Merge branch 'ivim' into feature/ivim

.github/workflows/bloom-release.yml

@@ -0,0 +1,31 @@
+name: bloom-release
+
+on:
+  push:
+    tags:
+      - 'v[0-9]+.[0-9]+.[0-9]+'
+
+jobs:
+  bloom-release:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Release ROS
+        uses: at-wat/bloom-release-action@v0
+        with:
+          ros_distro: noetic
+          github_token_bloom: ${{ secrets.GH_TOKEN_FOR_BLOOM_RELEASE }}
+          github_user: jpbusch
+          git_user: Jean-Pierre Busch
+          git_email: [email protected]
+          release_repository_push_url: https://github.com/ika-rwth-aachen/etsi_its_messages-release.git
+          open_pr: false
+      - name: Release ROS 2
+        uses: at-wat/bloom-release-action@v0
+        with:
+          ros_distro: humble iron jazzy
+          github_token_bloom: ${{ secrets.GH_TOKEN_FOR_BLOOM_RELEASE }}
+          github_user: jpbusch
+          git_user: Jean-Pierre Busch
+          git_email: [email protected]
+          release_repository_push_url: https://github.com/ros2-gbp/etsi_its_messages-release.git
+          open_pr: false

.github/workflows/codegen.yml

@@ -4,80 +4,62 @@ on: push
 
 jobs:
 
-  patch:
-    name: Patching
+  build-docker-images:
+    name: build-docker-images
     runs-on: ubuntu-latest
     steps:
     - name: Checkout code
       uses: actions/checkout@v3
       with:
         submodules: recursive
-    - name: Set up Python
-      uses: actions/setup-python@v4
+    - name: Login to Docker registry
+      uses: docker/login-action@v3
       with:
-        python-version: 3.9
-    - name: Install Python dependencies
-      run: pip install -r utils/requirements.txt
-    - name: Patch
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ github.token }}
+    - name: Build asn1c docker image
       run: |
-        ./utils/codegen/patchRawAsn1.py -r asn1/raw -p asn1/patch -o asn1/patched
-        if [[ ! -z "$(git status --porcelain)" ]]; then
-          echo "Code generation script resulted in changes to the repository"
-          exit 1
-        fi
-
-  reduce_asn1:
-    name: ASN1 Reduction
-    runs-on: ubuntu-latest
-
-    strategy:
-      matrix:
-        include:
-          - message: cam
-            script: ./utils/codegen/reduceAsn1ToTypeDependencies.py -t CAM -o asn1/reduced/cam asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn
-          - message: denm
-            script: ./utils/codegen/reduceAsn1ToTypeDependencies.py -t DENM -o asn1/reduced/denm asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn
-
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-    - name: Set up Python
-      uses: actions/setup-python@v4
-      with:
-        python-version: 3.9
-    - name: Install Python dependencies
-      run: pip install -r utils/requirements.txt
-    - name: asn1_reduce_${{ matrix.message }}
+        cd utils/codegen/docker
+        docker build -t ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci -f asn1c.Dockerfile .
+        docker push ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
+    - name: Build rgen docker image
       run: |
-        ${{ matrix.script }}
-        if [[ ! -z "$(git status --porcelain)" ]]; then
-          echo "Code generation script resulted in changes to the repository"
-          exit 1
-        fi
+        cd utils/codegen/codegen-rust/docker
+        docker build -t ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci -f rgen.Dockerfile ..
+        docker push ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
+    - name: Push Docker Images
+      if: github.ref == format('refs/heads/{0}', github.event.repository.default_branch)
+      run: |
+        docker tag ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci ghcr.io/${{ github.repository }}:asn1c
+        docker push ghcr.io/${{ github.repository }}:asn1c
+        docker tag ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci ghcr.io/${{ github.repository }}:rgen
+        docker push ghcr.io/${{ github.repository }}:rgen
 
   etsi_its_coding:
-    name: ASN1C
+    name: asn1c
     runs-on: ubuntu-latest
+    needs: build-docker-images
 
     strategy:
       matrix:
         include:
           - message: cam
-            script: ./utils/codegen/asn1ToC.py asn1/reduced/cam/CAM-PDU-Descriptions.asn asn1/reduced/cam/ITS-Container.asn -o etsi_its_coding/etsi_its_cam_coding -td ${{ github.workspace }}/tmp
+            script: ./utils/codegen/asn1ToC.py asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn -t cam -o etsi_its_coding/etsi_its_cam_coding -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
           - message: denm
-            script: ./utils/codegen/asn1ToC.py asn1/reduced/denm/DENM-PDU-Descriptions.asn asn1/reduced/denm/ITS-Container.asn -o etsi_its_coding/etsi_its_denm_coding -td ${{ github.workspace }}/tmp
+            script: ./utils/codegen/asn1ToC.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_coding/etsi_its_denm_coding -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
+          - message: cpm_ts
+            script: ./utils/codegen/asn1ToC.py asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn -t cpm_ts -o etsi_its_coding/etsi_its_cpm_ts_coding -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
 
     steps:
     - name: Checkout code
       uses: actions/checkout@v3
+      with:
+        submodules: recursive
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
         python-version: 3.9
-    - name: Install Python dependencies
-      run: pip install -r utils/requirements.txt
     - name: Login to Docker registry
       uses: docker/login-action@v3
       with:
@@ -87,68 +69,79 @@ jobs:
 
     - name: etsi_its_${{ matrix.message }}_coding
       run: |
+        ./asn1/patches/patch.sh
         ${{ matrix.script }}
         rm -rf ${{ github.workspace }}/tmp
         if [[ ! -z "$(git status --porcelain)" ]]; then
           echo "Code generation script resulted in changes to the repository"
+          git diff
           exit 1
         fi
 
   etsi_its_msgs:
     name: ROS Messages
     runs-on: ubuntu-latest
+    needs: build-docker-images
 
     strategy:
       matrix:
         include:
           - message: cam
-            script: ./utils/codegen/asn1ToRosMsg.py asn1/reduced/cam/CAM-PDU-Descriptions.asn asn1/reduced/cam/ITS-Container.asn -o etsi_its_msgs/etsi_its_cam_msgs/msg
+            script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn -o etsi_its_msgs/etsi_its_cam_msgs/msg -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
           - message: denm
-            script: ./utils/codegen/asn1ToRosMsg.py asn1/reduced/denm/DENM-PDU-Descriptions.asn asn1/reduced/denm/ITS-Container.asn -o etsi_its_msgs/etsi_its_denm_msgs/msg
+            script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -o etsi_its_msgs/etsi_its_denm_msgs/msg -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
+          - message: cpm_ts
+            script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn -o etsi_its_msgs/etsi_its_cpm_ts_msgs/msg -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
 
     steps:
     - name: Checkout code
       uses: actions/checkout@v3
+      with:
+        submodules: recursive
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
         python-version: 3.9
-    - name: Install Python dependencies
-      run: pip install -r utils/requirements.txt
     - name: etsi_its_${{ matrix.message }}_msgs
       run: |
+        ./asn1/patches/patch.sh
         ${{ matrix.script }}
         if [[ ! -z "$(git status --porcelain)" ]]; then
           echo "Code generation script resulted in changes to the repository"
+          git diff
           exit 1
         fi
 
   etsi_its_conversion:
     name: Conversion Headers
     runs-on: ubuntu-latest
+    needs: build-docker-images
 
     strategy:
       matrix:
         include:
           - message: cam
-            script: ./utils/codegen/asn1ToConversionHeader.py asn1/reduced/cam/CAM-PDU-Descriptions.asn asn1/reduced/cam/ITS-Container.asn -t cam -o etsi_its_conversion/etsi_its_cam_conversion/include/etsi_its_cam_conversion
+            script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn -t cam -o etsi_its_conversion/etsi_its_cam_conversion/include/etsi_its_cam_conversion -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
           - message: denm
-            script: ./utils/codegen/asn1ToConversionHeader.py asn1/reduced/denm/DENM-PDU-Descriptions.asn asn1/reduced/denm/ITS-Container.asn -t denm -o etsi_its_conversion/etsi_its_denm_conversion/include/etsi_its_denm_conversion
+            script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_conversion/etsi_its_denm_conversion/include/etsi_its_denm_conversion -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
+          - message: cpm_ts
+            script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn -t cpm_ts -o etsi_its_conversion/etsi_its_cpm_ts_conversion/include/etsi_its_cpm_ts_conversion -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
 
     steps:
     - name: Checkout code
       uses: actions/checkout@v3
+      with:
+        submodules: recursive
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
         python-version: 3.9
-    - name: Install Python dependencies
-      run: pip install -r utils/requirements.txt
-      working-directory: ${{ github.workspace }}
     - name: etsi_its_${{ matrix.message }}_conversion
       run: |
+        ./asn1/patches/patch.sh
         ${{ matrix.script }}
         if [[ ! -z "$(git status --porcelain)" ]]; then
           echo "Code generation script resulted in changes to the repository"
+          git diff
           exit 1
-        fi
+        fi

.github/workflows/docker-ros.yml

@@ -4,28 +4,56 @@ on: push
 
 jobs:
 
-  ros:
+  ros-noetic:
     runs-on: ubuntu-latest
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
+          platform: amd64
+          target: dev,run
           image-tag: ros
           base-image: rwthika/ros:noetic
           command: roslaunch etsi_its_conversion converter.ros1.launch
-          platform: amd64,arm64
-          target: dev,run
+          enable-industrial-ci: 'true'
           enable-recursive-vcs-import: 'false'
-          vcs-import-file: '.ros1.repos'
 
-  ros2:
+  ros2-humble:
     runs-on: ubuntu-latest
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
+          platform: amd64
+          target: dev,run
           image-tag: ros2
           base-image: rwthika/ros2:humble
           command: ros2 launch etsi_its_conversion converter.launch.py
-          platform: amd64,arm64
+          enable-industrial-ci: 'true'
+          enable-recursive-vcs-import: 'false'
+
+  ros2-iron:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/docker-ros@main
+        with:
+          platform: amd64
           target: dev,run
-          enable-push-as-latest: 'true'
+          image-tag: ros2-iron
+          base-image: rwthika/ros2:iron
+          command: ros2 launch etsi_its_conversion converter.launch.py
+          enable-industrial-ci: 'true'
           enable-recursive-vcs-import: 'false'
+
+  ros2-jazzy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/docker-ros@main
+        with:
+          platform: amd64
+          target: dev,run
+          image-tag: ros2-jazzy
+          base-image: ubuntu:24.04
+          ros-distro: jazzy
+          command: ros2 launch etsi_its_conversion converter.launch.py
+          enable-industrial-ci: 'true'
+          enable-push-as-latest: 'true'
+          enable-recursive-vcs-import: 'false'

.gitignore

@@ -173,4 +173,8 @@ poetry.toml
 # LSP config files
 pyrightconfig.json
 
-# End of https://www.toptal.com/developers/gitignore/api/python
+# End of https://www.toptal.com/developers/gitignore/api/python
+
+# ignore ros2 bagfiles
+metadata.yaml
+*.db3