EnjoyRobotics · turtlewizard73 · Oct 24, 2023 · Feb 22, 2023 · Feb 22, 2023 · Mar 4, 2023
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -33,12 +33,12 @@ _commands:
  - restore_cache:
  name: Restore Cache << parameters.key >>
  keys:
- - "<< parameters.key >>-v12\
+ - "<< parameters.key >>-v13\
  -{{ arch }}\
  -{{ .Branch }}\
  -{{ .Environment.CIRCLE_PR_NUMBER }}\
  -{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}"
- - "<< parameters.key >>-v12\
+ - "<< parameters.key >>-v13\
  -{{ arch }}\
  -main\
  -<no value>\
@@ -58,7 +58,7 @@ _commands:
  steps:
  - save_cache:
  name: Save Cache << parameters.key >>
- key: "<< parameters.key >>-v12\
+ key: "<< parameters.key >>-v13\
  -{{ arch }}\
  -{{ .Branch }}\
  -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -301,10 +301,15 @@ _commands:
  when: always
  - store_artifacts:
  path: << parameters.workspace >>/log/test
- - store_test_results:
- path: << parameters.workspace >>/test_results
  - store_artifacts:
  path: << parameters.workspace >>/test_results
+ - run:
+ name: Prepare Test Results
+ working_directory: << parameters.workspace >>
+ command: find test_results -name "Test.xml" -type f -delete
+ when: always
+ - store_test_results:
+ path: << parameters.workspace >>/test_results
 
 _steps:
  pre_checkout: &pre_checkout
@@ -453,6 +458,7 @@ executors:
  release_exec:
  docker:
  - image: ghcr.io/ros-planning/navigation2:main
+ resource_class: large
  working_directory: /opt/overlay_ws
  environment:
  <<: *common_environment

diff --git a/.circleci/defaults.yaml b/.circleci/defaults.yaml
@@ -6,7 +6,7 @@ _common: &common
 "build":
  <<: *common
  "executor": "parallel"
- "parallel-workers": 2
+ "parallel-workers": 4
  "symlink-install": true
 "test":
  <<: *common

diff --git a/.devcontainer/caddy/Caddyfile b/.devcontainer/caddy/Caddyfile
@@ -0,0 +1,132 @@
+# Snippet for global matchers and variables
+# to logically expression request conditions
+# E.g. for conditionally changing redirects
+(globals) {
+ # Use gzip compression for all responses
+ encode gzip
+
+ # Matcher for http request scheme. E.g. "http" or "https"
+ @http_scheme {
+ expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
+ }
+ # If any http scheme is "https", then use "wss"
+ vars @http_scheme WsScheme "wss"
+ # Else default to "ws"
+ vars WsScheme "ws"
+
+ # Matcher for forwarded request headers
+ @host_forwarded {
+ header X-Forwarded-Host *
+ }
+ # If http headers exists, then use them
+ vars @host_forwarded ReqHost {header.X-Forwarded-Host}
+ # Else default to host in request
+ vars ReqHost {http.request.hostport}
+
+ # Matcher for websocket connection upgrade requests
+ @websockets {
+ # Avoid case sensitivity issues when matching field values
+ # E.g. when values are rewritten by Codespace port forwarding
+ header_regexp Connection (?i)(Upgrade)
+ header Upgrade websocket
+ }
+}
+
+# Snippet for redirect with given URL queries values
+# to simplify remote development with web apps
+# E.g auto redirect websocket URL to match request scheme
+(redirect) {
+ # Configure redirect to match request scheme
+ vars LayoutUrl "/assets/foxglove/nav2_layout.json"
+ vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/"
+ redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}"
+ redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}"
+}
+
+# Snippet for dummy imports
+(dummy) {
+}
+
+# Snippet for enabling mobile web app features
+# to improve user experience on small screen devices
+# E.g. for enabling fullscreen mode on iOS and Android
+(mobile) {
+ # Match for directory redirects to index.html
+ route / {
+ # Inject link to manifest just after <head> tag
+ # https://developer.mozilla.org/docs/Web/Manifest
+ replace `<head>` `<head><link rel="manifest" href="manifest.json" crossorigin="use-credentials"/>`
+ }
+ # Redirect relative handle_path'ed manifest.json to /manifests directory
+ redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json
+}
+
+# Snippet for hosted web app using websockets
+# to serve static files and reverse proxying connections
+# E.g. for serving GzWeb and Foxglove web apps
+(app) {
+ # handle and strip path prefix from redirect
+ handle_path {args.0}/* {
+ # Set root directory for static files
+ root * {http.vars.root}{args.0}
+ # Enable mobile web app features
+ import mobile
+ # Reverse proxy websockets to backend address
+ reverse_proxy @websockets {args.1}
+ # Import custom snippets
+ import {args.2} {args.0}
+ }
+}
+
+# Listen for http requests on port 8080
+# regardless of hostname or domain address
+# E.g. whatever Codespaces assigns to host
+:8080 {
+ # Include global matchers and variables
+ import globals
+ root * {$ROOT_SRV:/srv}
+ file_server browse
+
+ # Handle root content
+ # I.e. assets internal to workspace
+ handle /* {
+ # Template manifest.json files
+ templates */manifest.json {
+ mime application/json
+ }
+ }
+
+ # Handle nav2 web app
+ # I.e. main landing page
+ handle_path /nav2/* {
+ root * {http.vars.root}/nav2
+ import mobile
+ # Render markdown files as html
+ templates
+ }
+
+ # Matcher for requests without browse query
+ @no_browse {
+ path /
+ not query browse=true
+ }
+ # Redirect to nav2 web app by default
+ redir @no_browse /nav2/
+
+ # Import app snippets for web apps
+ import app "/gzweb" "localhost:9090" "dummy"
+ import app "/foxglove" "localhost:8765" "redirect"
+
+ # Handle glances web app
+ redir /glances /glances/
+ handle_path /glances/* {
+ import mobile
+ # Reverse proxy to glances backend
+ reverse_proxy * "localhost:61208"
+ }
+
+ # For debugging
+ # log {
+ # output file /var/log/caddy/server.log
+ # }
+}
diff --git a/.devcontainer/caddy/srv/assets/foxglove/manifest.json b/.devcontainer/caddy/srv/assets/foxglove/manifest.json
@@ -0,0 +1,40 @@
+{
+ "name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+ "short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+ "icons": [
+ {
+ "src": "/media/icons/foxglove/any_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "any"
+ },
+ {
+ "src": "/media/icons/foxglove/maskable_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "maskable"
+ }
+ ],
+ "id": "/foxglove/",
+ "start_url": "/foxglove/autoconnect",
+ "theme_color": "#6F3BE8",
+ "background_color": "#6F3BE8",
+ "display": "fullscreen",
+ "shortcuts" : [
+ {
+ "name": "Auto Connect",
+ "url": "/foxglove/autoconnect",
+ "description": "Auto connect to default data source"
+ },
+ {
+ "name": "Auto Layout",
+ "url": "/foxglove/autolayout",
+ "description": "Auto connect using default layout"
+ },
+ {
+ "name": "Manual Connect",
+ "url": "/foxglove/",
+ "description": "Manually connect to data source"
+ }
+ ]
+}