Merge pull request #15 from AlexanderBarbie/main

updated docker compose files and added github actions

.github/workflows/build-arm64v8.yml

@@ -0,0 +1,26 @@
+name: PiCar-X Main Build
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: self-hosted, rpi4
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Build with Docker Compose
+      run: |
+        TAG=arm64v8 docker-compose -f docker-compose-core.yml build
+
+#    - name: Run pytest in Docker container
+#      run: |
+#        docker-compose -f docker-compose-core.yml run --rm app pytest
+
+#    - name: Start roslaunch in Docker container
+#      run: |
+#        docker-compose -f docker-compose-core.yml run --rm app roslaunch
+
+    - name: Push to Docker Hub
+      run: |
+        TAG=arm64v8 docker-compose -f docker-compose-core.yml push

PiCar-X/Dockerfile

@@ -1,10 +1,31 @@
-FROM git.geomar.de:11411/open-source/arches/arches_core:1-0-0
+ARG TAG=latest
+
+FROM ${TAG:+${TAG}/}ros:noetic as rosnoetic
+WORKDIR /root/catkin_ws/
+RUN apt update -y \
+    && apt-get install -y python3-pip python3-setuptools python3-catkin-tools wget unzip curl nano \
+    && apt-get clean \
+    && update-ca-certificates -f \
+    && pip3 install --upgrade pip \
+    && pip3 install pytest pytest-cov avro \
+    && mkdir -p ./src/arches 
+
+
+FROM rosnoetic as adtf
+RUN wget -c https://git.geomar.de/open-source/arches/arches_msgs/-/archive/master/arches_msgs-master.tar.gz -O - | tar -xz \
+    && mv arches_msgs-master ./src/arches/arches_msgs \
+    && wget -c https://git.geomar.de/open-source/arches/arches_core/-/archive/main/arches_core-main.tar.gz -O - | tar -xz \
+    && mv arches_core-main ./src/arches/arches_core 
+
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin config --isolate-devel --install && catkin build" \
+    && touch /root/.bashrc \
+    && echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
+
+FROM adtf
+ENV ASSET_NAME ''
 
 COPY ./core ./src/core
 COPY ./ros/picarx_msgs ./src/picarx_msgs
-
 RUN pip3 install -e ./src/core/picarx \
     && /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin build"
-
 ENTRYPOINT [ "/root/catkin_ws/src/arches/arches_core/ENTRYPOINT.sh" ]
-

PiCar-X/core/dtp/env/picarx-arm32v7.env

@@ -0,0 +1,3 @@
+ROS_MASTER_URI=http://picarx:11311
+ROS_HOST_PORT=11311
+TAG=arm64v8

PiCar-X/core/dtp/env/picarx-arm64v8.env

@@ -0,0 +1,3 @@
+ROS_MASTER_URI=http://picarx:11311
+ROS_HOST_PORT=11311
+TAG=arm64v8

PiCar-X/core/picarx/src/picarx/drivers/tests/unittests.py

@@ -0,0 +1,38 @@
+import pytest
+from picarx.interfaces.actuators import TravelDirection, MotorSide
+from picarx.drivers.dcmotor import AbstractDCMotorDriver
+
+class TestAbstractDCMotorDriver:
+    @pytest.fixture
+    def dcmotor(self):
+        return AbstractDCMotorDriver("test_motor", 1, 2, motor_side=MotorSide.LEFT)
+
+    def test_name(self, dcmotor):
+        assert dcmotor.name == "test_motor"
+
+    def test_direction_pin(self, dcmotor):
+        assert dcmotor.direction_pin == 1
+
+    def test_pwm_pin(self, dcmotor):
+        assert dcmotor.pwm_pin == {'channel': 2, 'i2c_port': '\dev\i2c-1'}
+
+    def test_motor_side(self, dcmotor):
+        assert dcmotor.motor_side == MotorSide.LEFT
+
+    def test_direction(self, dcmotor):
+        assert dcmotor.direction == TravelDirection.FORWARD
+
+    def test_speed(self, dcmotor):
+        assert dcmotor.speed is None
+
+    def test_drive_with_speed(self, dcmotor):
+        dcmotor.drive_with_speed(50)
+        assert dcmotor.speed == 50
+
+    def test_start(self, dcmotor):
+        with pytest.raises(NotImplementedError):
+            dcmotor.start()
+
+    def test_stop(self, dcmotor):
+        with pytest.raises(NotImplementedError):
+            dcmotor.stop()

PiCar-X/core/picarx/src/picarx/gpio.py

@@ -269,7 +269,7 @@ def start_watchdog(self):
             self.running = True
             try:
                 while reactor.running:
-                    time.sleep(1)
+                    time.sleep(1/50)
             finally:
                 observer.stop()
             observer.join()        

PiCar-X/core/picarx/tests/test_gpio.py

@@ -0,0 +1,53 @@
+import unittest
+from unittest.mock import patch, mock_open, MagicMock, call
+import builtins
+import os
+import weakref
+from picarx.gpio import GPIO, Value, Pin, Direction, Edge, Active
+from twisted.internet import reactor
+from watchdog.observers import Observer
+from watchdog.events import FileSystemEventHandler
+
+class TestGPIO(unittest.TestCase):
+
+    @patch('builtins.open', new_callable=mock_open)
+    @patch.object(reactor, 'callInThread')
+    @patch.object(FileSystemEventHandler, 'on_modified')
+    @patch('os.path.exists', return_value=True)
+    @patch('weakref.finalize', return_value=MagicMock())
+    def test_set_value_gpio(self, mock_weakref, mock_os, mock_watchdog, mock_reactor, mock_file):
+        pin= GPIO().setup(17, direction=Direction.OUT, callback=None)
+        pin.value = Value.HIGH.value
+        mock_file.assert_called_with(Pin.SYSFS_GPIO_PIN_VALUE.format(17), 'w')
+        mock_file().write.assert_called_with(str(1))
+        mock_os.assert_called_once()
+        mock_weakref.assert_called_once()
+
+    @patch('builtins.open', new_callable=mock_open)
+    @patch.object(reactor, 'callInThread')
+    @patch.object(FileSystemEventHandler, 'on_modified')
+    @patch('os.path.exists', return_value=True)
+    @patch('weakref.finalize', return_value=MagicMock())
+    def test_set_value_pin(self, mock_weakref, mock_os, mock_watchdog, mock_reactor, mock_file):
+        pin = Pin(17)
+        pin.value = 1
+        mock_file.assert_called_with(Pin.SYSFS_GPIO_PIN_VALUE.format(17), 'w')
+        mock_file().write.assert_called_with(str(1))
+        mock_os.assert_called_once()
+        mock_weakref.assert_called_once()
+
+    @patch('builtins.open', new_callable=mock_open, read_data="1")
+    @patch.object(reactor, 'callInThread')
+    @patch.object(FileSystemEventHandler, 'on_modified')
+    @patch('os.path.exists', return_value=True)
+    @patch('weakref.finalize', return_value=MagicMock())
+    def test_read_value_pin(self, mock_weakref, mock_os, mock_watchdog, mock_reactor, mock_file):
+        pin = Pin(17)
+        self.assertEqual(pin.value, 1)
+        mock_file.assert_called_with(Pin.SYSFS_GPIO_PIN_VALUE.format(17), 'r')
+        mock_os.assert_called_once()
+        mock_weakref.assert_called_once()
+
+
+if __name__ == '__main__':
+    unittest.main()

PiCar-X/docker-compose-core.yml

@@ -0,0 +1,10 @@
+services:
+  picarx-core-build:
+    build:
+      dockerfile: Dockerfile
+      context: .
+    image: abarbie/picarx:${TAG}
+
+networks:
+  default:
+    driver: bridge

PiCar-X/docker-compose-ds.yml

@@ -1,9 +1,7 @@
-version: '3'
-
 services:
   picarx-dt:
     build: .
-    image: picarx/core:latest
+    image: abarbie/picarx:${TAG}
     environment:
       - ROS_HOSTNAME=picarx-dt
       - ROS_MASTER_URI=http://picarx-dt:11313
@@ -12,8 +10,12 @@ services:
     ports:
       - 11313:11313
     command: roscore -p 11313
-    networks:
-      - picarx
+    healthcheck:
+      test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ]
+      interval: 5s
+      timeout: 1s
+      retries: 5
+      start_period: 1s
 
   mosquitto:
     container_name: mqtt-server
@@ -23,14 +25,16 @@ services:
     volumes:
       - ./core/dtp/config:/root/catkin_ws/mosquitto
     command: mosquitto -c /root/catkin_ws/mosquitto/mosquitto.conf -p 1883
-    networks:
-      - picarx
+    depends_on:
+      picarx-dt:
+        condition: service_healthy
 
   picarx-gazebo:
     build:
-      context: .
-      dockerfile: ./simulation/Dockerfile
-    image: picarx/picarx-gazebo:latest
+      context: Dockerfile
+      dockerfile: ./simulation
+      target: desktop
+    image: abarbie/picarx/picarx-gazebo:${TAG}
     env_file:
       - ./core/dtp/env/simulation.env
     environment:
@@ -41,33 +45,42 @@ services:
     volumes:
       - ./core:/root/catkin_ws/src/core
       - ./simulation:/root/catkin_ws/src/simulation
-    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch picarx_gazebo picarx-world.launch & /root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch picarx_control picarx_control.launch"
-    networks:
-      - picarx
+    command: /bin/bash -c "roslaunch picarx_gazebo picarx-world.launch & roslaunch picarx_control picarx_control.launch"
     depends_on:
-      - picarx-dt
+      picarx-dt:
+        condition: service_healthy
 
   shadow-dt:
-    image: picarx/core:latest
+    image: abarbie/picarx:${TAG}
     env_file:
       - ./core/dtp/env/picarx-dt.env
     tty: true
-    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch arches_core digitalshadow_dt.launch"
-    networks:
-      - picarx
+    command: /bin/bash -c "roslaunch arches_core digitalshadow_dt.launch"
+    depends_on:
+      picarx-dt:
+        condition: service_healthy
 
   mqtt-dt:
-    image: git.geomar.de:11411/open-source/arches/arches_mqtt_bridge:latest
+    image: abarbie/picarx/arches-mqtt-bridge:${TAG}
+    build:
+      dockerfile: Dockerfile-arches-mqtt-bridge
+      context: ./ros
+      args:
+        - TAG=${TAG}
     env_file:
       - ./core/dtp/env/picarx-dt.env
-    tty: true
-    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch arches_mqtt_bridge dt_client.launch host:=mqtt-server"
-    networks:
-      - picarx
+    command: /bin/bash -c "roslaunch arches_mqtt_bridge pt_client.launch host:=mqtt-server"
+    depends_on:
+      picarx:
+        condition: service_healthy
 
   ackermann_skill-dt:
-    build: ./ros/skills/ackermann_drive
-    image: picarx/skills/ackermann_drive:latest
+    image: abarbie/picarx/skills/ackermann_drive:${TAG}
+    build:
+      dockerfile: Dockerfile
+      context: ./ros/skills/ackermann_drive
+      args:
+        - TAG=${TAG}
     env_file:
       - ./core/dtp/env/picarx-dt.env
     tty: true
@@ -77,23 +90,25 @@ services:
       - /dev/i2c-0:/dev/i2c-0
       - ./core:/root/catkin_ws/src/core
       - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive
-    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch picarx_ackermann_drive ackermann_skill.launch"
-    networks:
-      - picarx
+    command: /bin/bash -c "roslaunch picarx_ackermann_drive ackermann_skill.launch"
+    depends_on:
+      picarx-dt:
+        condition: service_healthy
 
   drive_monitor:
     build: ./ros/skills/ackermann_drive
-    image: picarx/skills/ackermann_drive:latest
+    image: abarbie/picarx/skills/ackermann_drive:${TAG}
     env_file:
       - ./core/dtp/env/picarx-dt.env
     tty: true
     privileged: true
     volumes:
       - ./core:/root/catkin_ws/src/core
       - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive
-    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch picarx_ackermann_drive monitor_ds.launch"
-    networks:
-      - picarx
+    command: /bin/bash -c "roslaunch picarx_ackermann_drive monitor_ds.launch"
+    depends_on:
+      picarx-dt:
+        condition: service_healthy
 
 networks:
   picarx: