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@@ -106,7 +106,8 @@ jobs: | |
| armhf, | ||
| aarch64, | ||
| coverage, | ||
| chibios-py2 | ||
| chibios-py2, | ||
| ros | ||
| ] | ||
| steps: | ||
| # git checkout the PR | ||
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| @@ -0,0 +1,92 @@ | ||
| FROM ros:humble-ros-base as main-setup | ||
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| ENV DEBIAN_FRONTEND=noninteractive | ||
| RUN apt-get update && apt-get install --no-install-recommends -y \ | ||
| lsb-release \ | ||
| sudo \ | ||
| wget \ | ||
| software-properties-common \ | ||
| build-essential \ | ||
| ccache \ | ||
| g++ \ | ||
| gdb \ | ||
| gawk \ | ||
| git \ | ||
| make \ | ||
| cmake \ | ||
| ninja-build \ | ||
| libtool \ | ||
| libxml2-dev \ | ||
| libxslt1-dev \ | ||
| python3-pip \ | ||
| python3-setuptools \ | ||
| python3-numpy \ | ||
| python3-pyparsing \ | ||
| python3-serial \ | ||
| python-is-python3 \ | ||
| libpython3-stdlib \ | ||
| libtool-bin \ | ||
| zip \ | ||
| default-jre \ | ||
| socat \ | ||
| ros-dev-tools \ | ||
| && apt-get clean \ | ||
| && apt-get -y autoremove \ | ||
| && apt-get clean autoclean \ | ||
| && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* | ||
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| RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 empy pyelftools tabulate pymavlink | ||
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| FROM eclipse-temurin:19-jdk-jammy as dds-gen-builder | ||
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| RUN apt-get update && apt-get install --no-install-recommends -y \ | ||
| git \ | ||
| && apt-get clean \ | ||
| && apt-get -y autoremove \ | ||
| && apt-get clean autoclean \ | ||
| && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* | ||
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| RUN git clone -b develop --recurse-submodules https://github.com/ArduPilot/Micro-XRCE-DDS-Gen.git --depth 1 --no-single-branch --branch develop dds-gen \ | ||
| && cd dds-gen \ | ||
| && ./gradlew assemble | ||
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| FROM main-setup | ||
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| WORKDIR /dds-gen | ||
| COPY --from=dds-gen-builder /dds-gen/scripts scripts/ | ||
| COPY --from=dds-gen-builder /dds-gen/share share/ | ||
| WORKDIR / | ||
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| # Get STM32 GCC10 toolchain | ||
| ARG ARM_ROOT="gcc-arm-none-eabi-10" | ||
| ARG ARM_ROOT_EXT="-2020-q4-major" | ||
| ARG ARM_TARBALL="$ARM_ROOT$ARM_ROOT_EXT-x86_64-linux.tar.bz2" | ||
| ARG ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL" | ||
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| RUN cd /opt \ | ||
| && wget -qO- "$ARM_TARBALL_URL" | tar jx \ | ||
| && mv "/opt/$ARM_ROOT$ARM_ROOT_EXT" "/opt/$ARM_ROOT" \ | ||
| && rm -rf "/opt/$ARM_ROOT/share/doc" | ||
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| # manual ccache setup for arm-none-eabi-g++/arm-none-eabi-gcc | ||
| RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \ | ||
| && ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc | ||
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| # Set STM32 toolchain to the PATH | ||
| ENV PATH="/opt/$ARM_ROOT/bin:$PATH" | ||
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| RUN mkdir -p $HOME/arm-gcc \ | ||
| && ln -s -f /opt/gcc-arm-none-eabi-10/ g++-10.2.1 | ||
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| ENV PATH="/dds-gen/scripts:$PATH" | ||
| # Set ccache to the PATH | ||
| ENV PATH="/usr/lib/ccache:$PATH" | ||
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| # Gain some time by disabling mavnative | ||
| ENV DISABLE_MAVNATIVE=True | ||
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| # Set the buildlogs directory into /tmp as other directory aren't accessible | ||
| ENV BUILDLOGS=/tmp/buildlogs | ||
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| ENV TZ=UTC |
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