diff options
-rw-r--r-- | .gitignore | 6 | ||||
-rw-r--r-- | Makefile | 35 | ||||
-rwxr-xr-x | bin/prepare_release.sh | 31 | ||||
-rw-r--r-- | cam/Makefile | 15 | ||||
-rw-r--r-- | etc/docker/cam/Dockerfile (renamed from cam/Dockerfile) | 18 | ||||
-rw-r--r-- | etc/docker/dns/Dockerfile (renamed from bind/Dockerfile) | 2 | ||||
-rw-r--r-- | etc/docker/dns/Dockerfile-devel (renamed from bind/Dockerfile-devel) | 6 | ||||
-rw-r--r-- | etc/docker/rob/Dockerfile (renamed from rob/Dockerfile) | 14 | ||||
-rw-r--r-- | etc/docker/robot/ur-sim/Dockerfile (renamed from rob/robot/ur/Dockerfile) | 14 | ||||
-rw-r--r-- | etc/docker/swarm/docker-compose.yaml (renamed from etc/docker/swarm/release/dns.yaml) | 0 | ||||
-rw-r--r-- | etc/docker/swarm/release/dns-blue.yaml | 38 | ||||
-rw-r--r-- | lib/cam/env.sh (renamed from cam/env.sh) | 0 | ||||
-rw-r--r-- | lib/cam/env_sim.sh (renamed from cam/env_sim.sh) | 0 | ||||
-rw-r--r-- | lib/rob/env.sh (renamed from rob/env.sh) | 0 | ||||
-rw-r--r-- | lib/rob/env_sim.sh (renamed from rob/env_sim.sh) | 0 | ||||
-rw-r--r-- | rob/Makefile | 20 | ||||
-rw-r--r-- | rob/robot/ur/Makefile | 16 | ||||
-rw-r--r-- | src/cam/cam.c (renamed from cam/cam.c) | 0 | ||||
-rw-r--r-- | src/rob/rob.c (renamed from rob/rob.c) | 0 | ||||
-rw-r--r-- | src/robot/ur-sim/ur-sim.c (renamed from rob/robot/ur/ur-sim.c) | 0 |
20 files changed, 84 insertions, 131 deletions
@@ -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 |