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Merge pull request #127 from hmakelin/sift-keypoints
Service architecture and networking redesign
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‎.dockerignore

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@@ -1,42 +1,60 @@
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# The gisnav service uses the repo root as build context so we
2-
# use a .dockerignore file here to prevent some files from being
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# included in the image
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# IDEs and editors
2+
.idea/ # IntelliJ-based IDEs (e.g. PyCharm)
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.vscode/ # Visual Studio Code
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45
# Python virtual environment
56
venv/
67

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# PyCharm generated files
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.idea/
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# Python bytecode
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# Python bytecode and cache directories
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*.pyc
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# colcon created folders
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build/
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install/
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log/
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# VitePress
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docs/vitepress/docs/.vitepress/dist
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docs/vitepress/docs/.vitepress/build
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docs/vitepress/docs/.vitepress/cache
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docs/vitepress/docs/reference/
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# Sphinx
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docs/sphinx/build
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**/__pycache__/
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# General build directories (e.g., colcon, make, sphinx, VitePress)
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**/build/
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**/_build/
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**/.build/
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**/dist/
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**/_dist/
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**/.dist/
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**/install/
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**/_install/
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**/.install/
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**/log/
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**/_log/
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**/.log/
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**/cache/
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**/_cache/
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**/.cache/
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# GISNav docs build specific build folder
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docs/vitepress/docs/reference
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# coverage.py files
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.coverage*
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# SITL test log output (but leave one sample flight log)
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gisnav/test/sitl/output/
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*.ulg
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*.ulog
3239

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# Jupyter Notebook checkpoints
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# Jupyter Notebook checkpoints, notebooks
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gisnav/test/sitl/ulog_analysis/.ipynb_checkpoints/
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gisnav/test/sitl/ulog_analysis/output
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.benchmarks/
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*.egg-info
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# Debian package builds
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debian
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.pybuild
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*.deb
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# mypy
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.mypy_cache
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# node
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node_modules
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# pytest
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*.pytest_cache/*

‎.github/workflows/build_and_upload_gisnav_compose.yml

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name: Build and upload gisnav service
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on:
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#push:
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# # Run when new version tag is pushed
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# tags:
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# - v*
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# Allows running manually from the Actions tab
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workflow_dispatch:
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jobs:
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build-gisnav-service:
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runs-on: ubuntu-latest
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defaults:
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run:
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shell: bash
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steps:
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- name: Build .deb inside container
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run: |
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docker pull ghcr.io/${{ github.repository }}:latest
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docker run --name gisnav-build ghcr.io/${{ github.repository }}:latest cd /systemd/gisnav && make dist
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docker cp $(docker ps -q -l):opt/colcon_ws/src/gisnav/systemd/gisnav/dist/ /tmp/build-output
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- name: Find .deb file and set env
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run: |
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DEB_FILE=$(ls /tmp/build-output/*.deb)
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echo "DEB_FILE=$DEB_FILE" >> $GITHUB_ENV
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- name: Upload artifact
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uses: actions/upload-artifact@v2
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with:
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name: gisnav-deb
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path: ${{ env.DEB_FILE }}
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upload-gisnav-service:
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needs: build-gisnav-service
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runs-on: ubuntu-latest
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steps:
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- name: Download artifact
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uses: actions/download-artifact@v2
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with:
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name: gisnav-deb
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# Use GitHub releases as apt repository
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- name: Upload .deb package as release artifact
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run: |
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echo TODO

‎.github/workflows/push_gisnav_images.yml

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sudo rm -rf /usr/local/share/boost
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sudo rm -rf "$AGENT_TOOLSDIRECTORY"
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cd colcon_ws/src/gisnav
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docker buildx build --build-arg ROS_VERSION=humble --push --platform linux/amd64,linux/arm64 -f docker/mavros/Dockerfile --target gisnav -t ghcr.io/hmakelin/gisnav:${TAG:-latest} .
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docker buildx build --build-arg ROS_DISTRO=humble --push --platform linux/amd64,linux/arm64 -f docker/mavros/Dockerfile --target gisnav -t ghcr.io/hmakelin/gisnav:${TAG:-latest} .

‎.gitignore

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# IDEs and editors
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.idea/
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.vscode/
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15
# Python virtual environment
26
venv/
37

4-
# PyCharm generated files
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.idea/
6-
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# Python bytecode
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# Python bytecode and cache directories
89
*.pyc
9-
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# colcon created folders
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build/
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install/
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log/
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# VitePress
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docs/vitepress/docs/.vitepress/dist
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docs/vitepress/docs/.vitepress/build
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docs/vitepress/docs/.vitepress/cache
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docs/vitepress/docs/reference/
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# Sphinx
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docs/sphinx/build
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**/__pycache__/
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# General build directories (e.g., colcon, make, sphinx, VitePress)
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**/build/
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**/_build/
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**/.build/
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**/dist/
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**/_dist/
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**/.dist/
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**/install/
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**/_install/
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**/.install/
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**/log/
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**/_log/
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**/.log/
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**/cache/
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**/_cache/
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**/.cache/
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# GISNav docs build specific build folder
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docs/vitepress/docs/reference
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# coverage.py files
2533
.coverage*
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2735
# SITL test log output (but leave one sample flight log)
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gisnav/test/sitl/output/
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*.ulg
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*.ulog
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# Jupyter Notebook checkpoints, notebooks
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gisnav/test/sitl/ulog_analysis/.ipynb_checkpoints/
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*.egg-info
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# Debian package builds
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debian
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.pybuild
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*.deb
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# node
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node_modules
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# pytest
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*.pytest_cache/*

‎Makefile

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SHELL := /bin/bash
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include gisnav/Makefile
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include docker/Makefile
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# The docs/Makefile has a catch-all target so it is not included here
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#include docs/Makefile
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.PHONY: docs
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docs:
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@cd docs/sphinx && sphinx-build -M markdown ./source ./build
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@mkdir -p docs/vitepress/docs/reference && cp -r docs/sphinx/build/markdown/* docs/vitepress/docs/reference
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@cd docs/vitepress && npm run docs:build
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@cd docs/vitepress/docs/.vitepress/dist && touch .nojekyll # for GitHub Pages
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.PHONY: docs-preview
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docs-preview:
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.PHONY: docs\ preview
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docs\ preview:
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@cd docs/vitepress && npm run docs:preview
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.PHONY: docs-dev
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docs-preview:
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.PHONY: docs\ dev
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docs\ dev:
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@cd docs/vitepress && npm run docs:dev
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.PHONY:
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build:
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@echo "Building the project..."
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@$(MAKE) -C debian/gisnav $@
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.PHONY:
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dist: build
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@echo "Creating distribution package..."
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@$(MAKE) -C debian/gisnav $@
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.PHONY: clean
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clean: clean\ docs
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@echo "Cleaning up..."
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@$(MAKE) -C debian/gisnav $@
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# TODO - build and dist
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.PHONY: clean\ docs
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clean\ docs:
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@echo "Cleaning up documentation build files..."
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@rm -rf docs/sphinx/build
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@rm -rf docs/vitepress/docs/reference
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@rm -rf docs/vitepress/docs/.vitepress/dist
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.PHONY: install
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install: dist
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@echo "Installing the project and dependencies..."
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@$(MAKE) -C debian/gisnav $@
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.PHONY: test
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test:
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@echo "Running tests..."
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# TODO - run unit and launch tests (do not run simulation tests)
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.PHONY: lint
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lint:
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@echo "Running linter..."
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@pre-commit run --all-files
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# alias for lint - we do not have a "dry-run" option for lint, both
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# lint and format may modify the files
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.PHONY: format
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format: lint
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.PHONY: check
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check: lint test
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@echo "Running code quality checks..."
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.PHONY: help
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help:
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@echo "Available targets:"
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@echo " docs - Build the documentation"
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@echo " docs preview - Preview the documentation"
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@echo " docs dev - Run the documentation development server"
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@echo " build - Build the project"
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@echo " dist - Create a distribution package"
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@echo " clean - Clean up all generated files"
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@echo " clean docs - Clean up documentation build files only"
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@echo " install - Install the project and dependencies"
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@echo " test - Run the project's tests"
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@echo " lint - Run the linter to check code style"
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@echo " format - Automatically format the code"
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@echo " check - Run linter and tests"
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@echo " help - Show this help message"

‎debian/gisnav/DEBIAN/control.template

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Source: gisnav
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Section: utils
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Priority: optional
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Maintainer: Harri Makelin <hmakelin@protonmail.com>
5+
Build-Depends: debhelper (>= 9)
6+
Standards-Version: 4.6.0
7+
Homepage: https://gisnav.org
8+
Package: gisnav
9+
Version: ${VERSION}
10+
Architecture: all
11+
Depends: bash, docker-compose-plugin, openssh-client, coreutils, sed, x11-utils, util-linux
12+
Description: GISNav CLI Tool
13+
This package contains GISNav CLI ("gnc") - a Docker Compose wrapper that streamlines the deployment of GISNav system configurations. Additionally, it includes the "gisnav.service" systemd service (disabled by default) that can be used to ensure the Compose services are running on system startup.

‎debian/gisnav/DEBIAN/copyright.template

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Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
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Upstream-Name: gisnav
3+
Source: https://github.com/hmakelin/gisnav
4+
5+
Files: *
6+
Copyright: 2022 Harri Makelin
7+
License: MIT
8+
The full text of the license can be found in the LICENSE.md file
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available at:
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.
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https://github.com/hmakelin/gisnav/blob/${VERSION}/LICENSE.md

‎debian/gisnav/DEBIAN/postinst

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#!/bin/sh
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set -e
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# Change to the directory where the docker-compose.yml is located
5+
cd /etc/gisnav/docker
6+
7+
# The gnc CLI tool should be provided with this package
8+
# We prepare containers here as part of the installation process so that the
9+
# user experience is better when running `gnc start` for the first time (i.e.
10+
# will not have to pull or build Docker images then).
11+
# Not enabled here because this could significantly slow down install, and
12+
# cause issues with the package manager state when users inevitably interrupt
13+
# the lengthy build process.
14+
#gnc build gisnav --with-dependencies
15+
#gnc create gisnav
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# Enable the gisnav.service at startup
18+
# Not enabled automatically here because this could significantly slow down
19+
# resource constrained edge devices.
20+
#systemctl enable gisnav.service
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echo "Installation complete. Type 'gnc help' to see available commands."
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24+
exit 0

‎debian/gisnav/DEBIAN/postrm

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#!/bin/sh
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set -e
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4+
# Stop and disable the systemd service
5+
if [ -x "$(command -v systemctl)" ]; then
6+
if systemctl stop gisnav.service; then
7+
echo "Successfully stopped gisnav.service."
8+
else
9+
echo "Could not stop gisnav.service - this is OK if the service was not running."
10+
fi
11+
12+
if systemctl disable gisnav.service; then
13+
echo "Successfully disabled gisnav.service."
14+
else
15+
echo "Could not disable gisnav.service - this is OK if the service was not enabled."
16+
fi
17+
else
18+
echo "systemctl command not found. Skipping service stop and disable."
19+
fi
20+
21+
# Execute docker compose down
22+
if [ -x "$(command -v docker compose)" ]; then
23+
# "down" removes containers, volumes, networks
24+
if docker compose -p gisnav down; then
25+
echo "Successfully executed docker compose down."
26+
else
27+
echo "Failed to execute docker compose down. Please stop and remove any GISNav Docker containers manually."
28+
fi
29+
else
30+
echo "docker command not found. Skipping docker compose down."
31+
fi
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exit 0

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