Resolve machinekit-hal python issues on noetic branch Adding support for socfpga boards with current machinekit-hal

.clang-format

@@ -8,7 +8,6 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
@@ -51,7 +50,7 @@ SpaceAfterCStyleCast: false
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
+BraceWrapping:
     AfterClass: 'true'
     AfterControlStatement: 'true'
     AfterEnum : 'true'
@@ -62,5 +61,4 @@ BraceWrapping: {
     BeforeCatch : 'true'
     BeforeElse : 'true'
     IndentBraces : 'false'
-}
 ...

.flake8

@@ -1,12 +1,5 @@
 [flake8]
-# E501: line-length checking, handled by black
 # E203: space after :, not PEP8 compliant
 # W503: no operator after line break, not PEP8 compliant
-ignore = E501, E203, W503
-exclude =
-  # ignore templates
-  src/robot_ui/src/pathpilot/robot/program/templates/*
-  # ignore example programs
-  src/robot_command/examples/programs/*
-  # ignore playground files
-  src/robot_command/playground/*
+ignore = E203, W503
+max-line-length = 80

.github/docker/script_pre.sh

@@ -5,37 +5,37 @@ ROS_DISTRO=noetic
 # Add package repos needed to build linuxcnc-ethercat
 # - IgH EtherLab Master
 curl -1sLf \
-     'https://dl.cloudsmith.io/public/zultron/etherlabmaster/cfg/setup/bash.deb.sh' \
-    | bash
+    'https://dl.cloudsmith.io/public/zultron/etherlabmaster/cfg/setup/bash.deb.sh' |
+    bash
 # - redis_store
 curl -1sLf \
-    'https://dl.cloudsmith.io/public/zultron/hal_ros_control/cfg/setup/bash.deb.sh' \
-    | bash
+    'https://dl.cloudsmith.io/public/zultron/hal_ros_control/cfg/setup/bash.deb.sh' |
+    bash
 # - Machinekit
 curl -1sLf \
-     'https://dl.cloudsmith.io/public/machinekit/machinekit-hal/cfg/setup/bash.deb.sh' \
-    | bash
+    'https://dl.cloudsmith.io/public/machinekit/machinekit-hal/cfg/setup/bash.deb.sh' |
+    bash
 
 # Bootstrap ROS installation
 # http://wiki.ros.org/noetic/Installation/Source
 
 echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" \
-    > /etc/apt/sources.list.d/ros-latest.list
+    >/etc/apt/sources.list.d/ros-latest.list
 apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' \
     --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 apt-get update
 
 pip3 install -U \
     vcstool \
     rosdep \
-    rosinstall-generator \
+    rosinstall-generator
 
 apt-get install -y \
     build-essential
 
 # Custom rosdep keys
 mkdir -p /etc/ros/rosdep/sources.list.d
-cat > /etc/ros/rosdep/machinekit-rosdep.yaml <<EOF
+cat >/etc/ros/rosdep/machinekit-rosdep.yaml <<EOF
 machinekit:
   debian: [machinekit-hal]
   ubuntu: [machinekit-hal]
@@ -55,7 +55,7 @@ redis_store:
   debian: [ros-$ROS_DISTRO-redis-store]
   ubuntu: [ros-$ROS_DISTRO-redis-store]
 EOF
-cat > /etc/ros/rosdep/sources.list.d/10-local.list <<EOF
+cat >/etc/ros/rosdep/sources.list.d/10-local.list <<EOF
 yaml file:///etc/ros/rosdep/machinekit-rosdep.yaml
 EOF
 
@@ -64,7 +64,7 @@ rosdep update
 
 # https://gist.github.com/awesomebytes/196eab972a94dd8fcdd69adfe3bd1152
 pip3 install -U \
-     bloom
+    bloom
 source /etc/os-release
 mv files/hal_hw_interface/package.xml .
 bloom-generate rosdebian --os-name $ID --os-version $VERSION_CODENAME \

.github/local-env-sample.yaml

@@ -3,16 +3,13 @@
 #
 # DO NOT COMMIT THIS TO GIT.  It stores sensitive secrets.
 
-# GitHub user/organization and repository name
-DOCKER_REGISTRY_USER: my_github_id
-DOCKER_REGISTRY_REPO: my_github_repo
-
 # Docker registry settings
 #
 # docker.pkg.github.com registry needs API key
 # https://docs.github.com/en/packages/using-github-packages-with-your-projects-ecosystem/configuring-docker-for-use-with-github-packages
 DOCKER_REGISTRY_URL: https://docker.pkg.github.com
 DOCKER_REGISTRY_USER: my_github_id
+DOCKER_REGISTRY_REPO: my_github_repo
 # DANGER:  Putting a password in this script is dangerous!  Look for a
 # more secure way to set this environment variable.
 #DOCKER_REGISTRY_PASSWORD: adc83b19e793491b1c6ea0fd8b46cd9f32e592fc

.github/workflows/catkin_tools_devel.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# Custome BUILDER to build in devel-space only
+
+BUILDER=catkin_tools ici_source_builder
+
+function ici_extend_space {
+    echo "$1/devel"
+}
+
+function _catkin_config {
+    local extend=$1
+    shift
+    local ws=$1
+    shift
+    ici_exec_in_workspace "$extend" "$ws" catkin config --init
+}

.github/workflows/ci.yaml

@@ -1,130 +1,92 @@
-name: Build CI
+# This config uses industrial_ci
+# (https://github.com/ros-industrial/industrial_ci.git).  For
+# troubleshooting, see readme
+# (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
 
 on:
-  push:
-    branches:
-      - '*'
+  workflow_dispatch:
   pull_request:
+  push:
     branches:
-    - '*'
+      - master
+      - "*-devel"
 
 jobs:
-
-  ######################################################################################
-  prepareState:
-    name: Prepare build inputs
-    runs-on: ubuntu-latest
-    outputs:
-      GithubRegistryURL: ${{ steps.build_inputs.outputs.GithubRegistryURL }}
-      HasCloudsmithAPIKey: ${{ steps.build_inputs.outputs.HasCloudsmithAPIKey }}
-      MainMatrix: ${{ steps.build_inputs.outputs.MainMatrix }}
-      Timestamp: ${{ steps.build_inputs.outputs.Timestamp }}
-
-    steps:
-    - name: Clone repository
-      uses: actions/checkout@v2
-
-    - name: Install Python for build scripts
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.8'
-
-    - name: Install script dependencies
-      uses: zultron/machinekit_ci/actions/initDeps@v1
-
-    - name: Prepare build inputs
-      id: build_inputs
-      uses: zultron/machinekit_ci/actions/prepareState@v1
-      with:
-        CloudsmithAPIKey: ${{ secrets.CLOUDSMITH_API_KEY }}
-
-  ######################################################################################
-  buildPackages:
-    name: >
-      Package ${{ matrix.vendor }} ${{ matrix.codename }}, ${{ matrix.architecture }}
-    runs-on: ubuntu-latest
-    needs: prepareState
+  default:
     strategy:
-      matrix: ${{ fromJson(needs.prepareState.outputs.MainMatrix) }}
       fail-fast: false
-
-    steps:
-    - name: Clone git repository
-      uses: actions/checkout@v2
-
-    - name: Prepare specific Python version for build scripts
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.8'
-
-    - name: Install script dependencies
-      uses: zultron/machinekit_ci/actions/initDeps@v1
-
-    - name: Pull or build Docker image
-      id: docker_image
-      uses: zultron/machinekit_ci/actions/dockerImage@v1
-      with:
-        codename: ${{ matrix.codename }}
-        architecture: ${{ matrix.architecture }}
-        dockerRegistryURL: ${{ needs.prepareState.outputs.GithubRegistryURL }}
-        dockerRegistryRepo: ${{ github.event.repository.name }}
-        dockerRegistryUser: ${{ github.actor }}
-        dockerRegistryPassword: ${{ secrets.GITHUB_TOKEN }}
-
-    - name: Build and sign packages
-      id: build_packages
-      uses: zultron/machinekit_ci/actions/buildPackages@v1
-      with:
-        codename: ${{ matrix.codename }}
-        architecture: ${{ matrix.architecture }}
-        dockerRegistryURL: ${{ needs.prepareState.outputs.GithubRegistryURL }}
-        dockerRegistryRepo: ${{ github.event.repository.name }}
-        dockerRegistryUser: ${{ github.actor }}
-        packageSigningKey: ${{ secrets.PACKAGE_SIGNING_KEY }}
-        uploadDirectory: ${{ github.event.repository.name }}-${{ matrix.vendorLower }}
-
-    - name: >
-        Upload package artifacts ${{ matrix.vendor }}
-        ${{ matrix.codename}}, ${{ matrix.architecture }}
-      uses: actions/upload-artifact@v2
-      env:
-        NAME_BASE: ${{ matrix.artifactNameBase }}
-        GITHUB_SHA: ${{ github.sha }}
-        GITHUB_REPO: ${{ github.event.repository.name }}
-        TIMESTAMP: ${{ needs.prepareState.outputs.Timestamp }}
-      with:
-        name: ${{ env.NAME_BASE }}-${{ env.GITHUB_SHA }}-${{ env.TIMESTAMP }}
-        path: ${{ github.event.repository.name }}-${{ matrix.vendorLower }}
-        if-no-files-found: error
-
-  ######################################################################################
-  uploadDebianPackagesToCloudsmith:
-    name: Push packages to Cloudsmith
+      matrix:
+        env:
+          - IMAGE: noetic-ci
+            BUILDER: .github/workflows/catkin_tools_devel.sh
+          - IMAGE: noetic-ci-shadow-fixed
+            CATKIN_LINT: true
+            CLANG_TIDY: pedantic
+    env:
+      DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
+      UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
+      BEFORE_SETUP_UPSTREAM_WORKSPACE: .github/workflows/upstream_install.sh
+
+      TARGET_CMAKE_ARGS: >
+        -DCMAKE_BUILD_TYPE=Release'
+        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS"
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }}
+      BEFORE_CLANG_TIDY_CHECKS: (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
+      BUILDER: ${{ matrix.env.BUILDER || 'catkin_tools' }}
+      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
+      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
+
+    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
     runs-on: ubuntu-latest
-    if: >
-      needs.prepareState.outputs.HasCloudsmithAPIKey == 'true' &&
-      github.event_name == 'push'
-    needs: [prepareState, buildPackages]
-
     steps:
-      - name: Clone git repository
-        uses: actions/checkout@v2
-
-      - name: Prepare specific Python version for Cloudsmith CLI
-        uses: actions/setup-python@v2
+      - uses: actions/checkout@v2
+      - name: cache upstream workspace
+        uses: pat-s/always-upload-cache@v2.1.5
         with:
-          python-version: '3.8'
-
-      - name: Install script dependencies
-        uses: zultron/machinekit_ci/actions/initDeps@v1
-
-      - name: Download all built artifacts from GitHub storage
-        uses: actions/download-artifact@v2
+          path: ${{ env.BASEDIR }}/upstream_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }}
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target workspace
+        uses: pat-s/always-upload-cache@v2.1.5
         with:
-          path: ./artifacts
-
-      - name: Upload packages to Cloudsmith
-        uses: zultron/machinekit_ci/actions/pushCloudsmith@v1
+          path: ${{ env.BASEDIR }}/target_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.5
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ${{ env.CACHE_PREFIX }}
+        env:
+          CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}
+
+      - id: industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}
+
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: steps.industrial_ci.outcome != 'success'
         with:
-          cloudsmithAPIKey: ${{ secrets.CLOUDSMITH_API_KEY }}
-          artifactDirectory: ./artifacts
+          name: test-results-${{ matrix.env.IMAGE }}
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: ${{ always() }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws