Merge pull request #49 from ci-group/development

Update to release 2.0

.circleci/config.yml

@@ -5,30 +5,106 @@ jobs:
  - image: circleci/python:3-stretch-node
  steps:
  - checkout
+ - run: git submodule sync
+ - run: git submodule update --init
 
  - setup_remote_docker:
  docker_layer_caching: true
 
+ - restore_cache:
+ keys:
+ - v1-{{ .Branch }}
+ - v1-
+ paths:
+ - ~/caches/revolve.tar
+ - run:
+ name: Load Docker image layer cache
+ command: |
+ set +o pipefail
+ docker load -i ~/caches/revolve.tar | true
  - run:
  name: "Build Docker image"
- command: docker build -t cigroup/revolve:$CIRCLE_BRANCH .
+ command: docker build --cache-from=app -t cigroup/revolve:${CIRCLE_BRANCH//\//_} .
+# - run:
+# name: "Build documentation"
+# command: |
+# DOXY_BUILD=/revolve/docker/make_dosc.sh
+# docker run -it cigroup/revolve:${CIRCLE_BRANCH//\//_} ${DOXY_BUILD}
+ - run:
+ name: Save Docker image layer cache
+ command: |
+ mkdir -p ~/caches
+ docker save -o ~/caches/revolve.tar cigroup/revolve:${CIRCLE_BRANCH//\//_}
+ - save_cache:
+ key: v1-{{ .Branch }}-{{ epoch }}
+ paths:
+ - ~/caches/revolve.tar
+ test:
+ docker:
+ - image: circleci/python:3-stretch-node
+
+ steps:
+ - setup_remote_docker:
+ docker_layer_caching: true
 
+ - restore_cache:
+ keys:
+ - v1-{{ .Branch }}
+ paths:
+ - ~/caches/revolve.tar
+ - run:
+ name: Load Docker image layer cache
+ command: |
+ set +o pipefail
+ docker load -i ~/caches/revolve.tar | true
  - run:
  name: "Run Python tests"
  command: |
  PY_TESTS=/revolve/docker/test_python.sh
- docker run -it cigroup/revolve:$CIRCLE_BRANCH ${PY_TESTS}
+ docker run -it cigroup/revolve:${CIRCLE_BRANCH//\//_} ${PY_TESTS}
+
+ deploy:
+ docker:
+ - image: circleci/python:3-stretch-node
+
+ steps:
+ - setup_remote_docker:
+ docker_layer_caching: true
+
+ - restore_cache:
+ keys:
+ - v1-{{ .Branch }}
+ paths:
+ - ~/caches/revolve.tar
+
+ - run:
+ name: Load Docker image layer cache
+ command: |
+ set +o pipefail
+ docker load -i ~/caches/revolve.tar | true
 
  - run:
  name: "Save Docker image"
  command: |
  set -e
  TAG=0.1.$CIRCLE_BUILD_NUM
  docker login -u $DOCKER_USER -p $DOCKER_PASS
- docker push cigroup/revolve:$CIRCLE_BRANCH
+ docker push cigroup/revolve:${CIRCLE_BRANCH//\//_}
 
-# - run:
-# name: "Build documentation"
-# command: |
-# DOXY_BUILD=/revolve/docker/make_dosc.sh
-# docker run -it cigroup/revolve:$CIRCLE_BRANCH ${DOXY_BUILD}
+workflows:
+ version: 2
+ build_test_deploy:
+ jobs:
+ - build
+ - test:
+ requires:
+ - build
+ - deploy:
+ requires:
+ - build
+ - test
+ filters:
+ branches:
+ only:
+ - master
+ - development

.gitignore

@@ -45,6 +45,8 @@ htmlcov/
 nosetests.xml
 coverage.xml
 *,cover
+experiments/examples/output/
+test.py
 
 # Translations
 *.mo
@@ -67,8 +69,10 @@ target/
 
 # Virtual env
 .venv*/
+.python-version
+Pipfile
+Pipfile.lock
 
 # Revolve related
 *.sdf
-*.urdf
-*.yaml
+*.urdf

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "thirdparty/limbo"]
+ path = thirdparty/limbo
+ url = https://github.com/resibots/limbo.git

CMakeLists.txt

@@ -2,4 +2,8 @@ cmake_minimum_required(VERSION 2.8.12)
 
 project(revolve)
 
+if (BUILD_RASPBERRY)
+ add_subdirectory(thirdparty/PIGPIO)
+endif()
+
 add_subdirectory(cpprevolve)

Dockerfile

@@ -1,24 +1,19 @@
-FROM ubuntu:bionic
+FROM cigroup/gazebo:gazebo10-revolve
 
 # Dependencies
-RUN apt-get update
-RUN apt-get install -y build-essential \
- libboost-all-dev \
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+ build-essential \
  cmake \
- curl \
- cppcheck \
- doxygen \
  git \
- gsl-bin libgsl0-dev \
- mercurial \
- pkg-config \
- python \
+ libgsl0-dev \
  python3-pip \
  libyaml-cpp-dev \
- xsltproc \
- libcairo2-dev
-RUN apt-get install -y libgazebo9-dev gazebo9
-RUN apt-get clean && rm -rf /var/lib/apt/lists/*
+ libcairo2-dev \
+ graphviz \
+ libeigen3-dev \
+ libnlopt-dev && \
+ apt-get clean && \
+ rm -rf /var/lib/apt/lists/*
 
 ADD . /revolve
 RUN /revolve/docker/build_revolve.sh