub Container Registry - uses: docker/login-action@v2 + uses: docker/login-action@v3 with: registry: ghcr.io username: ${{ github.actor }} password: ${{ secrets.PAT_TOKEN }} - name: Build and push base - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: "{{defaultContext}}:.devcontainer/base-dev" file: base-dev.Dockerfile @@ -46,7 +46,7 @@ jobs: target: base - name: Build and push local-base - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: "{{defaultContext}}:.devcontainer/base-dev" file: base-dev.Dockerfile @@ -58,7 +58,7 @@ jobs: target: local-base - name: Build and push dev - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: "{{defaultContext}}:.devcontainer/base-dev" file: base-dev.Dockerfile diff --git a/.github/workflows/test_definitions.yml b/.github/workflows/test_definitions.yml index 34cadd94d..1be7057d3 100644 --- a/.github/workflows/test_definitions.yml +++ b/.github/workflows/test_definitions.yml @@ -43,28 +43,19 @@ jobs: if: ${{ inputs.ros-ci }} steps: - name: Checkout workspace - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: repository: UBCSailbot/sailbot_workspace - - name: Checkout ROS package - if: ${{ inputs.repository != 'sailbot_workspace' }} - uses: actions/checkout@v3 + - name: Checkout repositories + uses: ./.github/actions/checkout/ with: - repository: UBCSailbot/${{ inputs.repository }} - path: src/${{ inputs.repository }} - - - name: Checkout custom_interfaces ROS package - if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }} - uses: actions/checkout@v3 - with: - repository: UBCSailbot/custom_interfaces - path: src/custom_interfaces + repository: ${{ inputs.repository }} - name: Test uses: ./.github/actions/test/ - env: - DISABLE_VCS: ${{ inputs.repository != 'sailbot_workspace' }} + with: + disable_vcs: ${{ inputs.repository != 'sailbot_workspace' }} ament-lint: strategy: @@ -77,57 +68,39 @@ jobs: if: ${{ inputs.ros-ci }} steps: - name: Checkout workspace - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: repository: UBCSailbot/sailbot_workspace - - name: Checkout ROS package - if: ${{ inputs.repository != 'sailbot_workspace' }} - uses: actions/checkout@v3 - with: - repository: UBCSailbot/${{ inputs.repository }} - path: src/${{ inputs.repository }} - - - name: Checkout custom_interfaces ROS package - if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }} - uses: actions/checkout@v3 + - name: Checkout repositories + uses: ./.github/actions/checkout/ with: - repository: UBCSailbot/custom_interfaces - path: src/custom_interfaces + repository: ${{ inputs.repository }} - name: Run linter uses: ./.github/actions/ament-lint/ - env: - LINTER: ${{ matrix.linter }} - DISABLE_VCS: ${{ inputs.repository != 'sailbot_workspace' }} + with: + linter: ${{ matrix.linter }} + disable_vcs: ${{ inputs.repository != 'sailbot_workspace' }} clang-tidy: runs-on: ubuntu-latest if: inputs.clang-tidy steps: - name: Checkout workspace - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: repository: UBCSailbot/sailbot_workspace - - name: Checkout ROS package - if: ${{ inputs.repository != 'sailbot_workspace' }} - uses: actions/checkout@v3 - with: - repository: UBCSailbot/${{ inputs.repository }} - path: src/${{ inputs.repository }} - - - name: Checkout custom_interfaces ROS package - if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }} - uses: actions/checkout@v3 + - name: Checkout repositories + uses: ./.github/actions/checkout/ with: - repository: UBCSailbot/custom_interfaces - path: src/custom_interfaces + repository: ${{ inputs.repository }} - name: Run linter uses: ./.github/actions/clang-tidy/ - env: - DISABLE_VCS: ${{ inputs.repository != 'sailbot_workspace' }} + with: + disable_vcs: ${{ inputs.repository != 'sailbot_workspace' }} # https://github.com/nosborn/github-action-markdown-cli markdownlint: @@ -135,7 +108,7 @@ jobs: if: ${{ inputs.markdown-ci }} steps: - name: Check out code - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: repository: UBCSailbot/${{ inputs.repository }} @@ -152,7 +125,7 @@ jobs: if: ${{ inputs.markdown-ci }} steps: - name: Check out code - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: repository: UBCSailbot/sailbot_workspace diff --git a/.gitignore b/.gitignore index 7af5573e6..31103c815 100644 --- a/.gitignore +++ b/.gitignore @@ -6,7 +6,7 @@ site/* # vcstool packages src/* !src/global_launch -!src/new_project.repos +!src/polaris.repos # configuration files .devcontainer/config/* diff --git a/build.sh b/build.sh index c6165525c..ab28ca2f8 100755 --- a/build.sh +++ b/build.sh @@ -41,6 +41,9 @@ else STATIC_ANALYSIS="ON" UNIT_TEST="ON" fi +if [[ $UNIT_TEST = "ON" ]]; then + BUILD_TYPE="Debug" +fi # Build ROS packages in src directory colcon build \ diff --git a/setup.sh b/setup.sh index 192222e0a..2810ac16e 100755 --- a/setup.sh +++ b/setup.sh @@ -10,7 +10,7 @@ function warn() { # Import all project repositories if [[ $DISABLE_VCS != "true" ]]; then echo "Importing project repositories..." - vcs import < src/new_project.repos src + vcs import < src/polaris.repos src --skip-existing else warn "VCS disabled. Skipping project repository imports..." fi diff --git a/src/new_project.repos b/src/polaris.repos similarity index 87% rename from src/new_project.repos rename to src/polaris.repos index f0c32dbaa..7ba1a9f74 100644 --- a/src/new_project.repos +++ b/src/polaris.repos @@ -22,6 +22,11 @@ repositories: url: https://github.com/UBCSailbot/boat_simulator version: main + controller: + type: git + url: https://github.com/UBCSailbot/controller + version: main + custom_interfaces: type: git url: https://github.com/UBCSailbot/custom_interfaces @@ -42,6 +47,11 @@ repositories: url: https://github.com/UBCSailbot/network_systems version: main + notebooks: + type: git + url: https://github.com/UBCSailbot/notebooks + version: main + raye-local-pathfinding: type: git url: https://github.com/UBCSailbot/raye-local-pathfinding