Docker compile (#13)

* [Docker][other]: support docker compile for v1.14.x

* [Doc][other]: update doc for containerized compilation

* [Docker][other]: support github action

.github/workflows/manual_build.yml

@@ -0,0 +1,41 @@
+name: Manual Build
+
+on:
+  workflow_dispatch:
+    inputs:
+      branch_name:
+        description: 'Branch name'
+        type: string
+        required: true
+        default: 'develop_v1.14.x'
+
+      target_name:
+        description: 'Target name'
+        type: string
+        required: true
+        default: 'hkust_nxt-v1'
+
+jobs:
+  build_firmware:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Submodule update
+        run: git submodule update --init --recursive
+
+      - name: Build Bootloader
+        run: ./docker_build.sh ${{ inputs.branch_name }} ${{ inputs.target_name }} y
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: hkust_nxt_bootloader
+          path: PX4-Autopilot/build/${{ inputs.target_name }}_bootloader/${{ inputs.target_name }}_bootloader.elf
+
+      - name: Build PX4-Autopilot
+        run: ./docker_build.sh ${{ inputs.branch_name }} ${{ inputs.target_name }}_bootloader y
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: hkust_nxt_default
+          path: PX4-Autopilot/build/${{ inputs.target_name }}_default/${{ inputs.target_name }}_default.px4

.github/workflows/px4-autopilot.yml

@@ -23,17 +23,17 @@ jobs:
       run: git submodule update --init --recursive
 
     - name: Build Bootloader
-      run: PX4-Autopilot/start_docker.sh hkust_nxt_bootloader
+      run: ./docker_build.sh develop_v1.14.x hkust_nxt-v1_bootloader y
     - name: Upload Artifacts
       uses: actions/upload-artifact@v3
       with:
         name: hkust_nxt_bootloader
-        path: PX4-Autopilot/build/hkust_nxt_bootloader/hkust_nxt_bootloader.elf
+        path: PX4-Autopilot/build/hkust_nxt-v1_bootloader/hkust_nxt-v1_bootloader.elf
 
     - name: Build PX4-Autopilot
-      run: PX4-Autopilot/start_docker.sh hkust_nxt
+      run: ./docker_build.sh develop_v1.14.x hkust_nxt-v1 y
     - name: Upload Artifacts
       uses: actions/upload-artifact@v3
       with:
         name: hkust_nxt_default
-        path: PX4-Autopilot/build/hkust_nxt_default/hkust_nxt_default.px4
+        path: PX4-Autopilot/build/hkust_nxt-v1_default/hkust_nxt-v1_default.px4

README.md

@@ -153,8 +153,13 @@ The pre-build firware and bootloader are in  `./firmware` dir, donwload and flas
 
 #### Containerized compilation (recommended)
 
-* Frameware compile: start_docker.sh hkust_nxt
-* bootloader compile: start_docker.sh hkust_nxt_bootloader
+Build a specific version of PX4 firmware using docker container.
+
+```bash
+Usage:    ./docker_build.sh <branch_name> <frameware_name>
+Example:  ./docker_build.sh develop_v1.14.x hkust_nxt-v1
+          ./docker_build.sh develop_v1.14.x hkust_nxt-v1_bootloader
+```
 
 ### Develop
 

docker_build.sh

@@ -0,0 +1,139 @@
+#!/bin/bash
+script_dir=$(cd $(dirname $0);pwd)
+
+# Config
+# version_map[<branch_name>]=<docker_image_name>
+declare -A version_map
+version_map["develop_v1.14.x"]="px4io/px4-dev-nuttx-focal:2023-12-04"
+
+# Set parameters
+DOCEKR_NAME="";
+DOCKER_IMAGE_VERSION="";
+VOLUME_PATH="";
+set_param(){
+  DOCKER_IMAGE_VERSION=${version_map[$1]}
+  DOCEKR_NAME="$2"
+  echo "Docker image version: ${DOCKER_IMAGE_VERSION}"
+}
+
+# Git functions
+switch_branch(){
+  cd $script_dir/PX4-Autopilot
+
+  # Check if branch exists
+  if git branch --list | grep -q "$1"; then
+  echo "Branch $1 exists"
+  else
+    echo "Branch $1 does not exist"
+  fi
+
+  # Switch branch
+  if [[ "$2" != [Yy] ]]; then
+    echo "Warning: this will remove all changes including untracked files"
+    read -p "Confirm?(Y/N)" ans
+
+    if [[ "$ans" == [Yy] ]]; then
+      echo "Confirmed"
+      git checkout -f $1
+      git clean -xdf -f
+      git submodule update --recursive
+      git submodule foreach --recursive git fetch --all
+      git submodule foreach --recursive git reset --hard
+      git submodule foreach --recursive git clean -fdx -f
+
+      echo "Successfully switched to branch $1"
+    else
+      echo "Canceled"
+      exit 1
+    fi
+  fi
+}
+
+# Docker functions
+pull_docker(){
+  docker pull "${DOCKER_IMAGE_VERSION}"
+}
+
+check_image(){
+  docker_image_exist=$(docker images ${DOCKER_IMAGE_VERSION})
+  if [ -n "$docker_image_exist" ]
+  then
+    echo "Docker image is downloaded will build the containter"
+    return 0
+  else
+    echo "erro: Docker images need to be downloaded"
+    return 1
+  fi
+}
+
+stop_container(){
+  docker stop ${DOCEKR_NAME}
+}
+
+start_containter(){
+  docker start ${DOCEKR_NAME}
+}
+
+build_frameware(){
+  docker exec ${DOCEKR_NAME} bash -c "cd /src/NxtPX4/PX4-Autopilot; make clean ; make $1; chmod 777 -R /src/NxtPX4/PX4-Autopilot"
+  stop_container
+}
+
+build_run_container(){
+  # check mount dir
+  VOLUME_PATH=$script_dir;
+  echo "Mount ${VOLUME_PATH} to docker:/src/NxtPX4/ "
+  if [ ! -d $VOLUME_PATH ]
+    then
+      echo "Path: ${VOLUME_PATH} is not NxtPX4 repo please run this script under xxx/NxtPX4/PX4-Autopilot/"
+  fi
+
+  docker run --rm -dit --privileged \
+  --env=LOCAL_USER_ID="$(id -u)" \
+  -v ${VOLUME_PATH}:/src/NxtPX4/:rw \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
+  -e DISPLAY=:0 \
+  -p 14556:14556/udp \
+  --name=${DOCEKR_NAME} ${DOCKER_IMAGE_VERSION}
+  return 0
+}
+
+help(){
+  echo "Usage:    ./docker_build.sh <branch_name> <frameware_name>"
+  echo "Example:  ./docker_build.sh develop_v1.14.x hkust_nxt-v1"
+  echo "          ./docker_build.sh develop_v1.14.x hkust_nxt-v1_bootloader"
+}
+
+check_docker(){
+  echo "Check Docker......"
+  docker -v
+  if [ $? -ne 0 ]
+    then
+      echo "Install docker using the following command:"
+      echo "curl -sSL https://get.daocloud.io/docker | sh"
+      exit 1
+  fi
+}
+
+main(){
+  switch_branch $1 $3
+  set_param $1 $2
+  check_docker
+  docker_exist=$(docker ps -a|grep ${DOCEKR_NAME})
+  if [ -n "$docker_exist" ]
+    then
+      echo "Docker container exist start container to compile"
+      start_containter
+    else
+      echo "build run container"
+      build_run_container
+  fi
+  build_frameware $2
+}
+
+if [ $# -ne 2 ] && [ $# -ne 3 ]
+  then
+    help
+  else
+    main $1 $2 $3
+fi