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added ccache to CI, removed slic3r step #78

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added ccache to CI, removed slic3r step #78

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19b4cbe
added ccache to CI, removed slic3r step
ClemensElflein Mar 18, 2024
f12c2aa
wip
ClemensElflein Mar 18, 2024
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30 changes: 0 additions & 30 deletions .github/workflows/clear_github_cache.yaml
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27 changes: 3 additions & 24 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install --yes \
git \
mosquitto \
ccache \
nginx && rm -rf /var/www /etc/nginx/sites-enabled/* \
rm -rf /var/lib/apt/lists/*

Expand All @@ -32,23 +33,6 @@ WORKDIR /opt/open_mower_ros
RUN git submodule update --init --recursive


# Get slic3r_coverage_planner and build that. We will pull the finished install folder from this.
# This stage should cache most of the time, that's why it's not derived from the fetch stage, but copies stuff instead.
FROM base as slic3r

ENV DEBIAN_FRONTEND=noninteractive

# Fetch the slic3r planner from the repo (this will cache if unchanged)
COPY --link --from=fetch /opt/open_mower_ros/src/lib/slic3r_coverage_planner /opt/slic3r_coverage_planner_workspace/src

WORKDIR /opt/slic3r_coverage_planner_workspace
RUN rosdep install --from-paths src --ignore-src --simulate | \
sed --expression '1d' | sort | tr -d '\n' | sed --expression 's/ apt-get install//g' > apt-install_list && \
apt-get update && apt-get install --no-install-recommends --yes $(cat apt-install_list) && \
rm -rf /var/lib/apt/lists/* apt-install_list
RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make"
RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && source /opt/slic3r_coverage_planner_workspace/devel/setup.bash && catkin_make -DCMAKE_INSTALL_PREFIX=/opt/prebuilt/slic3r_coverage_planner install"


# Fetch the repo and assemble the list of dependencies. We will pull these in the next step and actually run install on them
# If the package list is the same as last time, the apt install step is cached as well which saves a lot of time.
Expand All @@ -72,9 +56,6 @@ FROM base as assemble

ENV DEBIAN_FRONTEND=noninteractive

#Fetch the slic3r built earlier, this only changes if slic3r was changed (probably never)
COPY --link --from=slic3r /opt/prebuilt/slic3r_coverage_planner /opt/prebuilt/slic3r_coverage_planner

#Fetch the list of packages, this only changes if new dependencies have been added (only sometimes)
COPY --link --from=dependencies /apt-install_list /apt-install_list
RUN apt-get update && \
Expand All @@ -84,14 +65,12 @@ RUN apt-get update && \
# This will already have the submodules initialized, no need to clone again
COPY --link --from=fetch /opt/open_mower_ros /opt/open_mower_ros

#delete prebuilt libs (so that they won't shadow the preinstalled ones)
RUN rm -rf /opt/open_mower_ros/src/lib/slic3r_coverage_planner /apt-install_list

#RUN git clone https://github.com/ClemensElflein/open_mower_ros /opt/open_mower_ros

WORKDIR /opt/open_mower_ros

RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && cd /opt/open_mower_ros/src && catkin_init_workspace && cd .. && source /opt/prebuilt/slic3r_coverage_planner/setup.bash && catkin_make -DCATKIN_BLACKLIST_PACKAGES=slic3r_coverage_planner"
RUN --mount=type=cache,target=/root/.ccache,id=open_mower_ros_cache,sharing=locked \
bash -c "PATH=\"/usr/lib/ccache:$PATH\" && source /opt/ros/$ROS_DISTRO/setup.bash && cd /opt/open_mower_ros && catkin_make -j`nproc`"

COPY .github/assets/openmower_entrypoint.sh /openmower_entrypoint.sh
RUN chmod +x /openmower_entrypoint.sh
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