Fixup docker images and build scripts

Dockerfile-arm64_cross

@@ -0,0 +1,72 @@
+# Do not publish to dockerhub
+FROM ubuntu:20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get --yes update  \
+ && apt-get --yes install \
+    nano \
+    git \
+    wget \
+    curl \
+    unzip \
+    locales \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    software-properties-common \
+    sudo \
+    build-essential \
+    swig \
+    cmake \
+    openjdk-17-jdk \
+    gcc-aarch64-linux-gnu \
+    binutils-aarch64-linux-gnu \
+    g++-aarch64-linux-gnu \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
+ENV PATH=$PATH:$JAVA_HOME/bin
+
+# Installing SOEM
+WORKDIR /opt
+RUN git clone https://github.com/OpenEtherCATsociety/SOEM.git
+WORKDIR /opt/SOEM
+RUN mkdir build && cd build
+WORKDIR /opt/SOEM/build
+RUN cmake -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc \
+    -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ \
+    -DCMAKE_FIND_ROOT_PATH=/usr/aarch64-linux-gnu \
+    -DCMAKE_PROGRAM_PATH=/usr/aarch64-linux-gnu/bin \
+    -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr \
+    -DCMAKE_POSITION_INDEPENDENT_CODE=true \
+    -DCMAKE_BUILD_TYPE=Release \
+    ..
+RUN make
+RUN make install
+
+# Setup a robotlab user as the development user, to avoid using root.
+# Allows using sudo with robotlab user without a password.
+RUN addgroup robotlab \
+ && adduser --uid 1000 --gid 1000 --home /home/robotlab --disabled-password robotlab \
+ && chown -R robotlab /home/robotlab \
+ && adduser robotlab sudo \
+ && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER robotlab
+WORKDIR /home/robotlab
+
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/build
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/src
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/swig
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/build
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/src
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/swig
+WORKDIR /home/robotlab/dev/ihmc-ethercat-master
+
+ENTRYPOINT ["/bin/bash"]
+CMD ["build-arm64_cross.sh"]

Dockerfile-x86_64

@@ -0,0 +1,62 @@
+# Do not publish to dockerhub
+FROM ubuntu:20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get --yes update  \
+ && apt-get --yes install \
+    nano \
+    git \
+    wget \
+    curl \
+    unzip \
+    locales \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    software-properties-common \
+    sudo \
+    build-essential \
+    swig \
+    cmake \
+    openjdk-17-jdk \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
+ENV PATH=$PATH:$JAVA_HOME/bin
+
+# Installing SOEM
+WORKDIR /opt
+RUN git clone https://github.com/OpenEtherCATsociety/SOEM.git
+WORKDIR /opt/SOEM
+RUN mkdir build && cd build
+WORKDIR /opt/SOEM/build
+RUN cmake -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=true -DCMAKE_BUILD_TYPE=Release ..
+RUN make
+RUN make install
+
+# Setup a robotlab user as the development user, to avoid using root.
+# Allows using sudo with robotlab user without a password.
+RUN addgroup robotlab \
+ && adduser --uid 1000 --gid 1000 --home /home/robotlab --disabled-password robotlab \
+ && chown -R robotlab /home/robotlab \
+ && adduser robotlab sudo \
+ && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER robotlab
+WORKDIR /home/robotlab
+
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/build
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/src
+RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/swig
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/build
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/src
+VOLUME /home/robotlab/dev/ihmc-ethercat-master/swig
+WORKDIR /home/robotlab/dev/ihmc-ethercat-master
+
+ENTRYPOINT ["/bin/bash"]
+CMD ["build-x86_64.sh"]

build-arm64_cross.sh

@@ -0,0 +1,11 @@
+#!/bin/sh
+export AARCH64_CROSS=1
+
+# Build for arm64
+mkdir -p build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../linux-aarch64-toolchain.cmake ..
+make
+../gradlew publishToMavenLocal -Ptarget=JAVA
+../gradlew publishToMavenLocal -Ptarget=PLATFORM
+cd ..

build.sh → build-x86_64.sh

@@ -1,13 +1,9 @@
-#!/bin/bash
-# Uncomment for debugging this script
-set -o xtrace
-
+#!/bin/sh
+# Build for native platform (probably x86_64)
+mkdir -p build
 cd build
-
 cmake -DCMAKE_BUILD_TYPE=Release ..
 make
-
-pwd
-ls ..
 ../gradlew publishToMavenLocal -Ptarget=JAVA
 ../gradlew publishToMavenLocal -Ptarget=PLATFORM
+cd ..

buildDockerImages.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+docker build -f Dockerfile-x86_64 -t ihmcrobotics/soem-compile-x86_64:0.1 .
+docker build -f Dockerfile-arm64_cross -t ihmcrobotics/soem-compile-arm64_cross:0.1 .

buildWithDocker.sh

@@ -1,34 +1,49 @@
-#!/bin/bash
-# Uncomment for debugging this script
-set -o xtrace
+#!/bin/sh
+rm -rf buildDocker
+mkdir -p buildDocker
 
-# Make sure it works one way or the other to reduce possible errors
-if (( EUID == 0 )); then
-    echo "Run without sudo." 1>&2
-    exit 1
-fi
+echo "Building soemJava x86_64"
+sudo docker run \
+    --rm \
+    --tty \
+    --interactive \
+    --network host \
+    --dns=1.1.1.1 \
+    --volume "$(pwd)/buildDocker":/home/robotlab/dev/ihmc-ethercat-master/build \
+    --volume "$(pwd)/src":/home/robotlab/dev/ihmc-ethercat-master/src \
+    --volume "$(pwd)/swig":/home/robotlab/dev/ihmc-ethercat-master/swig \
+    --volume "$(pwd)/build.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/build.gradle.kts \
+    --volume "$(pwd)/gradle.properties":/home/robotlab/dev/ihmc-ethercat-master/gradle.properties \
+    --volume "$(pwd)/settings.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/settings.gradle.kts \
+    --volume "$(pwd)/CMakeLists.txt":/home/robotlab/dev/ihmc-ethercat-master/CMakeLists.txt \
+    --volume "$(pwd)/build-x86_64.sh":/home/robotlab/dev/ihmc-ethercat-master/build-x86_64.sh \
+    --volume "$(pwd)/gradlew":/home/robotlab/dev/ihmc-ethercat-master/gradlew \
+    --volume "$(pwd)/gradle/wrapper":/home/robotlab/dev/ihmc-ethercat-master/gradle/wrapper \
+    --volume "$HOME/.m2":/home/robotlab/.m2 \
+    ihmcrobotics/soem-compile-x86_64:0.1
 
+sleep 1
+rm -rf buildDocker
 mkdir -p buildDocker
+sleep 1
 
-if [ ! "$(sudo -u root docker ps -a | grep ethercat-master)" ]; then
-    echo "ethercat-master not found. Running new container."
-    sudo -u root docker run \
-        --tty \
-        --interactive \
-        --name ethercat-master \
-        --network host \
-        --dns=1.1.1.1 \
-        --volume "$(pwd)/buildDocker":/home/robotlab/dev/ihmc-ethercat-master/build \
-        --volume "$(pwd)/src":/home/robotlab/dev/ihmc-ethercat-master/src \
-        --volume "$(pwd)/swig":/home/robotlab/dev/ihmc-ethercat-master/swig \
-        --volume "$(pwd)/build.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/build.gradle.kts \
-        --volume "$(pwd)/gradle.properties":/home/robotlab/dev/ihmc-ethercat-master/gradle.properties \
-        --volume "$(pwd)/settings.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/settings.gradle.kts \
-        --volume "$(pwd)/CMakeLists.txt":/home/robotlab/dev/ihmc-ethercat-master/CMakeLists.txt \
-        --volume "$(pwd)/build.sh":/home/robotlab/dev/ihmc-ethercat-master/build.sh \
-	--volume "$(pwd)/gradlew":/home/robotlab/dev/ihmc-ethercat-master/gradlew \
-	--volume "$(pwd)/gradle/wrapper":/home/robotlab/dev/ihmc-ethercat-master/gradle/wrapper \
-        ihmcrobotics/ethercat-master:0.2
-else
-    sudo -u root docker start --attach ethercat-master
-fi
+echo "Building soemJava arm64 (cross compiling)"
+sudo docker run \
+    --rm \
+    --tty \
+    --interactive \
+    --network host \
+    --dns=1.1.1.1 \
+    --volume "$(pwd)/buildDocker":/home/robotlab/dev/ihmc-ethercat-master/build \
+    --volume "$(pwd)/src":/home/robotlab/dev/ihmc-ethercat-master/src \
+    --volume "$(pwd)/swig":/home/robotlab/dev/ihmc-ethercat-master/swig \
+    --volume "$(pwd)/build.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/build.gradle.kts \
+    --volume "$(pwd)/gradle.properties":/home/robotlab/dev/ihmc-ethercat-master/gradle.properties \
+    --volume "$(pwd)/settings.gradle.kts":/home/robotlab/dev/ihmc-ethercat-master/settings.gradle.kts \
+    --volume "$(pwd)/CMakeLists.txt":/home/robotlab/dev/ihmc-ethercat-master/CMakeLists.txt \
+    --volume "$(pwd)/linux-aarch64-toolchain.cmake":/home/robotlab/dev/ihmc-ethercat-master/linux-aarch64-toolchain.cmake \
+    --volume "$(pwd)/build-arm64_cross.sh":/home/robotlab/dev/ihmc-ethercat-master/build-arm64_cross.sh \
+    --volume "$(pwd)/gradlew":/home/robotlab/dev/ihmc-ethercat-master/gradlew \
+    --volume "$(pwd)/gradle/wrapper":/home/robotlab/dev/ihmc-ethercat-master/gradle/wrapper \
+    --volume "$HOME/.m2":/home/robotlab/.m2 \
+    ihmcrobotics/soem-compile-arm64_cross:0.1

readme.md

@@ -152,16 +152,6 @@ Note that if you want to publish multiple platform libraries you only have to ru
 
 ### Compiling with Docker
 
-Run `./buildWithDocker.sh`
+Build the docker images first with: `./buildDockerImages.sh`
 
-The Docker image is hosted at [https://hub.docker.com/r/ihmcrobotics/ethercat-master]().
-
-If changes to the Dockerfile are needed, build it with the following command, incrementing the version.
-Then, increment the version in the buildWithDocker.sh file before running.
-
-```
-# docker build --tag ihmcrobotics/ethercat-master:0.X .
-# docker rm ethercat-master
-```
-
-For more about IHMC Robotics's usage of Docker, see [https://github.com/ihmcrobotics/ihmc-open-robotics-software/tree/develop/docker]().
+Then run: `./buildWithDocker.sh` to build the artifacts, they will be copied to the host's local maven repository.

settings.gradle.kts

@@ -1,6 +1,6 @@
 pluginManagement {
    plugins {
-      id("us.ihmc.ihmc-build") version "1.0.0"
+      id("us.ihmc.ihmc-build") version "1.1.0"
    }
 }
 
@@ -10,7 +10,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath("us.ihmc:ihmc-build:1.0.0")
+      classpath("us.ihmc:ihmc-build:1.1.0")
    }
 }
 

swig/settings.gradle.kts.in

@@ -2,7 +2,7 @@ import org.gradle.internal.os.OperatingSystem;
 
 pluginManagement {
    plugins {
-      id("us.ihmc.ihmc-build") version "1.0.0"
+      id("us.ihmc.ihmc-build") version "1.1.0"
    }
 }
 
@@ -12,7 +12,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath("us.ihmc:ihmc-build:1.0.0")
+      classpath("us.ihmc:ihmc-build:1.1.0")
    }
 }