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- Created GitHub workflow and Dockerfile to automatically build Docker images - Update to Ubuntu 22.04 and Python 3.10 for prerequisites image - Update to Ubuntu 22.04 and Python 3.10 for release image - Created vulkan-base Dockerfile to replace discontinued nvidia/vulkan images used for the release image - Added health check to release image - Added `ping.py` script to PythonAPI to enable health checks - Fix [aria2](https://aria2.github.io/) related issue - Fix fbx sdk download by using `curl` instead of `wget`
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,165 @@ | ||
| name: Docker | ||
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| on: [push, pull_request] | ||
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| jobs: | ||
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| # set up | ||
| clean-up: | ||
| name: Clean up | ||
| runs-on: self-hosted | ||
| steps: | ||
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| - name: Clean up | ||
| run: rm -rf * | ||
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| # create carla-prerequisites image | ||
| create-carla-prerequisites-image: | ||
| name: Create carla-prerequisites image | ||
| runs-on: self-hosted | ||
| needs: clean-up | ||
| steps: | ||
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| - uses: docker/build-push-action@v5 | ||
| name: Build image | ||
| with: | ||
| file: Util/Docker/Prerequisites.Dockerfile | ||
| tags: carla-prerequisites | ||
| no-cache: true | ||
| build-args: | | ||
| EPIC_USER=${{ secrets.EPIC_USER }} | ||
| EPIC_PASS=${{ secrets.EPIC_PASS }} | ||
| # create and push carla-source image | ||
| create-carla-source-image: | ||
| name: Create carla-source image | ||
| runs-on: self-hosted | ||
| needs: create-carla-prerequisites-image | ||
| env: | ||
| IMAGE_TAG_SUFFIX: "" | ||
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| steps: | ||
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| - name: Set image tag | ||
| run: | | ||
| echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV | ||
| if: github.ref.name != github.event.repository.default_branch | ||
|
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| - uses: actions/checkout@v3 | ||
| name: Checkout repository | ||
| with: | ||
| submodules: true | ||
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| - uses: docker/login-action@v3 | ||
| name: Login to Docker Hub | ||
| with: | ||
| username: ${{ secrets.DOCKER_USERNAME }} | ||
| password: ${{ secrets.DOCKER_PASSWORD }} | ||
|
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| - uses: docker/build-push-action@v5 | ||
| name: Build and push image | ||
| with: | ||
| file: Util/Docker/Carla.Dockerfile | ||
| tags: rwthika/carla-simulator:source${{env.IMAGE_TAG_SUFFIX}} | ||
| no-cache: true | ||
| push: false | ||
| context: . | ||
|
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| # provide artifacts and releases | ||
| provide-artifacts: | ||
| name: Provide carla artifacts | ||
| runs-on: self-hosted | ||
| needs: create-carla-source-image | ||
| env: | ||
| IMAGE_TAG_SUFFIX: "" | ||
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| steps: | ||
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| - name: Set image tag | ||
| run: | | ||
| echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV | ||
| if: github.ref.name != github.event.repository.default_branch | ||
|
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||
| # provide carla-package | ||
| - uses: shrink/actions-docker-extract@v3 | ||
| name: Extract carla-package | ||
| with: | ||
| image: rwthika/carla-simulator:source${{env.IMAGE_TAG_SUFFIX}} | ||
| path: home/carla/carla/Dist | ||
| destination: artifacts/ | ||
|
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| # provide carla-python-api | ||
| - uses: shrink/actions-docker-extract@v3 | ||
| name: Extract carla-python-api | ||
| id: extract_python_api | ||
| with: | ||
| image: rwthika/carla-simulator:source${{env.IMAGE_TAG_SUFFIX}} | ||
| path: home/carla/carla/PythonAPI | ||
| destination: artifacts/ | ||
|
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| # create archive for release | ||
| - name: Create archive | ||
| if: startsWith(github.ref, 'refs/tags') | ||
| run: tar -czvf artifacts/PythonAPI.tar.gz artifacts/PythonAPI | ||
|
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| # provide release | ||
| - uses: ncipollo/release-action@v1 | ||
| name: Create Release | ||
| if: startsWith(github.ref, 'refs/tags') | ||
| with: | ||
| allowUpdates: true | ||
| tag: ${{ github.ref_name }} | ||
| commit: ${{ github.sha }} | ||
| artifacts: artifacts/PythonAPI.tar.gz | ||
| token: ${{ secrets.PAT }} | ||
|
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| # create vulkan-base for carla release | ||
| create-vulkan-base-image: | ||
| name: Create vulkan-base image | ||
| runs-on: self-hosted | ||
| needs: provide-artifacts | ||
| steps: | ||
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| - uses: docker/build-push-action@v5 | ||
| name: Build image | ||
| with: | ||
| file: Util/Docker/vulkan-base/Vulkan.Dockerfile | ||
| tags: vulkan-base | ||
| no-cache: true | ||
| build-args: | | ||
| BASE_DIST=ubuntu22.04 | ||
| CUDA_VERSION=12.2.0 | ||
| context: Util/Docker/vulkan-base | ||
|
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||
| # create and push carla image | ||
| create-carla-image: | ||
| name: Create carla image | ||
| runs-on: self-hosted | ||
| needs: create-vulkan-base-image | ||
| env: | ||
| IMAGE_TAG_SUFFIX: "" | ||
|
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| steps: | ||
|
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| - name: Set image tag | ||
| run: | | ||
| echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV | ||
| if: github.ref.name != github.event.repository.default_branch | ||
|
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||
| - uses: docker/login-action@v3 | ||
| name: Login to Docker Hub | ||
| with: | ||
| username: ${{ secrets.DOCKER_USERNAME }} | ||
| password: ${{ secrets.DOCKER_PASSWORD }} | ||
|
|
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| - name: Extract artifact | ||
| run: mkdir -p build && tar -xvzf artifacts/Dist/*.tar.gz -C build | ||
|
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| - uses: docker/build-push-action@v5 | ||
| name: Build and push | ||
| with: | ||
| file: build/Dockerfile | ||
| tags: rwthika/carla-simulator:latest${{env.IMAGE_TAG_SUFFIX}} | ||
| no-cache: true | ||
| context: build | ||
| push: true |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| ## Latest : 1.0.0 | ||
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| ## 1.0.0 - Initial Release | ||
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| ### Major changes | ||
|
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| * Created GitHub workflow and Dockerfile to automatically build Docker images | ||
| * Update to Ubuntu 22.04 and Python 3.10 for prerequisites image | ||
| * Update to Ubuntu 22.04 and Python 3.10 for release image | ||
| * Created `vulkan-base` Dockerfile to replace discontinued `nvidia/vulkan` images used for the release image | ||
| * Added health check to release image | ||
|
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| ### Minor changes | ||
|
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||
| * Added `ping.py` script to PythonAPI to enable health checks | ||
| * Fix [aria2](https://aria2.github.io/) related issue | ||
| * Fix fbx sdk download by using `curl` instead of `wget` |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| #!/usr/bin/env python | ||
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| # Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de | ||
| # Barcelona (UAB). | ||
| # | ||
| # This work is licensed under the terms of the MIT license. | ||
| # For a copy, see <https://opensource.org/licenses/MIT>. | ||
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| """Performs a single connection check to the simulator.""" | ||
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| import glob | ||
| import os | ||
| import sys | ||
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| try: | ||
| os.chdir(os.path.dirname(__file__)) | ||
| sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % ( | ||
| sys.version_info.major, | ||
| sys.version_info.minor, | ||
| 'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0]) | ||
| except IndexError: | ||
| pass | ||
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| import carla | ||
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| import argparse | ||
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| def main(): | ||
| argparser = argparse.ArgumentParser( | ||
| description=__doc__) | ||
| argparser.add_argument( | ||
| '--host', | ||
| metavar='H', | ||
| default='127.0.0.1', | ||
| help='IP of the host server (default: 127.0.0.1)') | ||
| argparser.add_argument( | ||
| '-p', '--port', | ||
| metavar='P', | ||
| default=2000, | ||
| type=int, | ||
| help='TCP port to listen to (default: 2000)') | ||
| argparser.add_argument( | ||
| '--timeout', | ||
| metavar='T', | ||
| default=1.0, | ||
| type=float, | ||
| help='time-out in seconds (default: 1)') | ||
| args = argparser.parse_args() | ||
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| try: | ||
| client = carla.Client(args.host, args.port) | ||
| except RuntimeError: | ||
| print('IP/Hostname %s could not be resolved' % (args.host)) | ||
| return 1 | ||
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| client.set_timeout(args.timeout) | ||
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| try: | ||
| print('CARLA %s connected at %s:%d.' % (client.get_server_version(), args.host, args.port)) | ||
| return 0 | ||
| except RuntimeError: | ||
| print('Failed to connect to %s:%d before time-out of %d second(s).' % (args.host, args.port, args.timeout)) | ||
| return 1 | ||
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| if __name__ == '__main__': | ||
|
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| sys.exit(main()) |
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