Merge branch 'main' into feat/airdrop-pathing-config

.devcontainer/devcontainer.json

@@ -1,7 +1,7 @@
 // See this page for reference of options: https://containers.dev/implementors/json_reference
 {
 	"name": "Existing Dockerfile",
-	"image": "ghcr.io/tritonuas/obcpp:main",
+	"image": "ghcr.io/tritonuas/obcpp:x86",
 	// enable when need to connect over USB to pixhawk
 	// also: need to run obcpp with sudo or add tuas user to dialout group with
 	// 	   `sudo usermod -aG dialout tuas && newgrp && bash`

.github/workflows/docker-jetson.yml

@@ -0,0 +1,82 @@
+# name: Push Jetson Docker Image
+#
+# on:
+#   push:
+#     branches:
+#       - main
+#   pull_request:
+#
+# env:
+#   REGISTRY: ghcr.io
+#   IMAGE_NAME: ${{ github.repository }}
+#   TAG: "jetson"
+#   DOCKERFILE_PATH: 'docker/Dockerfile.jetson'
+#
+# jobs:
+#   changes:
+#     runs-on: ubuntu-latest
+#     outputs:
+#       dockerfile: ${{ steps.changes.outputs.dockerfile }}
+#     steps:
+#     - uses: actions/checkout@v3
+#     - uses: dorny/paths-filter@v2
+#       id: changes
+#       with:
+#         filters: |
+#           dockerfile:
+#             - ${{ env.DOCKERFILE_PATH }}
+#
+#   build-and-push-image:
+#     needs: changes
+#     if: ${{ needs.changes.outputs.dockerfile == 'true' }}
+#     runs-on: ubuntu-latest
+#     permissions:
+#       contents: read
+#       packages: write
+#     steps:
+#       - name: Free Disk Space (Ubuntu)
+#         uses: jlumbroso/free-disk-space@main
+#         with:
+#           # this might remove tools that are actually needed,
+#           # if set to "true" but frees about 6 GB
+#           tool-cache: true
+#           
+#           # all of these default to true, but feel free to set to
+#           # "false" if necessary for your workflow
+#           android: true
+#           dotnet: true
+#           haskell: true
+#           large-packages: true
+#           swap-storage: true
+#       - name: Checkout repository
+#         uses: actions/checkout@v4
+#
+#       - name: Set up QEMU
+#         uses: docker/setup-qemu-action@v2
+#     
+#       - name: Set up Docker Buildx
+#         uses: docker/setup-buildx-action@v2
+#
+#       - name: Log in to the Container registry
+#         uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+#         with:
+#           registry: ${{ env.REGISTRY }}
+#           username: ${{ github.actor }}
+#           password: ${{ secrets.GITHUB_TOKEN }}
+#
+#       - name: Extract metadata (tags, labels) for Docker
+#         id: meta
+#         uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+#         with:
+#           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+#
+#       - name: Build and push Docker image
+#         uses: docker/build-push-action@f2a1d5e99d037542a71f64918e516c093c6f3fc4
+#         with:
+#           platforms: linux/arm64
+#           file: ${{ env.DOCKERFILE_PATH }} 
+#           context: .
+#           push: true
+#           tags: ${{ env.TAG }} 
+#           labels: ${{ steps.meta.outputs.labels }}
+#

.github/workflows/docker.yml → .github/workflows/docker-x86.yml

@@ -1,4 +1,4 @@
-name: Push Docker Image
+name: Push x86 Docker Image
 
 on:
   push:
@@ -8,6 +8,8 @@ on:
 env:
   REGISTRY: ghcr.io
   IMAGE_NAME: ${{ github.repository }}
+  TAG: "x86"
+  DOCKERFILE_PATH: 'docker/Dockerfile.x86'
 
 jobs:
   changes:
@@ -21,7 +23,7 @@ jobs:
       with:
         filters: |
           dockerfile:
-            - '.devcontainer/Dockerfile'
+            - ${{ env.DOCKERFILE_PATH }}
 
   build-and-push-image:
     needs: changes
@@ -50,9 +52,9 @@ jobs:
       - name: Build and push Docker image
         uses: docker/build-push-action@f2a1d5e99d037542a71f64918e516c093c6f3fc4
         with:
-          file: .devcontainer/Dockerfile
+          file: ${{ env.DOCKERFILE_PATH }} 
           context: .
           push: true
-          tags: ${{ steps.meta.outputs.tags }}
+          tags: ${{ env.TAG }} 
           labels: ${{ steps.meta.outputs.labels }}
 

.gitignore

@@ -3,7 +3,6 @@ lib/
 bin/
 logs/
 
-Makefile
 CMakeFiles/
 build/
 CMakeCache.txt
@@ -26,4 +25,4 @@ libcore_library.dylib
 .DS_Store
 
 **/*.pb.cc
-**/*.pb.h
+**/*.pb.h

CMakeLists.txt

@@ -112,6 +112,20 @@ add_subdirectory(src)
 
 add_subdirectory(tests/integration)
 
+# cuda_check
+add_executable(cuda_check ${SOURCES} tests/integration/cuda_check.cpp)
+target_add_torch(cuda_check)
+target_add_json(cuda_check)
+target_add_httplib(cuda_check)
+target_add_mavsdk(cuda_check)
+target_add_matplot(cuda_check)
+target_add_protobuf(cuda_check)
+target_add_opencv(cuda_check) 
+target_add_loguru(cuda_check)
+# for some reason calling target_add_imagemagick here conflicts with, so we are including/linking without the function call
+# target_add_imagemagick(cuda_check)
+target_include_directories(cuda_check PRIVATE ${ImageMagick_INCLUDE_DIRS})
+target_link_libraries(cuda_check PRIVATE -Wl,--copy-dt-needed-entries ${ImageMagick_LIBRARIES})
 # =============================
 
 # =============================