Revert "Ros1-fix-firmware-flashing (#46)"

This reverts commit 008abd8.
husarion · May 20, 2024 · eddbea4 · eddbea4
1 parent 008abd8
commit eddbea4
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diff --git a/.github/workflows/build-docker-image-gazebo.yaml b/.github/workflows/build-docker-image-gazebo.yaml
@@ -6,14 +6,15 @@ on:
     #   - 'ros1'
   pull_request:
     types: [closed]
-
+  
 jobs:
   build:
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
       matrix:
         include:
+          - ros-distro: melodic
           - ros-distro: noetic
 
     steps:
@@ -22,19 +23,19 @@ jobs:
 
     - name: Set up QEMU
       uses: docker/setup-qemu-action@v1
-
+      
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v1
       with:
         version: latest
-
+    
     - name: Login to Docker Registry
       uses: docker/login-action@v1
       with:
         registry: docker.io
         username: ${{ secrets.DOCKERHUB_USERNAME }}
         password: ${{ secrets.DOCKERHUB_TOKEN }}
-
+        
     - name: Build and push (production)
       if: github.ref_name == 'ros1'
       uses: docker/build-push-action@v2
@@ -61,4 +62,4 @@ jobs:
           ROS_DISTRO=${{ matrix.ros-distro }}
         tags: husarion/rosbot:${{ matrix.ros-distro }}-simulation-${{ github.head_ref || github.ref_name }}
         cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}-simulation-${{ github.head_ref || github.ref_name }}
-        cache-to: type=inline
+        cache-to: type=inline
diff --git a/.github/workflows/build-docker-image-hardware.yaml b/.github/workflows/build-docker-image-hardware.yaml
@@ -7,7 +7,7 @@ on:
   workflow_dispatch:
   pull_request:
     types: [closed]
-
+  
 jobs:
   build:
     runs-on: ubuntu-20.04
@@ -16,10 +16,12 @@ jobs:
       matrix:
         include:
           - ros-distro: melodic
-            rosbot-fw-release: 0.16.2
+            ros-noetic-msgs: 0
+            rosbot-fw-release: 0.16.1
             platforms: "linux/amd64, linux/arm64, linux/arm/v7"
           - ros-distro: noetic
-            rosbot-fw-release: 0.16.2
+            ros-noetic-msgs: 1
+            rosbot-fw-release: 0.16.1
             platforms: "linux/amd64, linux/arm64"
 
     steps:
@@ -28,19 +30,19 @@ jobs:
 
     - name: Set up QEMU
       uses: docker/setup-qemu-action@v1
-
+      
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v1
       with:
         version: latest
-
+    
     - name: Login to Docker Registry
       uses: docker/login-action@v1
       with:
         registry: docker.io
         username: ${{ secrets.DOCKERHUB_USERNAME }}
         password: ${{ secrets.DOCKERHUB_TOKEN }}
-
+        
     - name: Build and push (production)
       if: github.ref_name == 'ros1'
       uses: docker/build-push-action@v2
@@ -51,8 +53,9 @@ jobs:
         push: true
         build-args: |
           ROS_DISTRO=${{ matrix.ros-distro }}
+          ROS_NOETIC_MSGS=${{ matrix.ros-noetic-msgs }}
           ROSBOT_FW_RELEASE=${{ matrix.rosbot-fw-release }}
-        tags: husarion/rosbot:${{ matrix.ros-distro }}
+        tags: husarion/rosbot:${{ matrix.ros-distro }}  
         cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}
         cache-to: type=inline
 
@@ -66,7 +69,8 @@ jobs:
         push: true
         build-args: |
           ROS_DISTRO=${{ matrix.ros-distro }}
+          ROS_NOETIC_MSGS=${{ matrix.ros-noetic-msgs }}
           ROSBOT_FW_RELEASE=${{ matrix.rosbot-fw-release }}
         tags: husarion/rosbot:${{ matrix.ros-distro }}-${{ github.head_ref || github.ref_name }}
         cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}-${{ github.head_ref || github.ref_name }}
-        cache-to: type=inline
+        cache-to: type=inline
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
@@ -1,15 +1,88 @@
-ARG ROS_DISTRO=noetic
-ARG ROSBOT_FW_RELEASE=0.16.2
+
+ARG ROS_DISTRO=melodic
+
+## ============================ STM32FLASH =================================
+# stm32flash needs an older version of glibc (2.28), which is why ubuntu 18.04 was used
+FROM ubuntu:18.04 AS stm32flash_builder
+
+# official releases are only for intel archs, so we need to build stm32flash from sources
+RUN apt-get update && apt-get install -y \
+		git \
+		build-essential && \
+	git clone https://github.com/stm32duino/stm32flash.git && \
+	cd stm32flash/ && \
+	make all
+
+## =========================== STM32 firmware===============================
+# FROM --platform=linux/amd64 ubuntu:18.04 as stm32_firmware_builder
+# TODO: wget from releases instead
+FROM --platform=linux/amd64 ubuntu:20.04 AS stm32_firmware_builder
+
+ARG ROSBOT_FW_RELEASE=0.16.1
+ARG ROS_NOETIC_MSGS=0
+
+SHELL ["/bin/bash", "-c"]
+
+# ENV PIO_VERSION="5.1.0"
+RUN apt update && apt install -y \
+		python3 \
+		python3-pip \
+		git \
+		wget \
+		tree
+
+# https://docs.platformio.org/en/latest/core/installation.html#system-requirements
+# RUN pip3 install -U platformio==${PIO_VERSION}
+RUN pip3 install -U platformio
+
+RUN git clone https://github.com/husarion/rosbot-stm32-firmware.git --branch ${ROSBOT_FW_RELEASE} && \
+	mkdir -p ~/.platformio/packages/framework-mbed/features/ && \
+	cp rosbot-stm32-firmware/.mbedignore ~/.platformio/packages/framework-mbed/features/.mbedignore
+
+WORKDIR /rosbot-stm32-firmware
+
+RUN git submodule update --init --recursive
+
+# RUN wget https://github.com/husarion/rosbot-stm32-firmware/archive/refs/tags/${ROSBOT_FW_RELEASE}.tar.gz && \
+# 	tar -xf *.tar.gz && \
+# 	mv rosbot-stm32-firmware* rosbot-stm32-firmware && \
+# 	mkdir -p ~/.platformio/packages/framework-mbed/features/ && \
+# 	cp rosbot-stm32-firmware/.mbedignore ~/.platformio/packages/framework-mbed/features/.mbedignore
+
+WORKDIR /rosbot-stm32-firmware
+
+RUN export LC_ALL=C.UTF-8 && \
+	export LANG=C.UTF-8 && \
+	pio project init -e core2_diff -O \
+	"build_flags= \
+		-I\$PROJECTSRC_DIR/TARGET_CORE2 \
+		-DPIO_FRAMEWORK_MBED_RTOS_PRESENT \
+		-DPIO_FRAMEWORK_EVENT_QUEUE_PRESENT \
+		-DMBED_BUILD_PROFILE_RELEASE \
+		-DJOINT_STATES_ENABLE=1 \
+		-DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \
+		-DKINEMATIC_TYPE=0" && \
+	pio project init -e core2_mec -O \
+	"build_flags= \
+		-I\$PROJECTSRC_DIR/TARGET_CORE2 \
+		-DPIO_FRAMEWORK_MBED_RTOS_PRESENT \
+		-DPIO_FRAMEWORK_EVENT_QUEUE_PRESENT \
+		-DMBED_BUILD_PROFILE_RELEASE \
+		-DJOINT_STATES_ENABLE=1 \
+		-DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \
+		-DKINEMATIC_TYPE=1" && \
+	pio run 
 
 ## =========================== ROS package builder ===============================
+
 FROM ros:$ROS_DISTRO-ros-core AS pkg-builder
 
 SHELL ["/bin/bash", "-c"]
 
 RUN apt update && apt install -y \
 		git \
 		python3-pip \
-		ros-$ROS_DISTRO-rosserial-python \
+		ros-$ROS_DISTRO-rosserial-python \ 
 		ros-$ROS_DISTRO-rosserial-server \
 		ros-$ROS_DISTRO-rosserial-client \
 		ros-$ROS_DISTRO-rosserial-msgs \
@@ -32,25 +105,21 @@ WORKDIR /ros_ws
 # clone robot github repositories
 RUN mkdir -p src && \
 	git clone https://github.com/husarion/rosbot_ros.git --branch=melodic src/rosbot_ros && \
-	git clone https://github.com/husarion/rosbot_ekf.git --branch=master src/rosbot_ekf
+	git clone https://github.com/husarion/rosbot_ekf.git --branch=master src/rosbot_ekf 
 
 # build ROS workspace
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
 	catkin_make -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release
 
+## =========================== ROS image ===============================
 
-## =========================== Final Stage ===============================
-FROM ros:$ROS_DISTRO-ros-core
-
-ARG ROSBOT_FW_RELEASE
+FROM ros:$ROS_DISTRO-ros-core 
 
 SHELL ["/bin/bash", "-c"]
 
 RUN apt update && apt install -y \
-		curl \
 		python3-pip \
-		stm32flash \
-		ros-$ROS_DISTRO-rosserial-python \
+		ros-$ROS_DISTRO-rosserial-python \ 
 		ros-$ROS_DISTRO-rosserial-server \
 		ros-$ROS_DISTRO-rosserial-client \
 		ros-$ROS_DISTRO-rosserial-msgs \
@@ -71,10 +140,10 @@ RUN apt update && apt install -y \
 # copy ROS package from previous step
 COPY --from=pkg-builder /ros_ws /ros_ws
 
-# copy firmware built
-RUN cd /root && \
-	curl -L https://github.com/husarion/rosbot-stm32-firmware/releases/download/$ROSBOT_FW_RELEASE/firmware_diff.bin -o firmware_diff.bin && \
-	curl -L https://github.com/husarion/rosbot-stm32-firmware/releases/download/$ROSBOT_FW_RELEASE/firmware_mec.bin -o firmware_mecanum.bin
+# copy firmware built in previous stage
+COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_diff/firmware.bin /root/firmware_diff.bin
+COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_mec/firmware.bin /root/firmware_mecanum.bin
+COPY --from=stm32flash_builder /stm32flash/stm32flash /usr/bin/stm32flash
 
 # copy scripts
 COPY ./flash-firmware.py /
@@ -87,4 +156,4 @@ RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc && \
 	echo ". /ros_ws/devel/setup.bash" >> ~/.profile
 
 ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
+CMD ["bash"]
diff --git a/Dockerfile.simulation b/Dockerfile.simulation
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=noetic
+ARG ROS_DISTRO=melodic
 
 FROM osrf/ros:$ROS_DISTRO-desktop
 
@@ -34,4 +34,4 @@ RUN apt-get update && \
 # replace entrypoint
 ENTRYPOINT ["/ros_ws/ros_entrypoint.sh"]
 
-CMD ["bash"]
+CMD ["bash"]