-
-
Notifications
You must be signed in to change notification settings - Fork 3
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'main' into update/pass-defender
- Loading branch information
Showing
18 changed files
with
570 additions
and
186 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,9 @@ | ||
| .idea/ | ||
| cmake-build-debug/ | ||
| cmake-build-release/ | ||
| build*/ | ||
| .cmake/ | ||
| **/build | ||
| .cache | ||
| /.vscode | ||
| .DS_Store | ||
|
|
||
|
|
||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| [submodule "external/framework"] | ||
| path = external/framework | ||
| url = https://github.com/robotics-erlangen/framework.git | ||
| [submodule "external/autoref"] | ||
| path = external/autoref | ||
| url = https://github.com/robotics-erlangen/autoref.git | ||
| [submodule "roboteam_autoref"] | ||
| path = roboteam_autoref | ||
| url = https://github.com/RoboTeamTwente/roboteam_autoref.git | ||
| branch = main |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| #! /bin/bash | ||
|
|
||
| # Exit on errors | ||
| # Note: do not concat commands with && otheriwise won't be catched | ||
| set -eo pipefail | ||
|
|
||
| GREEN='\033[0;32m' | ||
| RED='\033[0;31m' | ||
| ORANGE='\033[0;33m' | ||
| RESET='\033[0m' | ||
|
|
||
| error() { | ||
| echo -e "${RED}Fatal error on line $1${RESET}" >&2 | ||
| } | ||
|
|
||
| trap 'error $LINENO' ERR | ||
|
|
||
| if [ "$1" == "-y" ]; | ||
| then | ||
| OK=1 | ||
| fi | ||
|
|
||
| # Check if the script is being executed from inside container or explicitly | ||
| # asked to run it on host environment | ||
| if [ -f /.dockerenv ] || [ "$OK" = "1" ]; | ||
| then | ||
| if [ "$0" == "./build.sh" ]; | ||
| then | ||
| echo -e "${GREEN}Checking submodules${RESET}" | ||
| git submodule update --init --recursive | ||
| echo "Done" | ||
| #rm -rf build | ||
| mkdir -p build | ||
| pushd build | ||
| echo -e "${GREEN}Building RoboTeamTwente software${RESET}" | ||
| cmake .. -DCMAKE_BUILD_TYPE=Release | ||
| make -j$(nproc) roboteam_observer roboteam_ai roboteam_robothub | ||
| popd | ||
| echo -e "${GREEN}Installing interface${RESET}" | ||
| pushd roboteam_interface | ||
| yarn install | ||
| popd | ||
| pushd external | ||
| echo -e "${GREEN}Building external${RESET}" | ||
| pushd framework | ||
| echo -e "${GREEN}Building external/framework${RESET}" | ||
| mkdir -p build | ||
| pushd build | ||
| cmake .. | ||
| make simulator-cli -j$(nproc) | ||
| popd | ||
| popd | ||
| pushd autoref | ||
| echo -e "${GREEN}Building external/autoref${RESET}" | ||
| mkdir -p build | ||
| pushd build | ||
| cmake .. | ||
| make autoref-cli -j$(nproc) | ||
| popd | ||
| popd | ||
| popd | ||
| echo -e "${GREEN}Done, exiting builder..${RESET}" | ||
| else | ||
| echo -e "${RED}E: The script must be called from the root folder${RESET}" | ||
| exit 1 | ||
| fi | ||
| else | ||
| echo -e "${ORANGE}W: If you really want to build outside the container call the script with -y argument.${RESET}" | ||
| exit 1 | ||
| fi |
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,68 +1,85 @@ | ||
| # ========================== # | ||
| # INSTRUCTIONS # | ||
| # ========================== # | ||
| # RTT Build Environment | ||
| # The purpose of this container is to have a stable, quick and reliable environment | ||
| # to build RTT software. | ||
| # | ||
| # ==== QUICKLY BOOT | ||
| # $ docker run --init --rm --net=host roboteamtwente/roboteam:latest ./roboteam_robothub | ||
| # $ docker run --init --rm --net=host roboteamtwente/roboteam:latest ./roboteam_observer | ||
| # $ xhost local: | ||
| # $ docker run --init --rm --net=host -v /tmp/.X11-unix/ -e DISPLAY=$DISPLAY rtt-release /roboteam_ai | ||
| # =========================================================================== # | ||
| # | ||
| # Manually build the container: | ||
| # docker build -t rtt-build-env . | ||
| # | ||
| # Spin-up the container: | ||
| # docker run -itd --name rtt-build-env -h rtt-build-env -v <abs_path_to_the_repo_root>/:/home/roboteamtwente/roboteam rtt-build-env | ||
| # | ||
| # ==== DO IT YOURSELF | ||
| # Step 1.1: Build | ||
| # $ docker build . --target development -t rtt-development | ||
| # $ docker build . --target release -t rtt-release | ||
| # Start/Stop container: | ||
| # docker <start/stop> rtt-build-env | ||
| # | ||
| # Step 2: Allow X11 access | ||
| # $ xhost local: | ||
| # This will give local VMs acces to the X11-server, which is needed to do GUI stuff | ||
| # https://stackoverflow.com/questions/25281992/alternatives-to-ssh-x11-forwarding-for-docker-containers | ||
| # Attach to the container: | ||
| # docker exec -it -w /home/roboteamtwente rtt-build-env /bin/bash | ||
| # | ||
| # Step 3.1: Create a development container, to which you can e.g. hook into with VSCode | ||
| # $ docker run -it -v /tmp/.X11-unix/ -e DISPLAY=$DISPLAY --net=host --name rtt rtt-development | ||
| # OR | ||
| # Step 3.2: Start any executable | ||
| # $ docker run --init --rm --net=host rtt-release /roboteam_observer | ||
| # $ docker run --init --rm --net=host -v /tmp/.X11-unix/ -e DISPLAY=$DISPLAY rtt-release /roboteam_ai | ||
| # $ docker run --init --rm --net=host rtt-release /roboteam_robothub | ||
| # =========================================================================== # | ||
| # | ||
| # ========================== # | ||
|
|
||
| # Development target | ||
| FROM alpine:3.18 AS development | ||
|
|
||
| ENV TZ="Europe/Rome" | ||
| RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone | ||
|
|
||
| # ========================== # | ||
| # DEVELOPMENT CONTAINER # | ||
| # ========================== # | ||
| FROM ubuntu:22.04 AS development | ||
| RUN apt-get update -y && apt-get upgrade -y | ||
| RUN apt-get install -y vim git cmake pkg-config python3 python3-pip ccache | ||
| ARG USERNAME=roboteamtwente | ||
|
|
||
| RUN git clone https://github.com/RoboTeamTwente/roboteam.git --recursive | ||
| WORKDIR /roboteam | ||
| RUN ./install_UBUNTU_22_04.sh | ||
| RUN mkdir build | ||
| WORKDIR /roboteam/build | ||
| RUN cmake .. -DCMAKE_BUILD_TYPE=Release && make -j$(nproc) roboteam_observer roboteam_ai roboteam_robothub | ||
| WORKDIR /roboteam | ||
| RUN apk add --no-cache bash build-base cmake make musl-dev libtool \ | ||
| clang ninja-build autoconf automake pkgconfig \ | ||
| python3 py3-pip git ccache sudo \ | ||
| libzmq zeromq-dev libzmq-static eigen-dev gtest-dev \ | ||
| libtbb-dev boost-dev curl unzip wget zlib-dev zip nodejs npm \ | ||
| openssl-dev sdl2-dev libudev-zero libudev-zero-dev libusb libusb-dev \ | ||
| qt5-qtbase-dev qt5-qtcharts-dev qt5-qtdeclarative-dev qt5-qtsvg-dev | ||
| RUN npm install -g yarn | ||
|
|
||
| WORKDIR /root/protobuf | ||
| RUN wget https://github.com/protocolbuffers/protobuf/releases/download/v3.20.3/protobuf-cpp-3.20.3.zip -O protobuf.zip && unzip protobuf.zip && rm protobuf.zip | ||
| WORKDIR /root/protobuf/protobuf-3.20.3 | ||
| RUN ./configure && make -j$(nproc) && make check -j$(nproc) && make install && ldconfig . && cd .. && rm -rf /root/protobuf/protobuf-3.20.3 | ||
|
|
||
| ENV HOME=/home/$USERNAME | ||
| ENV USER=$USERNAME | ||
|
|
||
| # ========================== # | ||
| # RELEASE CONTAINER # | ||
| # ========================== # | ||
| FROM ubuntu:22.04 AS release | ||
| COPY --from=development /roboteam/build/release/bin/roboteam_observer /roboteam_observer | ||
| COPY --from=development /roboteam/build/release/bin/roboteam_ai /roboteam_ai | ||
| COPY --from=development /roboteam/build/release/bin/roboteam_robothub /roboteam_robothub | ||
| RUN adduser -D $USER && \ | ||
| echo "$USER ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/$USER && \ | ||
| chmod 0440 /etc/sudoers.d/$USER | ||
|
|
||
| COPY --from=development /usr/lib/x86_64-linux-gnu /usr/lib/x86_64-linux-gnu | ||
| COPY --from=development /usr/share/fonts /usr/share/fonts | ||
| COPY --from=development /roboteam/build/release/lib/libzmqpp.so /usr/lib/libzmqpp.so | ||
| COPY --from=development /roboteam/build/release/lib/libNFParam.so /usr/lib/libNFParam.so | ||
| COPY --from=development /usr/local/lib/libprotobuf.so.30.0.6 /usr/lib/libprotobuf.so.30 | ||
| USER $USER | ||
| WORKDIR $HOME | ||
|
|
||
| # The entire /usr/lib/x86_64-linux-gnu folder is cloned since it's too much of a hassle to figure out what is and isn't needed | ||
| # TODO figure out how to exlude large files such as /usr/lib/x86_64-linux-gnu/libLLVM* (200+MB) | ||
| # Can't use .dockerignore for this https://github.com/moby/moby/issues/33923 | ||
| # Release target | ||
| FROM alpine:3.18 AS release | ||
|
|
||
| ENV TZ="Europe/Rome" | ||
| RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone | ||
|
|
||
| ARG USERNAME=roboteamtwente | ||
| ENV HOME=/home/$USERNAME | ||
| ENV USER=$USERNAME | ||
|
|
||
| RUN apk add --no-cache \ | ||
| libtool libzmq libzmq-static libudev-zero libusb \ | ||
| zeromq-dev eigen-dev gtest-dev \ | ||
| libtbb-dev boost-dev zlib-dev \ | ||
| openssl-dev sdl2-dev \ | ||
| qt5-qtbase-dev qt5-qtcharts-dev qt5-qtdeclarative-dev qt5-qtsvg-dev \ | ||
| sudo nodejs npm | ||
| RUN npm install -g yarn | ||
|
|
||
| COPY --from=development --chown=root:root /usr/local/lib/libprotobuf.so.31 /usr/local/lib/libprotobuf.so.31 | ||
| COPY --from=development --chown=root:root /usr/local/bin/protoc /usr/local/bin/protoc | ||
|
|
||
| RUN adduser -D $USER && \ | ||
| echo "$USER ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/$USER && \ | ||
| chmod 0440 /etc/sudoers.d/$USER | ||
|
|
||
| USER $USER | ||
| WORKDIR $HOME | ||
|
|
||
| ENV LD_LIBRARY_PATH=$HOME/lib/ | ||
| # Note: cannot COPY from outside context, build from parent folder | ||
| COPY --chown=$USER:$USER ../build/release/ $HOME/ |
Oops, something went wrong.