Merge branch 'main' into 374-research-why-does-the-car-hit-obstacles

.github/workflows/build.yml

@@ -15,7 +15,7 @@ env:
 jobs:
   build-and-push-image:
     name: Build and push image
-    runs-on: self-hosted
+    runs-on: [self-hosted, build]
     outputs:
       version: ${{ steps.build.version.outputs.version }}
     permissions:
@@ -35,22 +35,25 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
 
+      - name: Cache Docker layers
+        uses: actions/cache@v4
+        with:
+          path: |
+            /tmp/.buildx-cache/cache/test
+            /tmp/.buildx-cache/cache/latest
+            /tmp/.buildx-cache/cache-new/test
+            /tmp/.buildx-cache/cache-new/latest
+          key: ${{ runner.os }}-buildx-${{ github.sha }}
+          restore-keys: |
+            ${{ runner.os }}-buildx-
+
       - name: Log in to the Container registry
         uses: docker/login-action@v2
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Create cache directory
-        run: |
-          mkdir -p ./.buildx-cache/cache
-          mkdir ./.buildx-cache/cache-new
-          mkdir ./.buildx-cache/cache/test
-          mkdir ./.buildx-cache/cache/latest
-          mkdir ./.buildx-cache/cache-new/test
-          mkdir ./.buildx-cache/cache-new/latest
-
       - name: Test build
         if: github.event_name == 'pull_request'
         uses: docker/build-push-action@v3
@@ -59,8 +62,8 @@ jobs:
           file: ./build/docker/agent/Dockerfile
           load: true
           tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME}}:test
-          cache-from: type=local,src=./.buildx-cache/cache/test/
-          cache-to: type=local,dest=./.buildx-cache/cache-new/test/,mode=max
+          cache-from: type=local,src=/tmp/.buildx-cache/cache/test/
+          cache-to: type=local,dest=/tmp/.buildx-cache/cache-new/test/,mode=max
           build-args: |
             USERNAME=paf
             USER_UID=1000
@@ -76,31 +79,51 @@ jobs:
           push: true
           # tag 'latest' and version on push to main, otherwise use the commit hash
           tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
-          cache-from: type=local,src=./.buildx-cache/cache/latest/
-          cache-to: type=local,dest=./.buildx-cache/cache-new/latest/,mode=max
+          cache-from: type=local,src=/tmp/.buildx-cache/cache/latest/
+          cache-to: type=local,dest=/tmp/.buildx-cache/cache-new/latest/,mode=max
           build-args: |
             USERNAME=paf
             USER_UID=1000
             USER_GID=1000
 
-      - name: Save PR ID
+      - name: Save pull request artifact
         if: github.event_name == 'pull_request'
         env:
           PR_ID: ${{ github.event.number }}
         run: |
-          mkdir -p ./pr
-          echo $PR_ID > ./pr/pr_id
+          mkdir -p ./artifact
+          printf '{
+            "is_pr": true,
+            "pr_id": $PR_ID
+          }' >> ./artifact/artifact.json
 
-      - name: Upload PR ID
-        if: github.event_name == 'pull_request'
+      - name: Save merge artifact
+        if: github.event_name != 'pull_request'
+        run: |
+          mkdir -p ./artifact
+          printf '{
+            "is_pr": false,
+            "pr_id": -1
+          }' >> ./artifact/artifact.json
+
+      - name: Upload artifact
         uses: actions/upload-artifact@v4
         with:
-          name: pr_id
-          path: pr/
+          name: artifact
+          path: ./artifact/artifact.json
           retention-days: 1
 
-      - name: Clean up cache
+      - name: Clean up PR cache
+        if: github.event_name == 'pull_request'
+        run: |
+          rm -rf /tmp/.buildx-cache/cache/test
+          mv /tmp/.buildx-cache/cache-new/test /tmp/.buildx-cache/cache/test
+      
+      - name: Clean up merge cache
+        if: github.event_name != 'pull_request'
         run: |
-          rm -rf ./.buildx-cache/cache/test
-          rm -rf ./.buildx-cache/cache/latest
-          mv ./.buildx-cache/cache-new ./.buildx-cache/cache
+          rm -rf /tmp/.buildx-cache/cache/latest
+          mv /tmp/.buildx-cache/cache-new/latest /tmp/.buildx-cache/cache/latest
+      
+      - name: Prune all images older than 1 days from self-hosted runner
+        run: docker image prune -a -f --filter "until=24h"

.github/workflows/drive.yml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   drive:
-    runs-on: self-hosted
+    runs-on: [self-hosted, drive]
     env:
       AGENT_VERSION: latest
       COMPOSE_FILE: ./build/docker-compose.cicd.yaml
@@ -20,8 +20,7 @@ jobs:
         run: |
           echo "AGENT_VERSION=${AGENT_VERSION}"
           echo "COMPOSE_FILE=${COMPOSE_FILE}"
-      - name: 'Download artifact (PR ID)'
-        if: github.event_name == 'pull_request'
+      - name: Download artifact
         uses: actions/github-script@v6
         with:
           script: |
@@ -31,10 +30,10 @@ jobs:
                run_id: context.payload.workflow_run.id,
             });
             let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
-              return artifact.name == "pr_id"
+              return artifact.name == "artifact"
             })[0];
             if (!matchArtifact) {
-              core.setFailed('No pr_id artifact found from the build workflow');
+              core.setFailed('No artifact found from the build workflow');
               return;
             }
             let download = await github.rest.actions.downloadArtifact({
@@ -44,23 +43,17 @@ jobs:
                archive_format: 'zip',
             });
             let fs = require('fs');
-            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_id.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact (PR ID)'
-        if: github.event_name == 'pull_request'
-        run: |
-          unzip pr_id.zip
-
-      - name: Check PR ID
-        if: github.event_name == 'pull_request'
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/artifact.zip`, Buffer.from(download.data));
+      - name: Unzip artifact
+        run: unzip artifact.zip
+      - name: Return artifact JSON
+        id: return-artifact-json
         uses: actions/github-script@v6
         with:
           script: |
-            let issue_number = fs.readFileSync('./pr_id');
-            if (!issue_number || isNaN(Number(issue_number))) {
-              core.setFailed(`Invalid PR ID: ${prIdContent}`);
-              return;
-            }
+            let fs = require('fs');
+            let data = JSON.parse(fs.readFileSync(`${process.env.GITHUB_WORKSPACE}/artifact.json`));
+            return data;
 
       - name: Run docker-compose
         run: |
@@ -73,12 +66,10 @@ jobs:
         if: always()
         run: docker compose down -v
       # add rendered JSON as comment to the pull request
-      - name: Add simulation results as comment
-        if: github.event_name == 'pull_request'
+      - name: Create simulation results table
+        id: simulation-results
         uses: actions/github-script@v6
         with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          # this script reads the simulation_results.json and creates a comment on the pull request with the results.
           script: |
             const fs = require('fs');
             // read the simulation results
@@ -94,13 +85,26 @@ jobs:
             let resultsTableDivider = `| --- | --- |`;
             // add everything to the resultsTable
             resultsTable = resultsTableHeader + '\n' + resultsTableDivider + '\n' + resultsTable.join('\n');
+            return resultsTable;
+          result-encoding: string
+      - name: Print simulation results
+        run: |
+          echo "Simulation results\n"
+          echo "${{ steps.simulation-results.outputs.result }}"
+      - name: Add simulation results as comment
+        if: ${{ steps.return-artifact-json.outputs.result.is_pr }}
+        uses: actions/github-script@v6
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          # this script reads the simulation_results.json and creates a comment on the pull request with the results.
+          script: |
+            let issue_number = Number(${{ steps.return-artifact-json.outputs.pr_id }});
             // add the results as a comment to the pull request
-            let issue_number = Number(fs.readFileSync('./pr_id'));
             github.rest.issues.createComment({
               issue_number: issue_number,
               owner: context.repo.owner,
               repo: context.repo.repo,
-              body: "## Simulation results\n" + resultsTable
+              body: "## Simulation results\n" + ${{ steps.simulation-results.outputs.result }}
             });
-      - name: Prune all images older than 30 days from self-hosted runner
-        run: docker image prune -a --force --filter "until=720h"
+      - name: Prune all images older than 1 days from self-hosted runner
+        run: docker image prune -a --filter "until=24h"

doc/README.md

@@ -2,16 +2,15 @@
 
 This document provides an overview of the structure of the documentation.
 
-- [PAF Documentation](#paf-documentation)
-  - [`general`](#general)
-  - [`development`](#development)
-  - [`research`](#research)
-  - [`examples`](#examples)
-  - [`perception`](#perception)
-  - [`planning`](#planning)
-  - [`acting`](#acting)
-  - [`assets`](#assets)
-  - [`dev_talks`](#dev_talks)
+- [`general`](#general)
+- [`development`](#development)
+- [`research`](#research)
+- [`examples`](#examples)
+- [`perception`](#perception)
+- [`planning`](#planning)
+- [`acting`](#acting)
+- [`assets`](#assets)
+- [`dev_talks`](#dev_talks)
 
 ## `general`
 
@@ -47,4 +46,4 @@ The [`assets`](./assets/) folder contains mainly images that are used inside the
 
 ## `dev_talks`
 
-The [`dev_talks`](./dev_talks/) folder contains the protocols of each sprint review and roles that the students fill during the project.
+The [`dev_talks`](./dev_talks/README.md) folder contains the protocols of each sprint review and roles that the students fill during the project.

doc/dev_talks/README.md

@@ -0,0 +1,4 @@
+# Dev Talks
+
+- [PAF24](./paf24/README.md)
+- [PAF23](./paf23/)

doc/dev_talks/paf24/README.md

@@ -0,0 +1,17 @@
+# PAF24
+
+**Summary**: The PAF24 folder contains documents that are relevant for the PAF24 group.
+
+- [General Information](#general-information)
+- [Notes for Sprints](#notes-for-sprints)
+
+## General Information
+
+- [Mermaid Gantt Chart](./mermaid_paf24.md)
+- [Student Roles](./student_roles.md)
+- [Joker Rules](./joker_rules_paf24.md)
+- [Sprint Review Meeting Guidelines](./sprint_review_meeting_guidelines.md)
+
+## Notes for Sprints
+
+- [T03](./T03_2024-10-28.md)

doc/dev_talks/paf24/joker_rules_paf24.md

@@ -0,0 +1,63 @@
+# Joker Rules PAF24
+
+**Purpose**: This document outlines the rules for using the Joker card in the PAF24 project.
+
+- [1. Overview](#1-overview)
+- [2. Using the Joker Card](#2-using-the-joker-card)
+- [3. Special Circumstances](#3-special-circumstances)
+  - [3.1. Unable to Present Work Due to Scheduling Conflicts](#31-unable-to-present-work-due-to-scheduling-conflicts)
+  - [3.2. Illness or Emergency](#32-illness-or-emergency)
+
+## 1. Overview
+
+- **Project Duration**: October 2024 – March 2025
+- The Joker card allows you to be excused from duties during specific periods, especially during the exam phase in February 2025.
+- **Total Joker Allocation**:
+  - **Joker Card** Up to 4 weeks throughout the project.
+  - **Presentation Only Joker Card** Maximum of 2 uses.
+- **When to Use**: The Joker card should be played if you are unable to present your work during a sprint review or if the amount of work completed is insufficient.
+- The intention of the Joker card is to ensure you have the appropriate time to prepare your exam phase.
+
+## 2. Using the Joker Card
+
+To play the Joker card:
+
+1. **Notify the Team and Chair**: Inform both the team and chair staff by posting in the `#joker` channel on our Discord server.
+2. **Deadline**: Notify the team at least **7 days** before the sprint review.
+3. **Example Post**:
+   - “I would like to play the Joker card for the sprint review on 2024-11-25.”
+4. Your name and intent will be confirmed by the team and chair.
+
+> [!NOTE] 2-week sprints require two Joker cards to cover the entire sprint.
+
+## 3. Special Circumstances
+
+### 3.1. Unable to Present Work Due to Scheduling Conflicts
+
+- If you completed the sprint’s work but cannot present it, you have two options:
+  1. Play the standard Joker card.
+  2. Use a `Presentation Only Joker Card` by arranging for a teammate to present on your behalf.
+
+- **Presentation Only Joker Card Details**:
+  - **Maximum Use**: Limited to two times throughout the project.
+  - **Requirements**:
+    - Notify the team and chair at least **7 days** before the sprint review.
+    - Submit a written summary of your work in the `#joker` Discord channel at least **1 day** before the review.
+    - Find a teammate who presents your work.
+
+- **Written Summary Contents**:
+  - Overview of completed work.
+  - Key achievements.
+  - Lessons learned.
+  - Goals for the next sprint.
+
+> [!CAUTION] Presentation Only Joker Card
+> We encourage all team members to only present your teammates work if absolutely necessary.
+> The work completed by your colleagues is their responsibility, and they should be the ones to present it.
+> Furthermore, you should only present their work if you are familiar with it and can answer questions about it.
+> Additionally, you should be confident that your team member has completed the work to a satisfactory standard.
+
+### 3.2. Illness or Emergency
+
+- **Illness**: If you cannot attend due to illness, provide a medical certificate to be excused from duties without using a Joker card.
+- **Emergency**: Emergencies are evaluated individually.