Merge pull request #41 from aica-technology/develop

.dockerignore

@@ -0,0 +1,5 @@
+.github
+/*.sh
+/*.md
+Dockerfile
+LICENSE

.github/workflows/build-release.yaml

@@ -0,0 +1,53 @@
+name: Build and Push Multi-Arch Images
+
+on:
+  push:
+    branches:
+      - develop
+      - main
+    tags:
+      - "v*.*.*"
+
+jobs:
+  get-tag:
+    runs-on: ubuntu-latest
+    name: Get tag
+    outputs:
+      tag: ${{ steps.parse-tag.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        id: parse-tag
+
+  build:
+    needs: [get-tag]
+    strategy:
+      matrix:
+        arch: [amd64, arm64]
+        include:
+          - image: ubuntu-latest
+          - image: buildjet-2vcpu-ubuntu-2204-arm
+            arch: arm64
+
+    runs-on: ${{ matrix.image }}
+    name: Build and publish (${{ matrix.arch }})
+    steps:
+      - uses: actions/checkout@v3
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        with:
+          image_name: aica-technology/network-interfaces
+          image_tags: ${{ needs.get-tag.outputs.tag }}-${{ matrix.arch }}
+          dockerfile_path: Dockerfile.ci
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+  multi-arch:
+    runs-on: ubuntu-latest
+    name: Merge into a multi-arch image
+    needs: [get-tag, build]
+    steps:
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        with:
+          image_name: aica-technology/network-interfaces
+          image_tags: ${{ needs.get-tag.outputs.tag }}
+          archs: amd64,arm64
+          token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/manual-dispatch.yml

@@ -5,9 +5,12 @@ on:
   workflow_dispatch:
     inputs:
       cl_branch:
-        description: 'If set, the desired branch of control libraries'
+        description: "If set, the desired branch of control libraries"
         required: false
-        default: 'develop'
+        default: "develop"
+      tag:
+        description: "The tag to use"
+        required: true
 
 jobs:
   build-publish:
@@ -19,7 +22,7 @@ jobs:
 
       - name: Build image
         run: |
-          IMAGE_NAME=network-interfaces:latest
+          IMAGE_NAME=network-interfaces:${{ inputs.tag }}
           docker build . \
             --build-arg CONTROL_LIBRARIES_BRANCH=${{ inputs.cl_branch }} \
             --tag ${IMAGE_NAME}
@@ -31,7 +34,7 @@ jobs:
 
       - name: Push image
         run: |
-          IMAGE_NAME=network-interfaces:latest
+          IMAGE_NAME=network-interfaces:${{ inputs.tag }}
           docker tag ${IMAGE_NAME} ghcr.io/${{ github.repository_owner }}/${IMAGE_NAME}
           docker push ghcr.io/${{ github.repository_owner }}/${IMAGE_NAME}
-        shell: bash
+        shell: bash

CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.15)
+project(all_network_interfaces)
+
+include(FetchContent)
+option(CPPZMQ_BUILD_TESTS OFF)
+FetchContent_Declare(
+  cppzmq
+  GIT_REPOSITORY https://github.com/zeromq/cppzmq/
+  GIT_TAG        v4.7.1
+)
+FetchContent_MakeAvailable(cppzmq)
+
+add_subdirectory(cpp)
+add_subdirectory(source/communication_interfaces)
+
+if(BUILD_TESTING)
+  # reexport the test target defined in the subdirectories
+  enable_testing()
+endif()

Dockerfile.ci

@@ -0,0 +1,95 @@
+FROM ghcr.io/aica-technology/ros2-modulo-control:humble as base
+
+FROM base as apt-dependencies
+RUN <<HEREDOC
+PACKAGES="libzmq3-dev"
+mkdir -p /tmp/apt
+
+sudo apt-get update
+# We then do a dry-run and parse the output of apt to gather the list of packages to be installed
+# Example output:
+# ```
+# #########
+# NOTE: This is only a simulation!
+#       apt-get needs root privileges for real execution.
+#       Keep also in mind that locking is deactivated,
+#       so don't depend on the relevance to the real current situation!
+# Reading package lists...
+# Building dependency tree...
+# Reading state information...
+# The following additional packages will be installed:
+#   libavutil56 libblosc1
+# The following NEW packages will be installed:
+#   libavutil56 libblosc1
+# 0 upgraded, 5 newly installed, 0 to remove and 28 not upgraded.
+# Inst libavutil56 (7:4.4.2-0ubuntu0.22.04.1 Ubuntu:22.04/jammy-updates, Ubuntu:22.04/jammy-security [arm64])
+# Inst libblosc1 (1.21.1+ds2-2 Ubuntu:22.04/jammy [arm64])
+# Conf libavutil56 (7:4.4.2-0ubuntu0.22.04.1 Ubuntu:22.04/jammy-updates, Ubuntu:22.04/jammy-security [arm64])
+# Conf libblosc1 (1.21.1+ds2-2 Ubuntu:22.04/jammy [arm64])
+# ```
+# Transformed into:
+# ```
+# libavutil56
+# libblosc1
+# ```
+apt-get install ${PACKAGES} --dry-run \
+  | grep -e '^Inst ' \
+  | sed -E 's/^Inst (\S+) .*$/\1/' > /tmp/new-packages.txt
+# Then we install apt packages like normal
+sudo apt-get install -y ${PACKAGES}
+# Finally we use dpkg to get all files installed by those packages and copy them to a new root
+#  - get list of files installed by all the packages
+#  - remove empty lines
+#  - sort
+#  - remove duplicates
+#  - copy files while keeping file hierarchy and preserving links as-is
+#  - remove "omitting directory" messages (we don't do recursive copy as we only want specific files) for cleaner output
+xargs -a /tmp/new-packages.txt dpkg-query -L \
+  | sed '/^$/d' | sort | uniq \
+  | xargs -d "\n" cp --parents -dp -t /tmp/apt  2>&1 \
+  | grep -v 'omitting directory'
+# this root can then be copied to / to install everything globally or use LD_LIBRARY_PATH to use it locally
+HEREDOC
+
+FROM base as python
+COPY --chown=${USER} ./python /python
+RUN \
+  --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM},uid=1000 \
+  --mount=type=ssh,uid=1000 \
+  python3 -m pip install --prefix=/tmp/python /python
+
+FROM base as code
+WORKDIR /src
+COPY --from=apt-dependencies /tmp/apt /
+COPY --chown=${USER} . /src
+
+FROM code as development
+COPY --from=python /tmp/python/local/lib/python3.10/dist-packages/ ${HOME}/.local/lib/python3.10/site-packages/
+
+FROM code as build
+RUN \
+  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+  --mount=type=ssh,uid=1000 \
+  cmake -B build \
+  && cmake --build build
+
+FROM build as test
+RUN \
+  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+  --mount=type=ssh,uid=1000 \
+  cmake -B build -DBUILD_TESTING=ON \
+  && CTEST_OUTPUT_ON_FAILURE=1 cmake --build build --target all test
+COPY --from=python /tmp/python/local/lib/python3.10/dist-packages/ ${HOME}/.local/lib/python3.10/site-packages/
+RUN python3 -m unittest discover python/test --verbose
+
+FROM build as install
+RUN \
+  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+  --mount=type=ssh,uid=1000 \
+  cmake -B build -DCMAKE_INSTALL_PREFIX=/tmp/net-ifaces \
+  && cmake --build build --target all install
+
+FROM scratch as production
+COPY --from=apt-dependencies /tmp/apt /
+COPY --from=install /tmp/net-ifaces /usr/local
+COPY --from=python /tmp/python/local/lib/python3.10/dist-packages/ /home/ros2/.local/lib/python3.10/site-packages/

cpp/CMakeLists.txt

@@ -40,7 +40,9 @@ include(FindPkgConfig)
 
 add_project_dependency(control_libraries 7.0.0 REQUIRED COMPONENTS state_representation)
 add_project_dependency(clproto 7.0.0 REQUIRED)
-add_project_dependency(cppzmq 4.7.1 REQUIRED)
+if (NOT ${cppzmq_FOUND}) # provided by parent CMakeLists.txt (if used)
+  add_project_dependency(cppzmq 4.7.1 REQUIRED)
+endif()
 
 include_directories(include)
 
@@ -93,4 +95,4 @@ if(${PKG_CONFIG_FOUND})
     DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
 else()
   message(WARNING "Could not find pkg-config executable, skipping generation of pkg-config files.")
-endif()
+endif()

source/Dockerfile

@@ -0,0 +1,15 @@
+FROM ghcr.io/aica-technology/control-libraries/development-dependencies as source-dependencies
+
+RUN apt-get update && apt-get install -y \
+  libzmq3-dev \
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /tmp
+
+ARG CPPZMQ_VERSION=4.7.1
+RUN wget https://github.com/zeromq/cppzmq/archive/v${CPPZMQ_VERSION}.tar.gz -O cppzmq-${CPPZMQ_VERSION}.tar.gz
+RUN tar -xzf cppzmq-${CPPZMQ_VERSION}.tar.gz
+WORKDIR /tmp/cppzmq-${CPPZMQ_VERSION}
+RUN mkdir build && cd build && cmake .. -DCPPZMQ_BUILD_TESTS=OFF && make -j install
+
+RUN rm -rf /tmp/*

source/README.md

@@ -0,0 +1,77 @@
+## Socket Interface
+
+The `ISocket` class is an interface for simple socket communication, defining functions for opening a socket,
+sending and receiving bytes, and closing the socket connection.
+
+The `ISocket` class defines an `open()` method to perform configuration steps to open the socket for communication.
+If opening the socket fails, an exception is thrown. The `close()` method is also provided to perform steps to disconnect
+and close the socket communication.
+
+The functions `receive_bytes(std::string&)` and `send_bytes(const std::string&)` perform the read and write logic of the socket
+respectively.
+
+### Implementing a derived socket class
+
+To use this class, create a subclass that inherits from it and implement its pure virtual functions. The pure virtual
+functions are `open()`, `receive_bytes(std::string&)`, and `send_bytes(const std::string&)`.
+
+Configuration parameters should be passed with a configuration struct, resulting in a single argument constructor.
+
+The `close()` function can optionally be overridden to perform steps to disconnect and close the socket communication.
+If a derived class defines any cleanup behavior in `close()`, it should also be invoked statically and explicitly
+in the destructor of the derived class.
+
+An example is given below.
+
+```c++
+// DerivedSocket.hpp
+
+struct DerivedSocketConfig {
+  int param1;
+  double param2;
+};
+
+class DerivedSocket : ISocket {
+public:
+  DerivedSocket(DerivedSocketConfig configuration);
+
+  ~DerivedSocket() override;
+
+  void open() override;
+
+  bool receive_bytes(std::string& buffer) override;
+
+  bool send_bytes(const std::string& buffer) override;
+
+  void close() override;
+}
+```
+
+```c++
+// DerivedSocket.cpp
+DerivedSocket::DerivedSocket(DerivedSocketConfig configuraiton) {
+  // save configuration parameters for later use
+}
+
+DerivedSocket::~DerivedSocket() {
+  DerivedSocket::close();
+}
+
+void DerivedSocket::open() {
+  // Configure and open the socket
+}
+
+bool DerivedSocket::receive_bytes(std::string& buffer) {
+  // Read the contents of the socket into the buffer and return true on success. Otherwise, return false.
+  return true;
+}
+
+bool DerivedSocket::send_bytes(const std::string& buffer) {
+  // Write the contents of the buffer onto the socket and return true on success. Otherwise, return false.
+  return true;
+}
+
+void DerivedSocket::close() {
+  // Perform clean-up steps here
+}
+```