refactor docker, install.sh and DSDL

.github/workflows/catkin_build.yml

@@ -14,16 +14,16 @@ jobs:
     container:
       image: ros:noetic
     steps:
-      - run: apt-get update && apt-get install -y git
-      - run: if [[ "$ROS_DISTRO" = "noetic" ]] ;  then apt-get install -y python3-pip ros-noetic-catkin python3-catkin-tools ; fi
+      - name: Handle issue with actions/checkout when Git version is less than 2.18 
+        run: apt-get install git
 
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           path: catkin_ws/src/cyphal_communicator
           submodules: recursive
 
       - name: Install requirements
-        run: ./catkin_ws/src/cyphal_communicator/install_requirements.sh
+        run: ./catkin_ws/src/cyphal_communicator/scripts/install.sh --full
 
       - name: Catkin build
         run: source /opt/ros/noetic/setup.bash && cd catkin_ws && catkin build
@@ -33,18 +33,15 @@ jobs:
     container:
       image: ros:noetic
     steps:
-      - run: apt-get update && apt-get install -y git python3-pip
+      - name: Handle issue with actions/checkout when Git version is less than 2.18 
+        run: apt-get install git
 
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
 
       - name: Install requirements
-        run: ./install_requirements.sh
+        run: ./scripts/install.sh --full
 
       - name: Catkin build
-        run: |
-          mkdir build
-          cd build
-          cmake .. -DARDUPILOT_JSON_SIM_INTERFACE=1 .
-          make
+        run: mkdir build && cd build && cmake .. -DARDUPILOT_JSON_SIM_INTERFACE=1 . && make

.github/workflows/dsdl.yml

@@ -13,7 +13,7 @@ jobs:
           submodules: recursive
 
       - name: Install requirements
-        run: pip install yakut
+        run: ./scripts/install.sh --dsdl
 
       - name: Generate DSDL
         run: ./scripts/generate_${{ matrix.language }}_from_dsdl.sh

CMakeLists.txt

@@ -35,6 +35,7 @@ include_directories(${CYPHAL_REPO_DIR})
 include_directories(${CYPHAL_REPO_DIR}/Udral)
 include_directories(src)
 include_directories(src/autopilot_interface)
+include_directories(src/nunavut_out)
 
 add_executable(${PROJECT_NAME}
   ${CYPHAL_REPO_DIR}/Udral/actuator.cpp
@@ -80,17 +81,3 @@ set(GIT_HASH "0x${GIT_HASH_64_BIT}")
 add_definitions(-DGIT_HASH=${GIT_HASH})
 add_definitions(-DAPP_VERSION_MAJOR=0)
 add_definitions(-DAPP_VERSION_MINOR=8)
-
-# Generate DSDL when build
-add_custom_target(
-  compile_dsdl ALL
-  COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/compile_dsdl.sh
-  COMMENT "Compile DSDL"
-)
-add_custom_target(
-  gen_headers ALL
-  COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Libs/cyphal_application/scripts/nnvg_generate_c_headers.sh
-  COMMENT "Generate C headers"
-)
-add_dependencies(${PROJECT_NAME} compile_dsdl)
-add_dependencies(${PROJECT_NAME} gen_headers)

README.md

@@ -435,8 +435,6 @@ The cyphal communicator allows to use multiple interfaces. By default it is base
 
 ## 5. Installation
 
-Build the package as usual ROS package with `catkin build`. It will automatically compile DSDL at the build time with [compile_dsdl.sh](compile_dsdl.sh) script.
-
 Before running the communicator, you need to do 3 things:
 1. Create virtual CAN. It is expected that you are using CAN-sniffer device such as [UAVCAN sniffer and programmer](https://docs.raccoonlab.co/guide/programmer_sniffer/). An example of script that creates SLCAN is [scripts/create_slcan.sh](scripts/create_slcan.sh). This script automatically detect a connected device and create `slcan0` port. You should create virtual CAN once after each sniffer connection to your PC.
 2. Configure environment variables. This step is required for setting subjects port id and few pathes. As an example, you can run `source scripts/config.sh`. You should call this script in each shell session.

scripts/Dockerfile

@@ -5,38 +5,19 @@ ARG ROS_DISTRO=noetic
 
 FROM ros:$ROS_DISTRO
 LABEL description="Cyphal communicator"
+
 SHELL ["/bin/bash", "-c"]
 WORKDIR /catkin_ws/src/cyphal_communicator
 
+# 1. Install requirements
+COPY scripts/install.sh /tmp/install.sh
+RUN apt-get update && /tmp/install.sh --full && rm -rf /tmp/*
 
-# 1. Install basic requirements
-RUN apt-get update && \
-    apt-get upgrade -y && \
-    apt-get install -y git ros-$ROS_DISTRO-catkin python3-pip python3-catkin-tools
-
-# 2. Install requirements
-COPY install_requirements.sh install_requirements.sh
-COPY requirements.txt requirements.txt
-RUN ./install_requirements.sh
-
-
-# 3. Copy the source files
-COPY CMakeLists.txt     CMakeLists.txt
-COPY package.xml        package.xml
-COPY src/ src/
-COPY compile_dsdl.sh compile_dsdl.sh
-COPY Libs/ Libs/
-COPY .git/ .git/
-
-# 4. Build ROS
-RUN ./Libs/cyphal_application/scripts/nnvg_generate_c_headers.sh
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && cd ../../ && git config --global http.sslverify false && catkin build
-
-# 5. Copy other files
-COPY scripts/ scripts/
-COPY launch/ launch/
-COPY scripts/config.sh scripts/config.sh
+# 2. Copy the source files
+COPY . /catkin_ws/src/cyphal_communicator
 
+# 3. Build ROS
+RUN /catkin_ws/src/cyphal_communicator/scripts/catkin_build.sh
 
 CMD echo "main process has been started"                                            &&  \
     source /opt/ros/$ROS_DISTRO/setup.bash && source /catkin_ws/devel/setup.bash    &&  \

scripts/catkin_build.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+# This software is distributed under the terms of the GPL v3 License.
+# Copyright (c) 2022-2023 Dmitry Ponomarev.
+# Author: Dmitry Ponomarev <[email protected]>
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+cd /catkin_ws
+git config --global http.sslverify false
+catkin build

scripts/docker.sh

@@ -24,7 +24,7 @@ DOCKERFILE_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pw
 DOCKERFILE_PATH=$DOCKERFILE_DIR/Dockerfile
 
 setup_image_name_and_version() {
-    TAG_NAME=v0.2.0
+    TAG_NAME=v0.5.2
     DOCKERHUB_REPOSITOTY=ponomarevda/cyphal_communicator
 
     if uname -m | grep -q 'aarch64'; then

scripts/install.sh

@@ -0,0 +1,57 @@
+#!/bin/bash
+# This software is distributed under the terms of the GPL v3 License.
+# Copyright (c) 2022-2023 Dmitry Ponomarev.
+# Author: Dmitry Ponomarev <[email protected]>
+
+# Exit immediately if a command exits with a non-zero status
+set -e
+
+install_dsdl() {
+    echo "Installing tools for C++/Python generation from DSDL..."
+    pip install yakut
+    echo "DSDL tools installed."
+}
+
+install_full() {
+    echo "Installing full dependencies..."
+    sudo apt install -y git \
+                        ros-$ROS_DISTRO-mavros-msgs \
+                        ros-$ROS_DISTRO-catkin \
+                        python3-pip \
+                        python3-catkin-tools \
+                        can-utils \
+                        net-tools \
+                        iproute2
+    echo "Full tools installed."
+}
+
+usage() {
+    echo "Usage: $0 [goal]"
+    echo "Goals:"
+    echo "  --dsdl    - Install DSDL tools"
+    echo "  --full    - Install all dependencies (DSDL + additional tools)"
+    echo "Example:"
+    echo "  $0 --ros"
+    exit 1
+}
+
+# Main script logic
+if [[ $# -ne 1 ]]; then
+    usage
+fi
+
+goal=$1
+
+case $goal in
+    --dsdl)
+        install_dsdl
+        ;;
+    --full)
+        install_full
+        ;;
+    *)
+        echo "Invalid goal: $goal"
+        usage
+        exit 1
+        ;;
+esac