v0.17.0 release

.dockerignore

@@ -1,9 +1,19 @@
-.vs
-.vscode
-Builds/*
-Testing/*
-.idea
-cmake-build-debug
-cmake-build-release
-build
-external/vcpkg
+# Ignore everything by default
+*
+
+# First-order allow exception for select directories
+!/.clang-format
+!/.githooks
+!/.git
+!/CMakeLists.txt
+!/docs
+!/extensions
+!/extensions.repos
+!external/CMakeLists.txt
+!/include
+!/ros2_standalone
+!/setup.py
+!/install_deps.py
+!/src
+!/test
+!/tools

.github/dependabot.yml

@@ -0,0 +1,14 @@
+version: 2
+updates:
+  - package-ecosystem: "docker"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    commit-message:
+      prefix: "🐳 "
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    commit-message:
+      prefix: "🛠️ "

.github/workflows/build-and-test.yml

@@ -0,0 +1,226 @@
+name: build-and-test
+
+run-name: Build & test for ${{ github.ref_name }} on ${{ github.sha }}
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'develop'
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+# Cancel previous runs if new changes on PR/branch
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+###### PREPARE WORKFLOW ######
+  checkout-repository:
+    runs-on: self-hosted
+    steps:
+      - name: Checkout repository code
+        uses: actions/checkout@v4
+        with:
+          clean: false
+      - name: Clean repository excluding RGL blobs repo
+        run: git clean -ffdx -e external/rgl_blobs
+      - name: Import private extensions
+        run: vcs import < extensions.repos
+      - name: Install taped test runtime dependencies
+        run: ./setup.py --fetch-rgl-blobs
+
+  load-env:
+    uses: ./.github/workflows/load-env-subworkflow.yml
+
+###### BUILD USING RGL DOCKER ######
+  build-core:
+    needs: [checkout-repository, load-env]
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }}
+        --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1
+        --build-arg BUILD_CMD="./setup.py"
+        --target=exporter --output=bin-core .'
+
+  build-pcl:
+    needs: [checkout-repository, load-env]
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }}
+        --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1
+        --build-arg BUILD_CMD="./setup.py --with-pcl --build-taped-test"
+        --target=exporter --output=bin-pcl .'
+
+  build-ros2:
+    needs: [ checkout-repository, load-env ]
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }}
+        --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1
+        --build-arg BUILD_CMD=". /opt/ros/\$ROS_DISTRO/setup.sh && ./setup.py --with-ros2-standalone"
+        --target=exporter --output=bin-ros2 .'
+
+  build-udp:
+    needs: [ checkout-repository, load-env ]
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }}
+        --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1
+        --build-arg BUILD_CMD="./setup.py --with-udp"
+        --target=exporter --output=bin-udp .'
+
+  build-snow:
+    needs: [ checkout-repository, load-env ]
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }}
+        --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1
+        --build-arg BUILD_CMD="./setup.py --with-snow"
+        --target=exporter --output=bin-snow .'
+
+  build-all:
+    needs: [ checkout-repository, load-env ]
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }}
+        --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1
+        --build-arg BUILD_CMD=". /opt/ros/\$ROS_DISTRO/setup.sh && ./setup.py --with-pcl --with-ros2-standalone --with-udp --with-snow --build-taped-test"
+        --target=exporter --output=bin-all .'
+
+####### TEST WITH RGL DOCKER IMAGE ######
+  test-core-dev:
+    needs: [build-core]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        cd bin-core/bin/test && ./RobotecGPULidar_test'
+      docker-image: localhost:5000/robotecgpulidar-all:latest
+
+  test-pcl-dev:
+    needs: [ build-pcl ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs &&
+        cd bin-pcl/bin/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
+      docker-image: localhost:5000/robotecgpulidar-all:latest
+
+  test-ros2-dev:
+    needs: [ build-ros2 ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      # Source ROS2 and radar_msgs, standalone build is tested in prod environment
+      # Run tests twice, each for different RMW implementation
+      test-command: '
+        . /opt/ros/$ROS_DISTRO/setup.sh &&
+        . /opt/rgl/external/radar_msgs/install/setup.sh &&
+        cd bin-ros2/bin/test &&
+        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
+      docker-image: localhost:5000/robotecgpulidar-all:latest
+
+  test-udp-dev:
+    needs: [ build-udp ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        cd bin-udp/bin/test && ./RobotecGPULidar_test'
+      docker-image: localhost:5000/robotecgpulidar-all:latest
+
+  test-snow-dev:
+    needs: [ build-snow ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        cd bin-snow/bin/test && ./RobotecGPULidar_test'
+      docker-image: localhost:5000/robotecgpulidar-all:latest
+
+  test-all-dev:
+    needs: [ build-all ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      # Source ROS2 and radar_msgs, standalone build is tested in prod environment
+      # Set `RGL_TEST_VLP16_CALIB_FILE` for UDP-ROS2 integration test
+      # Run tests twice, each for different RMW implementation
+      test-command: '
+        . /opt/ros/$ROS_DISTRO/setup.sh &&
+        . /opt/rgl/external/radar_msgs/install/setup.sh &&
+        export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml &&
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs &&
+        cd bin-all/bin/test &&
+        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test &&
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
+      docker-image: localhost:5000/robotecgpulidar-all:latest
+
+####### TEST WITH CLEAN UBUNTU DOCKER IMAGE ######
+  test-core-prod:
+    needs: [build-core]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        cd bin-core/bin/test && ./RobotecGPULidar_test'
+      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
+
+  test-pcl-prod:
+    needs: [ build-pcl ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      # Additionally, install PCL extension dependent libraries for runtime
+      test-command: '
+        apt update && apt install -y libxcursor1 libgl1 &&
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs &&
+        cd bin-pcl/bin/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
+      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
+
+  test-ros2-prod:
+    needs: [ build-ros2 ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      # Copy ROS2 libraries to be visible for libRobotecGPULidar.so
+      # Run tests twice, each for different RMW implementation
+      test-command: '
+        cp -p bin-ros2/lib/ros2_standalone/* bin-ros2/lib &&
+        cd bin-ros2/bin/test &&
+        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
+      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
+
+  test-udp-prod:
+    needs: [ build-udp ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        cd bin-udp/bin/test && ./RobotecGPULidar_test'
+      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
+
+  test-snow-prod:
+    needs: [ build-snow ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      test-command: '
+        cd bin-snow/bin/test && ./RobotecGPULidar_test'
+      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
+
+  test-all-prod:
+    needs: [ build-all ]
+    uses: ./.github/workflows/test-subworkflow.yml
+    with:
+      # Install PCL extension dependent libraries for runtime
+      # Copy ROS2 libraries to be visible for libRobotecGPULidar.so
+      # Run tests twice, each for different RMW implementation
+      test-command: '
+        apt update && apt install -y libxcursor1 libgl1 &&
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs &&
+        cp -p bin-all/lib/ros2_standalone/* bin-all/lib &&
+        cd bin-all/bin/test &&
+        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test &&
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
+      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04

.github/workflows/load-env-subworkflow.yml

@@ -0,0 +1,23 @@
+name: load-env-subworkflow
+
+on:
+  workflow_call:
+    outputs:
+      optix-install-dir:
+        value: ${{ jobs.load-env.outputs.optix-install-dir }}
+
+jobs:
+  load-env:
+    runs-on: self-hosted
+    outputs:
+      optix-install-dir: ${{ steps.set-envs.outputs.optix-install-dir }}
+    steps:
+      - id: check-envs
+        run: |
+          if [[ -z "${OptiX_INSTALL_DIR}" ]]; then
+            echo "OptiX_INSTALL_DIR env is empty"
+            exit 1
+          fi
+      - id: set-envs
+        run: |
+          echo "optix-install-dir=$OptiX_INSTALL_DIR" | tee -a $GITHUB_OUTPUT

.github/workflows/test-subworkflow.yml

@@ -0,0 +1,31 @@
+name: test-subworkflow
+
+on:
+  workflow_call:
+    inputs:
+      test-command:
+        required: true
+        type: string
+      docker-image:
+        required: true
+        type: string
+
+permissions:
+  contents: read
+
+jobs:
+  test:
+    defaults:
+      run:
+        shell: bash
+    runs-on: self-hosted
+    container:
+      image: ${{ inputs.docker-image }}
+      env:
+        NVIDIA_DRIVER_CAPABILITIES: all
+      options:
+        --rm
+        --gpus all
+    steps:
+      - name: test
+        run: ${{ inputs.test-command }}

.gitignore

@@ -39,4 +39,8 @@ Testing/*
 cmake-build-debug
 cmake-build-release
 build
-external/vcpkg
+external/*
+!external/CMakeLists.txt
+extensions/udp
+extensions/snow
+CMakeSettings.json