Merge pull request #546 from norlab-ulaval/dev-refactor-simplify-the-…

…dockerfile-implementation-and-refactor-out-to-NBS-generic-install-logic-NMO-436

Build system improvements and fixes

.env.libpointmatcher

@@ -0,0 +1,35 @@
+# =================================================================================================
+#
+# Set project related environment variables. Those are available for convenience
+#   and are also required by 'norlab-shell-script-tools' library.
+#
+# Usage:
+#
+#   Important! Source this file from 'libpointmatcher' repository root
+#   $ cd <path/to/libpointmatcher/>
+#   $ set -o allexport && source .env.libpointmatcher && set +o allexport
+#
+# =================================================================================================
+
+PROJECT_PROMPT_NAME='LPM'
+
+# ....Programaticaly fetch source code information.................................................
+PROJECT_GIT_REMOTE_URL="https://github.com/norlab-ulaval/libpointmatcher"
+PROJECT_GIT_NAME=$( basename "${PROJECT_GIT_REMOTE_URL}" .git )
+PROJECT_PATH=$( git rev-parse --show-toplevel )
+PROJECT_SRC_NAME="$( basename ${PROJECT_PATH} )"
+
+# ....Set LPM related environment variable with their own prefix...................................
+# Note: Those with "PROJECT_" prefix will get eventualy overiden in the case where N2ST is used
+#       as a library. Using generic testing logic require that environment variables with
+#       "PROJECT_" prefix be available.
+LPM_PROMPT_NAME="${PROJECT_PROMPT_NAME"
+LPM_GIT_REMOTE_URL="${PROJECT_GIT_REMOTE_URL}"
+LPM_GIT_NAME="${PROJECT_GIT_NAME}"
+LPM_PATH="${PROJECT_PATH}"
+LPM_SRC_NAME="${PROJECT_SRC_NAME}"
+
+# ....Set dependencies path........................................................................
+LPM_BUILD_SYSTEM_PATH="${PROJECT_PATH}/build_system"
+N2ST_PATH="${PROJECT_PATH}/build_system/utilities/norlab-shell-script-tools"
+NBS_PATH="${PROJECT_PATH}/build_system/utilities/norlab-build-system"

.github/CODEOWNERS

@@ -1,13 +1,29 @@
+# =================================================================================================
 # Files or directories with designated code owner.
-# Branch with "Require review from Code Owners" will automaticaly trigger a request to a designated code owner
+#
+# Note:
+#   - Each line is a file pattern followed by one or more owners.
+#   - Branch with branch protection rule "Require review from Code Owners"
+#     will automaticaly trigger a request to a designated code owner
+# =================================================================================================
 
-# DevOps related
-/build_system/ @RedLeader962
-/.github/ @RedLeader962
-/.dockerignore @RedLeader962
-/.gitignore @RedLeader962
+# ....Repository wide code owner...................................................................
+# These owners will be the default owners for everything in the repo.
+*       @pomerlef
 
-# Core
+# ....Core directories and files...................................................................
+/README.md @pomerlef
+/LICENSE @pomerlef
 /pointmatcher @boxanm @simonpierredeschenes @aguenette
 /python @boxanm @simonpierredeschenes @aguenette
 /utest @boxanm @simonpierredeschenes @aguenette
+/.env.libpointmatcher @RedLeader962
+
+# ....DevOps related...............................................................................
+/.github/ @RedLeader962
+/build_system/ @RedLeader962
+/build_system/utilities @RedLeader962
+/.gitmodules @RedLeader962
+/.gitignore @RedLeader962
+/.dockerignore @RedLeader962
+

.github/pull_request_template.md

@@ -0,0 +1,47 @@
+# Description
+### Summary:
+
+
+
+
+
+
+### Changes and type of changes:
+
+- 
+- 
+- 
+
+
+---
+
+# Checklist:
+
+### Code related
+- [ ] I have made corresponding changes to the documentation (i.e.: function, class, script header,
+  README.md)
+- [ ] I have commented hard-to-understand code 
+- [ ] I have added tests that prove my fix is effective or that my feature works
+- [ ] All tests pass locally with my changes (Check [README.md #Contributing](https://github.com/norlab-ulaval/libpointmatcher/tree/release#contributing) for local testing procedure using _libpointmatcher-build-system_) 
+
+### PR creation related 
+- [ ] My pull request `base ref` branch is set to the `develop` branch (the _build-system_ won't be triggered otherwise) 
+- [ ] My pull request branch is up-to-date with the `develop` branch (the _build-system_ will reject it otherwise)
+
+### PR description related 
+- [ ] I have included a quick summary of the changes
+- [ ] I have included a high-level list of changes and their corresponding type 
+  - Types: `feat` `fix` `docs` `style` `refactor` `perf` `test` `build` `ci` `chore` `revert`
+  - Breaking changes: `<type>!`
+  - Reference: 
+    - See [commit_msg_reference.md](https://github.com/norlab-ulaval/libpointmatcher/blob/release/commit_msg_reference.md) in the repository root for details
+    - https://www.conventionalcommits.org
+- [ ] I have indicated the related issue's id with `# <issue-id>` if changes are of type `fix`
+
+ ## Note for repository admins
+ ### Release PR related
+- Only repository admins have the privilege to `push/merge` on the default branch (ie: `master`) and the `release` branch.
+- Keep PR in `draft` mode until all the release reviewers are ready to push the release. 
+- Once a PR from `release` -> `master` branch is created (not in draft mode),  
+  - it triggers the _build-system_ test
+  - (in-progress) and it triggers the _semantic release automation_

CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package libpointmatcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.0 (2023-12-15)
+1.4.0 (2023-12-15)
 -----------------
 * fix: N2ST path resolution in dependencies-doc docker image
 * refactor: move libpointmatcher build-system logic to norlab-build-system submodule

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2010-2021, the libpointmatcher authors
+Copyright (c) 2010-2023, the libpointmatcher authors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -3,9 +3,37 @@
 
 
 ---
-`libpointmatcher` is currently tested on our build system with the following architecture and OS
+
+
+`libpointmatcher` is tested on our build system under the following architecture and OS:
 - x86 and arm64/v8
-- Ubuntu bionic (18.04) and focal (20.04) 
+- Ubuntu bionic (18.04) and focal (20.04)  
+
+Note: 
+- support for Ubuntu jammy (22.04) comming soon
+- `libpointmatcher` reportedly works on MacOs OsX (latest) and Windows (latest)
+
+<div align="center">
+<img src="https://img.shields.io/static/v1?label=powered by JetBrains TeamCity&message=CI/CD&color=green?style=plastic&logo=teamcity" />
+</div>
+
+<br>
+<br>
+
+<div style="padding: 20px;padding-top: 5px;padding-bottom: 5px; margin-top:20px;margin-bottom:20px; border: 2px solid LightGray; border-radius:10px;">
+
+### ★ Version `1.4.0` release note (important)
+This release of _libpointmatcher_ introduces the integration of [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) as a _git submodule_ for codebase development and testing.
+
+Execute the following to clone the repository with its submodule:
+```shell
+git clone --recurse-submodules https://github.com/norlab-ulaval/libpointmatcher.git
+```
+If _libpointmatcher_ was previously cloned, execute the following to fetch its new submodule 
+```shell
+git submodule update --remote --recursive --init
+```
+</div>
 
 # Documentation and Tutorials
 
@@ -23,17 +51,10 @@ It is now maintained by the Northern Robotics Laboratory ([Norlab](https://norla
 
 You can read the latest changes in the [release notes](doc/ReleaseNotes.md).
 
-# Quick Start
-
-Clone the repository with its submodule
-```shell
-git clone --recurse-submodules https://github.com/norlab-ulaval/libpointmatcher.git
 
-# If libpointmatcher is already cloned, fetch its new submodule 
-git submodule update --remote --recursive --init
-```
 
 
+# Quick Start
 Although we suggest to use the [tutorials](doc/index.md), here is a quick version of it:
 
 The library has a light dependency list:
@@ -95,18 +116,22 @@ described [here](doc/ICPIntro.md) in more detail.
 
 Please use our [github's issue tracker](http://github.com/ethz-asl/libpointmatcher/issues) to report bugs. If you are running the library on Ubuntu, copy-paste the output of the script [listVersionsUbuntu.sh](https://github.com/norlab-ulaval/libpointmatcher/blob/master/utest/listVersionsUbuntu.sh) to simplify the search of an answer.
 
-## Codebase
+## Codebase development
+
+Libpointmatcher codebase now integrate [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) and [norlab-shell-script-tools (N2ST)](https://github.com/norlab-ulaval/norlab-shell-script-tools). 
+`NBS` is a build-infrastructure-agnostic build system custom-made to meet our needs in robotic software engineering at NorLab and `N2ST` is a library of shell script functions as well as a shell testing tools leveraging _**bats-core**_ and _**docker**_ .
+`N2ST` purpose is to speed up shell script development and improve reliability.
 
-Libpointmatcher codebase now integrate [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) and [norlab-shell-script-tools (N2ST)](https://github.com/norlab-ulaval/norlab-shell-script-tools). `NBS` is a build-infrastructure-agnostic build system custom-made for our need at NorLab and `N2ST` is library of shell script, function for shell script development and a shell testing tools leveraging `bats-core`.
+`NBS` is deployed on our [TeamCity](https://www.jetbrains.com/teamcity/) continuous integration/deployment server and oversees protected branches of the [libpointmatcher](https://github.com/norlab-ulaval/libpointmatcher) GitHub repository:
 
-NBS is deployed on our [TeamCity](https://www.jetbrains.com/teamcity/) continuous integration/deployment server and oversees both protected branch of the [libpointmatcher](https://github.com/norlab-ulaval/libpointmatcher) GitHub repository: the `master` branch and the `develop` branch.
+- The `develop` branch can only be merged through a pull-request from any `<feature>` branches. Any contributor can submit a pull request to the `develop` branch;
+- the `release` branch is a revision and preparation branch where we can freeze the codebase in a given state without stalling to `develop` branch progression;
+- The `master` branch can only be merged through a pull-request from the `release` branch. Only repository admin can submit a PR to the `master` branch.
 
-- The `develop` branch can only be merged through a pull-request from any `<feature>` branchs. Any contributor can submit a pull request to the `develop` branch;
-- The `master` branch can only be merged from the `release` branch through a pull-request by a repository admin.
-In both cases submiting a pull request will trigger a build configuration on our build system and the pull request will be granted if the build/test run succeede.
+In any cases, submitting a pull request to `develop` or `master` will trigger a build/test configuration on our build system and the pull request will be granted if the build/test run succeed.
 
 **Current build matrix:**
-`[latest] x [x86, arm64] x [ubuntu] x [bionic, focal, jammy] x [Release, RelWithDebInfo, MinSizeRel]`
+`[latest] x [x86, arm64] x [ubuntu] x [bionic, focal] x [Release, RelWithDebInfo, MinSizeRel]`
 
 ### Development workflow
 
@@ -133,16 +158,19 @@ bash lpm_create_multiarch_docker_builder.bash
 ```shell
 cd <path/to/libpointmatcher>/build_system
 
-# Run the build matrix as specified in ".env.build_matrix.libpointmatcher" on native architecture using "ci_PR" service 
+# Run the build matrix as specified in ".env.build_matrix.libpointmatcher" 
+#   on native architecture using "ci_PR" service 
 bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast -- build ci_PR
 
-# Run a specific case using build flags with multi-architecture virtualization using "ci_PR_amd64" and "ci_PR_arm64v8" services 
-bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest \
-                                                 --os-name-build-matrix-override ubuntu \
-                                                 --cmake-build-type-build-matrix-override RelWithDebInfo \
-                                                 --ubuntu-version-build-matrix-override focal \
-                                                 --fail-fast \
-                                                 -- build ci_PR_amd64 ci_PR_arm64v8
+# Run a specific case using build flags with multi-architecture 
+# virtualization using "ci_PR_amd64" and "ci_PR_arm64v8" services 
+bash lpm_crawl_libpointmatcher_build_matrix.bash \
+            --repository-version-build-matrix-override latest \
+            --os-name-build-matrix-override ubuntu \
+            --cmake-build-type-build-matrix-override RelWithDebInfo \
+            --ubuntu-version-build-matrix-override focal \
+            --fail-fast \
+            -- build ci_PR_amd64 ci_PR_arm64v8
 
 # Read the help for details
 bash lpm_crawl_libpointmatcher_build_matrix.bash --help

build_system/.jetbrains_run_config/(HELP) bash lpm_execute_compose._ › --help menu.run.xml

@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="(HELP) bash lpm_execute_compose.* › --help menu" type="ShConfigurationType" folderName="[LPM] B | dry-run">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --help &amp;&amp; bash nbs_execute_compose.bash --help" />
+  <configuration default="false" name="(HELP) bash lpm_crawl.* › --help menu" type="ShConfigurationType" folderName="[LPM] B | dry-run">
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --help" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />

build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash › build _service_ _popup_.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build &lt;service&gt; &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] A | Execute compose over build matrix" editBeforeRun="true">
+  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build &lt;service&gt; &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
     <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --fail-fast -- build ci_PR_arm64v8" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />

build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash › build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64v8 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] A | Execute compose over build matrix" editBeforeRun="true">
+  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64v8 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
     <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override RelWithDebInfo --ubuntu-version-build-matrix-override focal --fail-fast -- build ci_PR_arm64v8" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />

build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_dependencies_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET)" type="ShConfigurationType" folderName="[LPM] A | Execute compose over build matrix">
+  <configuration default="false" name="bash lpm_crawl_dependencies_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix">
     <option name="SCRIPT_TEXT" value="bash lpm_crawl_dependencies_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override None --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override focal -- build dependencies-general dependencies dependencies-doc" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />

build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash › build test_compilation__ (Release).run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash › build test_compilation_* (compilation test)" type="ShConfigurationType" folderName="[LPM] A | Execute compose over build matrix">
+  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash › build test_compilation_* (compilation test)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix">
     <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu -- build test_compilation_prefixed_path test_compilation_auto_path_resolution" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />