feat(build): add configuration files for VS Code devcontainer (#137)

Add development stage to Dockerfile.ci and devcontainer configuration files.

Use the development-dependencies image as base image.

.devcontainer/devcontainer.json

@@ -0,0 +1,23 @@
+{
+    "name": "control libraries",
+    "remoteUser": "ros2",
+    "build": {
+        "dockerfile": "../Dockerfile.ci",
+        "context": "..",
+        "target": "development",
+        "args": {
+            "BASE_TAG": "22.04",
+            "PINOCCHIO_TESTS": "OFF"
+        }
+    },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/src,type=bind,consistency=cached",
+    "workspaceFolder": "/src",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools-extension-pack",
+                "eamodio.gitlens"
+            ]
+        }
+    }
+}

.gitignore

@@ -1,6 +1,7 @@
 # IDE generated directories
 .idea
 cmake-build-*
+build/
 
 # Prerequisites
 *.d

.vscode/c_cpp_properties.json

@@ -0,0 +1,15 @@
+{
+    "configurations": [
+        {
+            "name": "AMD",
+            "includePath": [
+                "/src/source/**/include"
+            ],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "cmake.sourceDirectory": "/src/source",
+    "cmake.configureArgs": [ "-DBUILD_TESTING=ON" ],
+    "C_Cpp.clang_format_style": "file:/home/ros2/.clang-format"
+}

CHANGELOG.md

@@ -10,6 +10,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- feat(build): add configuration files for VS Code devcontainer (#137)
 - feat(python): auto-generate stubs for python modules in Dockerfile (#135)
 - fix: build all python modules (#134)
 

Dockerfile.ci

@@ -1,4 +1,5 @@
-FROM ghcr.io/aica-technology/ros2-ws:humble as base
+ARG BASE_TAG=22.04
+FROM ghcr.io/aica-technology/control-libraries/development-dependencies:${BASE_TAG} as base
 USER ${USER}
 
 FROM base as apt-dependencies
@@ -61,36 +62,35 @@ HEREDOC
 FROM base as dep-pinocchio
 COPY --from=apt-dependencies /tmp/apt /
 ARG TARGETPLATFORM
+ARG CACHEID
 ARG PINOCCHIO_TAG=v2.6.9
+ARG PINOCCHIO_TESTS=OFF
 # FIXME: it would be nicer to have it all in the root CMakelists.txt but:
 #  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
 #  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
 # FIXME: it needs `CMAKE_INSTALL_PREFIX` and `--prefix` because it doesn't install to the right place otherwise
-RUN \
-  --mount=type=cache,target=./pinocchio,id=cmake-pinocchio-src-${PINOCCHIO_TAG}-${TARGETPLATFORM},uid=1000 \
-  --mount=type=cache,target=./build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${TARGETPLATFORM},uid=1000 \
+RUN --mount=type=cache,target=./pinocchio,id=cmake-pinocchio-src-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  --mount=type=cache,target=./build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   if [ ! -f pinocchio/CMakeLists.txt ]; then rm -rf pinocchio/* && git clone --depth 1 -b ${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio; fi \
-  && cmake -B build -S pinocchio -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=/tmp/deps \
+  && cmake -B build -S pinocchio -DBUILD_TESTING=${PINOCCHIO_TESTS} -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=/tmp/deps \
   && cmake --build build --target all install
 # FIXME: pinocchio produces non-portable paths
 RUN find /tmp/deps -type f -exec sed -i 's#/tmp/deps#/usr#g' '{}' \;
 
 FROM base as dep-osqp
 ARG TARGETPLATFORM
+ARG CACHEID
 COPY dependencies/osqp.cmake CMakeLists.txt
-RUN \
-  --mount=type=cache,target=./build,id=cmake-osqp-${TARGETPLATFORM},uid=1000 \
-  cmake -B build -DCMAKE_BUILD_TYPE=Release \
-  && cmake --build build \
-  && cmake --install build --prefix /tmp/deps
+RUN --mount=type=cache,target=./build,id=cmake-osqp-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build && cmake --install build --prefix /tmp/deps
 
 FROM base as dependencies
 ARG TARGETPLATFORM
+ARG CACHEID
 # Needed to build `osqp-eigen`
 COPY --from=dep-osqp /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
-RUN \
-  --mount=type=cache,target=./build,id=cmake-deps-${TARGETPLATFORM},uid=1000 \
+RUN --mount=type=cache,target=./build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   cmake -B build -DCMAKE_BUILD_TYPE=Release \
   && cmake --build build \
   && cmake --install build --prefix /tmp/deps
@@ -103,46 +103,47 @@ COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --chown=${USER}:${USER} . /src
 
+FROM code as development
+
 FROM code as build
 ARG TARGETPLATFORM
-RUN \
-  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
-  cmake -B build -DCMAKE_BUILD_TYPE=Release \
-  && cmake --build build
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build
 
 FROM build as test
 ARG TARGETPLATFORM
-RUN \
-  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
-  cmake -B build -DBUILD_TESTING=ON \
-  && CTEST_OUTPUT_ON_FAILURE=1 cmake --build build --target test
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  cmake -B build -DBUILD_TESTING=ON && cd build && make && CTEST_OUTPUT_ON_FAILURE=1 make test
 
 FROM build as install
 ARG TARGETPLATFORM
-RUN \
-  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   cmake --install build --prefix /tmp/cl
 
 FROM base as python
 ARG TARGETPLATFORM
+ARG CACHEID
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
 COPY --chown=${USER}:${USER} ./python /python
-RUN \
-  --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM},uid=1000 \
+RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   python3 -m pip install --prefix=/tmp/python /python
 RUN mkdir -p /tmp/python-home/${USER}/.local/lib/python3.10/ \
   && mv /tmp/python/local/lib/python3.10/dist-packages/ /tmp/python-home/${USER}/.local/lib/python3.10/site-packages/
 
 FROM base as python-stubs
 ARG TARGETPLATFORM
+ARG CACHEID
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
 COPY --from=python /tmp/python-home /home
 RUN sudo pip install pybind11-stubgen
-RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-5,uid=1000 \
+RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
 for PKG in state_representation dynamical_systems robot_model controllers; do
   python3 -c "import ${PKG}"

VERSION

@@ -1 +1 @@
-7.1.3
+7.1.4

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.1.3 CONFIG REQUIRED)
+find_package(control_libraries 7.1.4 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.1.3
+PROJECT_NUMBER = 7.1.4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.1.3)
+project(clproto VERSION 7.1.4)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/setup.py

@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.1.3"
+__version__ = "7.1.4"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.1.3)
+project(control_libraries VERSION 7.1.4)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)