Pull base image with build capabilities

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:arm-support-updated
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:base-image-build-capable
 
 # # Uncomment this section to install the apt packages used in the ROS 2 tutorials
 # ENV DEBIAN_FRONTEND=noninteractive

.devcontainer/base-dev/base-dev.Dockerfile

@@ -4,7 +4,12 @@ FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f as ba
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get install -y \
+        clang \
+        cmake \
         libboost-all-dev \
+        libprotobuf-dev \
+        protobuf-compiler \
+        python3-colcon-common-extensions \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
@@ -81,14 +86,16 @@ ARG ROS_WORKSPACE=/workspaces/sailbot_workspace
 COPY update-bashrc.sh /sbin/update-bashrc
 RUN chmod +x /sbin/update-bashrc ; chown ros /sbin/update-bashrc ; sync ; /bin/bash -c /sbin/update-bashrc ; rm /sbin/update-bashrc
 
-# install clang, some clang tools, and protobuf for network systems
+# install some clang tools and googletest for network systems
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get install -y \
         clang \
-        clang-tidy \
         clangd \
+        clang-tidy \
+        cmake \
         googletest \
+        libboost-all-dev \
         libprotobuf-dev \
         protobuf-compiler \
     && apt-get autoremove -y \

.devcontainer/deployment_scripts/README.md

@@ -0,0 +1,19 @@
+# Deployment Scripts
+
+## start_container.sh
+
+- [Default]  Builds and runs the latest base docker image in sailbot_workspace
+- [Optional] Run with a docker image ID as the first argument to run a specific image
+
+```
+./start_container.sh
+./start_container.sh <IMAGE_ID>
+```
+
+## quick_build.sh
+
+- Builds all Sailbot software code without checks that slow down the build like static analysis
+
+```
+./quick_build.sh
+```

deployment_scripts/quick_build.sh → .devcontainer/deployment_scripts/quick_build.sh

@@ -2,6 +2,6 @@
 # build without any extra linting or static analysis
 
 SCRIPT_DIR="$(dirname "$(readlink -f "$0")")"
-HOST_WORKSPACE_ROOT="$SCRIPT_DIR/.."
+HOST_WORKSPACE_ROOT="$SCRIPT_DIR/../.."
 
-$HOST_WORKSPACE_ROOT/build.sh RelWithDebInfo OFF
+$HOST_WORKSPACE_ROOT/build.sh RelWithDebInfo OFF OFF

deployment_scripts/start_container.sh → .devcontainer/deployment_scripts/start_container.sh

@@ -1,13 +1,15 @@
 #!/bin/bash
-# Build and run the sailbot_workspace image without VSCode for deployment
+# Run the sailbot_workspace image without VSCode for deployment
+# Pulls and runs the latest base image by default
 # (Optional) run this script with an image ID as the first argument to run a specific version of the image
 
 IMAGE_ID=${1:-""}
 
-IMAGE_NAME="sailbot_workspace"
+BASE_IMAGE="ghcr.io/ubcsailbot/sailbot_workspace/base"
 SCRIPT_DIR="$(dirname "$(readlink -f "$0")")"
-HOST_WORKSPACE_ROOT="$SCRIPT_DIR/.."
+HOST_WORKSPACE_ROOT="$SCRIPT_DIR/../.."
 DOCKERFILE_DIR="$HOST_WORKSPACE_ROOT/.devcontainer"
+DOCKERFILE_PATH="$DOCKERFILE_DIR/Dockerfile"
 DEVCONTAINER_PATH="$DOCKERFILE_DIR/devcontainer.json"
 CONTAINER_WORKSPACE_PATH="/workspaces/sailbot_workspace"
 # args to mount the repo inside the container
@@ -24,16 +26,25 @@ get_docker_run_args()
 
     echo $DOCKER_RUN_ARGS # return args
 }
+# Parse the Dockerfile to get the latest image tag
+get_latest_tag()
+{
+    TAG=$(head -n1 $DOCKERFILE_PATH) # Get first line with the image source and tag
+    IFS=':' read -ra TAG <<< "$TAG"  # Turn the string into an array
+    TAG=${TAG[1]}                    # Get the tag from the second element in the array
+
+    echo $TAG # return tag
+}
 
 DOCKER_RUN_ARGS=$(get_docker_run_args)
 
 if [[ $IMAGE_ID == "" ]]
 then
-    # Build IMAGE_NAME from dockerfile found in DOCKERFILE_DIR (does nothing if image is already built)
-    docker build -t $IMAGE_NAME $DOCKERFILE_DIR
-    # Run latest IMAGE_NAME in an interactive bash terminal 
-    echo "Running: docker run -it $DOCKER_MNT_VOL_ARGS $DOCKER_RUN_ARGS $IMAGE_NAME /bin/bash"
-    docker run -it $DOCKER_MNT_VOL_ARGS $DOCKER_RUN_ARGS $IMAGE_NAME /bin/bash
+    TAG=$(get_latest_tag)
+    docker pull $BASE_IMAGE:$TAG
+    # Run latest base image in an interactive bash terminal 
+    echo "Running: docker run -it $DOCKER_MNT_VOL_ARGS $DOCKER_RUN_ARGS $BASE_IMAGE:$TAG /bin/bash"
+    docker run -it $DOCKER_MNT_VOL_ARGS $DOCKER_RUN_ARGS $BASE_IMAGE:$TAG /bin/bash
 else
     echo "Running: docker run -it $DOCKER_MNT_VOL_ARGS $DOCKER_RUN_ARGS $IMAGE_ID /bin/bash"
     docker run -it $DOCKER_MNT_VOL_ARGS $DOCKER_RUN_ARGS $IMAGE_ID /bin/bash

.devcontainer/devcontainer.json

@@ -1,10 +1,11 @@
 // See https://aka.ms/vscode-remote/devcontainer.json for format details.
 // IMPORTANT: be careful with the general devcontainer.json properties
 // 		https://containers.dev/implementors/json_reference/#general-properties
-// 		sailbot_workspace/deployment_scripts/start_container.sh parses this file for "runArgs" to run the container,
-//      but if you use, for example, the "capAdd" JSON field then it will NOT be picked up by the script without changes
-//		This only applies to properties that correspond to a docker run argument
+//      Do not add any properties that correspond to a docker run argument
 //		https://docs.docker.com/engine/reference/commandline/run/#options
+// 		sailbot_workspace/.devcontainer/deployment_scripts/start_container.sh parses this file for "runArgs" to run the 
+//      container, but if you use, for example, the "capAdd" JSON field then it will NOT be picked up by the script
+//      without changes
 {
 	"dockerFile": "Dockerfile",
 	"build": {

build.sh

@@ -4,10 +4,11 @@ set -e
 # Set the build type
 BUILD_TYPE=${1:-RelWithDebInfo}
 STATIC_ANALYSIS=${2:-ON}
+UNIT_TEST=${3:-ON}
 colcon build \
         --merge-install \
         --symlink-install \
-        --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DSTATIC_ANALYSIS=$STATIC_ANALYSIS" "--no-warn-unused-cli"
+        --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DSTATIC_ANALYSIS=$STATIC_ANALYSIS" "-DUNIT_TEST=$UNIT_TEST" "--no-warn-unused-cli"
 
 # For Clangd
 if [[ -f /workspaces/sailbot_workspace/build/compile_commands.json && ! -f /workspaces/sailbot_workspace/compile_commands.json ]]