Merge pull request #20 from alejandro-colomar/patch-fhsHEADversion-0.5

Fix fs hierarchy

20 files changed, 84 insertions, 131 deletions

diff --git a/.gitignore b/.gitignore
index 49d4a94..73c40cb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,4 @@
-rob/rob
-rob/robot/ur/ur-sim
-cam/cam
+bin/rob
+bin/ur-sim
+bin/cam
 **/*-PASSED
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..acb4e7b
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,35 @@
+
+CFLAGS_W	= -Wall -Wextra -Werror -Wno-implicit-fallthrough
+CFLAGS_O	= -O3 -march=native -flto -fuse-linker-plugin
+CFLAGS		= $(CFLAGS_W) $(CFLAGS_O)
+
+ALL		= bin/cam bin/rob bin/ur-sim
+all: $(ALL)
+
+bin/cam: src/cam/cam.c
+	gcc-10 $(CFLAGS)						\
+			`pkg-config --cflags libalx-base libalx-cv`	\
+			$< -o $@					\
+			`pkg-config --libs libalx-cv libalx-base`
+
+bin/rob: src/rob/rob.c
+	gcc $(CFLAGS) -static						\
+			`pkg-config --static --cflags libalx-base`	\
+			`pkg-config --static --cflags libalx-telnet-tcp`\
+			`pkg-config --static --cflags libalx-robot`	\
+			$< -o $@					\
+			`pkg-config --static --libs libalx-robot`	\
+			`pkg-config --static --libs libalx-telnet-tcp`	\
+			`pkg-config --static --libs libalx-base`
+
+bin/ur-sim: src/robot/ur-sim/ur-sim.c
+	gcc-10 $(CFLAGS) -static					\
+			`pkg-config --static --cflags libalx-base`	\
+			`pkg-config --static --cflags libalx-robot`	\
+			$< -o $@					\
+			`pkg-config --static --libs libalx-robot`	\
+			`pkg-config --static --libs libalx-base`
+
+
+clean:
+	rm -f $(ALL)
diff --git a/bin/prepare_release.sh b/bin/prepare_release.sh
index e95181b..a111aec 100755
--- a/bin/prepare_release.sh
+++ b/bin/prepare_release.sh
@@ -21,25 +21,30 @@ update_version()
 	local	version=$1
 
 	sed "/--branch master/s/master/v${version}/"			\
-			-i ./cam/Dockerfile
+			-i ./etc/docker/cam/Dockerfile
 	sed "/--branch master/s/master/v${version}/"			\
-			-i ./rob/Dockerfile
+			-i ./etc/docker/rob/Dockerfile
 	sed "/--branch master/s/master/v${version}/"			\
-			-i ./rob/robot/ur/Dockerfile
+			-i ./etc/docker/robot/ur-sim/Dockerfile
 
-	sed "/alejandrocolomar\/rob_cam:cam/s/:cam/:cam_${version}/" \
-			-i ./docker/docker-compose.yaml
-	sed "/alejandrocolomar\/rob_cam:rob/s/:rob/:rob_${version}/" \
-			-i ./docker/docker-compose.yaml
+	sed "/alejandrocolomar\/rob_cam:cam/s/:cam/:cam_${version}/"	\
+			-i ./etc/docker/compose/docker-compose.yaml
+	sed "/alejandrocolomar\/rob_cam:rob/s/:rob/:rob_${version}/"	\
+			-i ./etc/docker/compose/docker-compose.yaml
 	sed "/alejandrocolomar\/rob_cam:ur-sim/s/:ur-sim/:ur-sim_${version}/" \
-			-i ./docker/docker-compose.yaml
+			-i ./etc/docker/compose/docker-compose.yaml
 
-	sed "/alejandrocolomar\/rob_cam:cam/s/:cam/:cam_${version}/" \
-			-i ./kubernetes/kube-compose.yaml
-	sed "/alejandrocolomar\/rob_cam:rob/s/:rob/:rob_${version}/" \
-			-i ./kubernetes/kube-compose.yaml
+	sed "/alejandrocolomar\/rob_cam:cam/s/:cam/:cam_${version}/"	\
+			-i ./etc/docker/kubernetes/kube-compose.yaml
+	sed "/alejandrocolomar\/rob_cam:rob/s/:rob/:rob_${version}/"	\
+			-i ./etc/docker/kubernetes/kube-compose.yaml
 	sed "/alejandrocolomar\/rob_cam:ur-sim/s/:ur-sim/:ur-sim_${version}/" \
-			-i ./kubernetes/kube-compose.yaml
+			-i ./etc/docker/kubernetes/kube-compose.yaml
+
+	sed "/alejandrocolomar\/rob_cam:dns/s/:dns/:dns_${version}/"	\
+			-i ./etc/docker/swarm/release/dns.yaml
+	sed "/alejandrocolomar\/rob_cam:dns/s/:dns/:dns_${version}/"	\
+			-i ./etc/docker/swarm/release/dns-blue.yaml
 }
 
 
diff --git a/cam/Makefile b/cam/Makefile
deleted file mode 100644
index 1ba91a5..0000000
--- a/cam/Makefile
+++ /dev/null
@@ -1,15 +0,0 @@
-
-CFLAGS_W	= -Wall -Wextra -Werror
-CFLAGS_O	= -O3 -march=native -flto -fuse-linker-plugin
-CFLAGS		= $(CFLAGS_W) $(CFLAGS_O)
-
-all: cam
-
-cam: cam.c
-	gcc-10 $(CFLAGS)							\
-			`pkg-config --cflags libalx-base libalx-cv`	\
-			$< -o $@					\
-			`pkg-config --libs libalx-cv libalx-base`
-
-clean:
-	rm -f cam
diff --git a/cam/Dockerfile b/etc/docker/cam/Dockerfile
index bdae480..cd887d4 100644
--- a/cam/Dockerfile
+++ b/etc/docker/cam/Dockerfile
@@ -4,7 +4,8 @@
 #        SPDX-License-Identifier:  GPL-2.0-only                               #
 ###############################################################################
 
-FROM	debian@sha256:e6a6f2625ec46aa6ce5c537208565cde16138e7963c341ff2a3ecbf9a6736060 \
+##	debian:bullseye
+FROM	debian@sha256:a0304760ee6dbca1270ddb92a850b5328057618edd9658cac3e4c913ce38dae1 \
 			AS build
 RUN	apt-get update							&& \
 	apt-get upgrade -V --yes					&& \
@@ -36,9 +37,10 @@ RUN	git clone							\
 	    --single-branch						\
 	    --branch version-0.5					\
 	    https://github.com/alejandro-colomar/rob_cam.git		&& \
-	make	-C rob_cam/cam/	-j 2
+	make	bin/cam				-C rob_cam
 
-FROM	debian@sha256:e6a6f2625ec46aa6ce5c537208565cde16138e7963c341ff2a3ecbf9a6736060
+##	debian:bullseye
+FROM	debian@sha256:a0304760ee6dbca1270ddb92a850b5328057618edd9658cac3e4c913ce38dae1
 RUN	apt-get update							&& \
 	apt-get upgrade --yes						&& \
 	apt-get install -V \
@@ -46,7 +48,7 @@ RUN	apt-get update							&& \
 			libc6 \
 			libstdc++6 \
 			libbsd0 \
-			libgsl23 \
+			libgsl25 \
 			libgslcblas0 \
 			libopencv-core4.2 \
 			libopencv-videoio4.2 \
@@ -56,12 +58,10 @@ RUN	apt-get update							&& \
 	apt-get autoclean						&& \
 	apt-get clean
 WORKDIR	/tmp
-COPY	--from=build /tmp/libalx ./libalx
+COPY	--from=build	/tmp/libalx		./libalx
 RUN	make	install-base install-cv		-C libalx
-WORKDIR	/app
-COPY	--from=build /tmp/rob_cam/cam/cam ./
-RUN	chmod +x ./cam
-CMD	["./cam"]
+COPY	--from=build	/tmp/rob_cam/bin/cam	/usr/local/bin/cam
+CMD	["cam"]
 
 # docker container run --tty --interactive --rm --name cam --network rob_cam_network --device="/dev/video0:/dev/video0" --env ROB_ADDR=rob --env ROB_PORT=13100 --env CAMERA_IDX=0 --env DELAY_US=10000 alejandrocolomar/rob_cam:cam_0.5.6  
 
diff --git a/bind/Dockerfile b/etc/docker/dns/Dockerfile
index 74f4a57..9f9f091 100644
--- a/bind/Dockerfile
+++ b/etc/docker/dns/Dockerfile
@@ -10,6 +10,8 @@ FROM	alpine@sha256:39eda93d15866957feaee28f8fc5adb545276a64147445c64992ef69804db
 
 RUN	apk add	--no-cache --upgrade bind
 
+RUN	ln -sv /run/secrets/var/bind/master /var/bind
+
 CMD	["named", "-c", "/etc/bind/named.conf", "-g"]
 
 ###############################################################################
diff --git a/bind/Dockerfile-devel b/etc/docker/dns/Dockerfile-devel
index 1ee30fc..622d3bb 100644
--- a/bind/Dockerfile-devel
+++ b/etc/docker/dns/Dockerfile-devel
@@ -24,12 +24,12 @@ FROM	alpine@sha256:39eda93d15866957feaee28f8fc5adb545276a64147445c64992ef69804db
 RUN	apk add	--no-cache --upgrade bind
 
 ## configure dns server
-COPY	--from=git	/repo/bind/run/configs/etc/bind/named.conf	\
+COPY	--from=git	/repo/run/configs/etc/bind/named.conf		\
 			/etc/bind/named.conf
-COPY	--from=git	/repo/bind/run/secrets/var/bind/master		\
+COPY	--from=git	/repo/run/secrets/var/bind/master		\
 			/run/secrets/var/bind/master
 
-RUN	ln --symbolic 	/run/secrets/var/bind/master	/var/bind
+RUN	ln -sv		/run/secrets/var/bind/master	/var/bind
 
 CMD	["named", "-c", "/etc/bind/named.conf", "-g"]
 
diff --git a/rob/Dockerfile b/etc/docker/rob/Dockerfile
index cad224b..91ab619 100644
--- a/rob/Dockerfile
+++ b/etc/docker/rob/Dockerfile
@@ -4,7 +4,8 @@
 #        SPDX-License-Identifier:  GPL-2.0-only                               #
 ###############################################################################
 
-FROM	debian@sha256:21a1267db36931b0a89f1fece2e54afa78438951fcaadd529837b7def15d04de \
+##	debian:latest
+FROM	debian@sha256:18f374fa88f9230a5c860f986dc83d3d03a056708164ff30c98d0e789e90946d \
 			AS build
 RUN	apt-get update							&& \
 	apt-get upgrade -V --yes					&& \
@@ -34,10 +35,10 @@ RUN	git clone							\
 	    --single-branch						\
 	    --branch version-0.5					\
 	    https://github.com/alejandro-colomar/rob_cam.git		&& \
-	make	-C rob_cam/rob/	-j 2
+	make	bin/rob				-C rob_cam
 
-FROM	debian@sha256:21a1267db36931b0a89f1fece2e54afa78438951fcaadd529837b7def15d04de
-WORKDIR	/app
+##	debian:latest
+FROM	debian@sha256:18f374fa88f9230a5c860f986dc83d3d03a056708164ff30c98d0e789e90946d
 RUN	apt-get update							&& \
 	apt-get upgrade --yes						&& \
 	apt-get install -V \
@@ -46,9 +47,8 @@ RUN	apt-get update							&& \
 	apt-get autoremove --purge --yes				&& \
 	apt-get autoclean						&& \
 	apt-get clean
-COPY	--from=build /tmp/rob_cam/rob/rob ./
-RUN	chmod +x ./rob
-CMD	["./rob"]
+COPY	--from=build /tmp/rob_cam/bin/rob /usr/local/bin/rob
+CMD	["rob"]
 
 # docker container run --tty --interactive --rm --name rob --network rob_cam_network --env ROBOT_TYPE=ur --env ROBOT_ADDR=robot --env ROBOT_PORT=30002 --env ROBOT_USER= --env ROBOT_PASSWD= --env ROBOT_STATUS_FNAME=status.log --env ROB_PORT=13100 --env ROB_CAMS_MAX=10 --env DELAY_LOGIN=1000000 --env DELAY_US=100000 alejandrocolomar/rob_cam:rob_0.5.6  
 
diff --git a/rob/robot/ur/Dockerfile b/etc/docker/robot/ur-sim/Dockerfile
index 18bf285..89c9c6b 100644
--- a/rob/robot/ur/Dockerfile
+++ b/etc/docker/robot/ur-sim/Dockerfile
@@ -4,7 +4,8 @@
 #        SPDX-License-Identifier:  GPL-2.0-only                               #
 ###############################################################################
 
-FROM	debian@sha256:e6a6f2625ec46aa6ce5c537208565cde16138e7963c341ff2a3ecbf9a6736060 \
+##	debian:bullseye
+FROM	debian@sha256:a0304760ee6dbca1270ddb92a850b5328057618edd9658cac3e4c913ce38dae1 \
 			AS build
 RUN	apt-get update							&& \
 	apt-get upgrade -V --yes					&& \
@@ -35,10 +36,10 @@ RUN	git clone							\
 	    --single-branch						\
 	    --branch version-0.5					\
 	    https://github.com/alejandro-colomar/rob_cam.git		&& \
-	make	-C rob_cam/rob/robot/ur/	-j 2
+	make	bin/ur-sim		-C rob_cam
 
-FROM	debian@sha256:e6a6f2625ec46aa6ce5c537208565cde16138e7963c341ff2a3ecbf9a6736060
-WORKDIR	/app
+##	debian:bullseye
+FROM	debian@sha256:a0304760ee6dbca1270ddb92a850b5328057618edd9658cac3e4c913ce38dae1
 RUN	apt-get update							&& \
 	apt-get upgrade --yes						&& \
 	apt-get install -V \
@@ -47,9 +48,8 @@ RUN	apt-get update							&& \
 	apt-get autoremove --purge --yes				&& \
 	apt-get autoclean						&& \
 	apt-get clean
-COPY	--from=build /tmp/rob_cam/rob/robot/ur/ur-sim ./
-RUN	chmod +x ./ur-sim
-CMD	["./ur-sim"]
+COPY	--from=build /tmp/rob_cam/bin/ur-sim /usr/local/bin/ur-sim
+CMD	["ur-sim"]
 
 # docker container run --tty --network rob_cam_network --name robot --rm alejandrocolomar/rob_cam:ur-sim_0.5.6 
 
diff --git a/etc/docker/swarm/release/dns.yaml b/etc/docker/swarm/docker-compose.yaml
index 173d3a6..173d3a6 100644
--- a/etc/docker/swarm/release/dns.yaml
+++ b/etc/docker/swarm/docker-compose.yaml
diff --git a/etc/docker/swarm/release/dns-blue.yaml b/etc/docker/swarm/release/dns-blue.yaml
deleted file mode 100644
index 1cc4981..0000000
--- a/etc/docker/swarm/release/dns-blue.yaml
+++ /dev/null
@@ -1,38 +0,0 @@
-#########################################################################
-#      Copyright (C) 2020        Sebastian Francisco Colomar Bauza      #
-#      SPDX-License-Identifier:  GPL-2.0-only                           #
-#########################################################################
-
-configs:
-    named:
-        file: /run/configs/etc/bind/named.conf
-
-secrets:
-    forward:
-        file: /run/secrets/var/bind/master/alejandro-colomar.com
-    reverse:
-        file: /run/secrets/var/bind/master/10.168
-
-services:
-    dns:
-        configs:
-        -
-            mode: 0440
-            source: named
-            target: /etc/bind/named.conf
-        deploy:
-            mode: global
-        image: "alejandrocolomar/rob_cam:dns_0.5"
-        ports:
-        -   "5353:53/udp"
-        secrets:
-        -
-            mode: 0440
-            source: forward
-            target: var/bind/master/alejandro-colomar.com
-        -
-            mode: 0440
-            source: reverse
-            target: var/bind/master/10.168
-
-version: '3.8'
diff --git a/cam/env.sh b/lib/cam/env.sh
index 453848b..453848b 100644
--- a/cam/env.sh
+++ b/lib/cam/env.sh
diff --git a/cam/env_sim.sh b/lib/cam/env_sim.sh
index 051bfec..051bfec 100644
--- a/cam/env_sim.sh
+++ b/lib/cam/env_sim.sh
diff --git a/rob/env.sh b/lib/rob/env.sh
index 993c1c3..993c1c3 100644
--- a/rob/env.sh
+++ b/lib/rob/env.sh
diff --git a/rob/env_sim.sh b/lib/rob/env_sim.sh
index 4c480e0..4c480e0 100644
--- a/rob/env_sim.sh
+++ b/lib/rob/env_sim.sh
diff --git a/rob/Makefile b/rob/Makefile
deleted file mode 100644
index 81ebb5e..0000000
--- a/rob/Makefile
+++ /dev/null
@@ -1,20 +0,0 @@
-
-CFLAGS_W	= -Wall -Wextra -Werror -Wno-implicit-fallthrough
-CFLAGS_O	= -O3 -march=native -flto -fuse-linker-plugin -static
-CFLAGS		= $(CFLAGS_W) $(CFLAGS_O)
-
-.PHONY: all
-all: rob
-
-rob: rob.c
-	gcc $(CFLAGS) 							\
-			`pkg-config --static --cflags libalx-base`	\
-			`pkg-config --static --cflags libalx-telnet-tcp`\
-			`pkg-config --static --cflags libalx-robot`	\
-			$< -o $@					\
-			`pkg-config --static --libs libalx-robot`	\
-			`pkg-config --static --libs libalx-telnet-tcp`	\
-			`pkg-config --static --libs libalx-base`
-
-clean:
-	rm -f rob
diff --git a/rob/robot/ur/Makefile b/rob/robot/ur/Makefile
deleted file mode 100644
index 895141a..0000000
--- a/rob/robot/ur/Makefile
+++ /dev/null
@@ -1,16 +0,0 @@
-
-CFLAGS_W	= -Wall -Wextra -Werror -Wno-implicit-fallthrough
-CFLAGS_O	= -O3 -march=native -flto -fuse-linker-plugin -static
-CFLAGS		= $(CFLAGS_W) $(CFLAGS_O)
-
-.PHONY: all
-all: ur-sim
-
-ur-sim: ur-sim.c
-	gcc-10 $(CFLAGS) 						\
-			`pkg-config --static --cflags libalx-base`	\
-			`pkg-config --static --cflags libalx-robot`	\
-			$< -o $@					\
-			`pkg-config --static --libs libalx-robot`	\
-			`pkg-config --static --libs libalx-base`
-
diff --git a/cam/cam.c b/src/cam/cam.c
index 2bcd946..2bcd946 100644
--- a/cam/cam.c
+++ b/src/cam/cam.c
diff --git a/rob/rob.c b/src/rob/rob.c
index 75947c5..75947c5 100644
--- a/rob/rob.c
+++ b/src/rob/rob.c
diff --git a/rob/robot/ur/ur-sim.c b/src/robot/ur-sim/ur-sim.c
index 22a9f80..22a9f80 100644
--- a/rob/robot/ur/ur-sim.c
+++ b/src/robot/ur-sim/ur-sim.c