Trying to get vision code working from Dockerfile

.github/workflows/pr-docker-build.yml

@@ -0,0 +1,44 @@
+name: PR Docker Build Check
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: 'arm64,arm'
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          # Enable docker layer caching
+          buildkitd-flags: --debug
+
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        timeout-minutes: 30
+        with:
+          context: ./raspberry_pi
+          cache-from: type=gha
+          cache-to: type=gha,mode=max`
+          platforms: linux/arm64,linux/arm/v7
+          push: false
+          tags: team100-pi:${{ github.sha }}
+
+          # - name: Add PR Comment on Failure
+      #   if: failure()
+      #   uses: actions/github-script@v7
+      #   with:
+      #     script: |
+      #       github.rest.issues.createComment({
+      #         issue_number: context.issue.number,
+      #         owner: context.repo.owner,
+      #         repo: context.repo.repo,
+      #         body: '❌ Docker build failed! Please check the workflow logs for details.'
+      #       }) 

.github/workflows/swerve-100-build.yml

@@ -0,0 +1,44 @@
+name: Swerve100 Docker Build
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      # - name: Set up QEMU
+      #   uses: docker/setup-qemu-action@v3
+      #   with:
+      #     platforms: 'arm64,arm'
+
+      # - name: Set up Docker Buildx
+      #   uses: docker/setup-buildx-action@v3
+      #   with:
+      #     # Enable docker layer caching
+      #     buildkitd-flags: --debug
+
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        timeout-minutes: 30
+        with:
+          context: .
+          # cache-from: type=gha
+          # cache-to: type=gha,mode=max`
+          # platforms: linux/arm64,linux/arm/v7
+          push: false
+          tags: team100-pi:${{ github.sha }}
+
+          # - name: Add PR Comment on Failure
+      #   if: failure()
+      #   uses: actions/github-script@v7
+      #   with:
+      #     script: |
+      #       github.rest.issues.createComment({
+      #         issue_number: context.issue.number,
+      #         owner: context.repo.owner,
+      #         repo: context.repo.repo,
+      #         body: '❌ Docker build failed! Please check the workflow logs for details.'
+      #       }) 

Dockerfile

@@ -0,0 +1,29 @@
+# Use the same WPILib container as the GitHub Action
+FROM wpilib/roborio-cross-ubuntu:2024-22.04
+
+# Set working directory
+WORKDIR /team100/comp/swerve100
+
+# Copy only wrapper files first
+COPY comp/swerve100/gradle ./gradle
+COPY comp/swerve100/gradlew comp/swerve100/gradlew.bat ./
+
+# Make gradlew executable (same as in GitHub Action)
+RUN chmod +x gradlew
+
+# Copy build configuration
+COPY comp/swerve100/*.gradle comp/swerve100/gradle.properties ./
+
+# Download dependencies using wrapper
+RUN ./gradlew
+
+# Lib doesn't change often; copy before the other code
+WORKDIR /team100
+COPY lib ./lib
+
+# Now copy the rest of your code
+WORKDIR /team100/comp/swerve100
+COPY comp/swerve100/src ./src
+
+# Build and test (same command as in GitHub Action)
+RUN ./gradlew build

Dockerfile copy

@@ -0,0 +1,31 @@
+FROM wpilib/roborio-cross-ubuntu:2024-22.04
+
+WORKDIR /app
+
+# Copy only wrapper files first
+COPY gradle ./gradle
+COPY gradlew gradlew.bat ./
+
+# Make gradlew executable
+RUN chmod +x gradlew
+
+# Copy build configuration
+COPY *.gradle gradle.properties ./
+
+
+# Download dependencies using wrapper
+RUN --mount=type=cache,target=/root/.gradle ./gradlew --build-cache dependencies
+RUN ./gradlew
+
+# Create a custom gradle.properties to override desktop/simulation settings
+RUN echo "includeDesktopSupport=false" > gradle.properties
+
+# Now copy the rest of your code
+COPY src ./src
+
+# Build with specific options, focusing only on robot code
+RUN ./gradlew build --no-daemon \
+    -PskipTests \
+    -x simulateJava \
+    -x test
+

comp/swerve100/.wpilib/wpilib_preferences.json

@@ -3,4 +3,4 @@
     "currentLanguage": "java",
     "projectYear": "2024beta",
     "teamNumber": 100
-}
+}

comp/swerve100/Dockerfile.orig

@@ -0,0 +1,46 @@
+FROM eclipse-temurin:17-jdk
+
+# Install necessary tools
+RUN apt-get update && apt-get install -y \
+    curl \
+    unzip \
+    vim \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set the working directory in the container
+WORKDIR /app
+
+# Install Gradle
+ENV GRADLE_VERSION=8.4
+RUN curl -L https://services.gradle.org/distributions/gradle-${GRADLE_VERSION}-bin.zip -o gradle.zip \
+    && unzip gradle.zip \
+    && rm gradle.zip \
+    && mv gradle-${GRADLE_VERSION} /opt/gradle \
+    && ln -s /opt/gradle/bin/gradle /usr/bin/gradle
+
+# Set Gradle environment variables
+ENV GRADLE_HOME=/opt/gradle
+ENV PATH=$PATH:$GRADLE_HOME/bin
+
+# Copy just the build.gradle and gradle files
+COPY build.gradle settings.gradle gradle.properties ./
+COPY gradle ./gradle
+# COPY gradlew ./
+
+# Make the gradlew script executable
+# RUN chmod +x ./gradlew
+
+# Download dependencies
+RUN --mount=type=cache,target=/root/.gradle gradle --build-cache dependencies
+
+# Now copy the rest of your code
+COPY . .
+
+# Build the project
+# RUN --mount=type=cache,target=/root/.gradle gradle --build-cache build --offline
+
+# Expose the JMX port
+# EXPOSE 1099
+
+# Run the Java application
+# CMD ["gradle", "run"]

comp/swerve100/README.md

@@ -4,3 +4,13 @@ This is the main comp bot repo.
 
 Part of the code here was (somewhat distantly) derived from 254 code, and other parts were inspired by Roadrunner.
 
+# Starting Development
+
+1. Make sure you have Java installed. Download it [here](https://www.oracle.com/java/technologies/downloads/).
+1. From your command line you should be able to run:
+    `./gradlew build` . This should start downloading all the relevant libraries and install them.
+1. Visit the WPILib installation instructions [here](https://docs.wpilib.org/en/stable/docs/zero-to-robot/step-2/offline-installation-preparations.html). This is a big file and will take a while to download + install.
+1. Once installed, 
+
+# Misc
+https://docs.wpilib.org/en/stable/docs/software/vscode-overview/deploying-robot-code.html

comp/swerve100/build.gradle

@@ -42,7 +42,10 @@ deploy {
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
+            // team = project.frc.getTeamNumber()
+            // TODO(dmontauk): a better approach would be to have build dependencies pulled separately
+            // from the actual build.
+            team = project.frc.getTeamOrDefault(100)
             debug = project.frc.getDebugOrDefault(false)
 
             artifacts {          
@@ -218,3 +221,14 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+// Add this at the end of your build.gradle file
+task downloadDependencies() {
+    doLast {
+        configurations.all { c ->
+            if (c.canBeResolved) {
+                c.resolve()
+            }
+        }
+    }
+}

comp/swerve100/setup_dev_container.sh

@@ -0,0 +1 @@
+

comp/swerve100/swerve100.code-workspace

@@ -11,7 +11,7 @@
         "java.configuration.updateBuildConfiguration": "automatic",
         "java.server.launchMode": "Standard",
         "terminal.integrated.scrollback": 100000,
-        "workbench.colorTheme": "Default Light+",
+        "workbench.colorTheme": "Anysphere",
         "files.autoSave": "afterDelay",
         "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx32G -Xms100m -Xlog:disable",
         "workbench.editor.revealIfOpen": true,

raspberry_pi/.devcontainer/Dockerfile

@@ -0,0 +1 @@
+

raspberry_pi/.devcontainer/devcontainer.json

@@ -0,0 +1 @@
+

raspberry_pi/.vscode/launch.json

@@ -0,0 +1,20 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Docker: Attach to Vision App",
+            "type": "debugpy",
+            "request": "attach",
+            "connect": {
+              "host": "localhost",
+              "port": 5678 
+            },
+            "pathMappings": [
+              {
+                "localRoot": "${workspaceFolder}",
+                "remoteRoot": "/team100"
+              }
+            ],
+          },
+    ]
+}

raspberry_pi/.vscode/settings.json

@@ -9,7 +9,7 @@
     ],
     "python.testing.pytestEnabled": false,
     "python.testing.unittestEnabled": true,
-    "workbench.colorTheme": "Default Light Modern",
+    "workbench.colorTheme": "Default Dark Modern",
     "editor.minimap.enabled": false,
     "python.analysis.typeCheckingMode": "standard",
     "mypy-type-checker.reportingScope": "workspace",

raspberry_pi/Dockerfile

@@ -0,0 +1,65 @@
+# Use the official Raspberry Pi OS image as a base
+FROM dtcooper/raspberrypi-os:bookworm
+
+# Install system dependencies
+RUN echo 'Acquire::Retries "3";' > /etc/apt/apt.conf.d/80-retries
+RUN apt-get update
+RUN apt-get install -y python3-pip
+RUN apt-get install -y python3-setuptools
+RUN apt-get install -y python3-wheel
+RUN apt-get install -y python3-numpy
+RUN apt-get install -y libcamera-dev
+RUN apt-get install -y python3-aiohttp
+RUN apt-get install -y python3-opencv
+RUN apt-get install -y python3-venv
+RUN apt-get install -y build-essential 
+RUN apt-get install -y python3-dev 
+
+RUN apt-get clean  && rm -rf /var/lib/apt/lists/*
+
+# Install Python dependencies
+# Create a virtual environment
+RUN python3 -m venv /team100/venv
+
+# Activate the virtual environment
+ENV PATH="/team100/venv/bin:$PATH"
+
+# Copy requirements file
+COPY requirements.txt /tmp/requirements.txt
+
+# Install dependencies in the virtual environment
+# RUN pip3 install --no-cache-dir -r /tmp/requirements.txt
+RUN pip3 install hidapi
+RUN pip3 install adafruit-blinka
+RUN pip3 install adafruit-circuitpython-lsm6ds
+RUN pip3 install debugpy
+RUN pip3 install numpy
+RUN pip3 install aiohttp
+# RUN pip3 install opencv-python
+# RUN pip3 install --prefer-binary robotpy-wpiutil
+# RUN pip3 install --prefer-binary robotpy-wpimath
+# RUN pip3 install --prefer-binary robotpy-wpinet
+# RUN pip3 install --prefer-binary robotpy-hal
+# RUN pip3 install --prefer-binary robotpy-halsim
+# RUN pip3 install --prefer-binary robotpy-commands-v2
+# RUN pip3 install --prefer-binary robotpy
+# # Then install the additional robotpy packages
+# RUN pip3 install robotpy-cscore 
+# RUN pip3 install robotpy-apriltag 
+
+# Create app directory
+WORKDIR /team100
+
+# Copy the app files
+COPY app /team100/app
+COPY app/config /team100/app/config
+
+# Copy the runapp.py script
+COPY runapp.py /team100/runapp.py
+
+# Remove any __pycache__ directories
+#RUN find /team100 -type d -name "__pycache__" -exec rm -rf {} +
+EXPOSE 5678
+
+# Set the entrypoint to run the app with debugger
+#ENTRYPOINT ["python3", "-m", "debugpy", "--listen", "0.0.0.0:5678", "runapp.py"]

raspberry_pi/app/fake_display.py

@@ -0,0 +1,12 @@
+class Display:
+    def __init__(self, width, height, camera_num) -> None:
+        pass
+
+    def draw_result(self, image, result_item, pose) -> None:
+        pass
+
+    def draw_text(self, image, msg, loc) -> None:
+        pass
+
+    def put_frame(self, img) -> None:
+        pass

raspberry_pi/requirements.txt

@@ -0,0 +1,6 @@
+hidapi
+adafruit-blinka
+adafruit-circuitpython-lsm6ds
+robotpy
+robotpy-cscore
+robotpy-apriltag