Update to release 2.0

.circleci/config.yml

@@ -5,30 +5,106 @@ jobs:
       - image: circleci/python:3-stretch-node
     steps:
       - checkout
+      - run: git submodule sync
+      - run: git submodule update --init
 
       - setup_remote_docker:
           docker_layer_caching: true
 
+      - restore_cache:
+          keys:
+            - v1-{{ .Branch }}
+            - v1-
+          paths:
+            - ~/caches/revolve.tar
+      - run:
+          name: Load Docker image layer cache
+          command: |
+            set +o pipefail
+            docker load -i ~/caches/revolve.tar | true
       - run:
           name: "Build Docker image"
-          command: docker build -t cigroup/revolve:$CIRCLE_BRANCH .
+          command: docker build --cache-from=app -t cigroup/revolve:${CIRCLE_BRANCH//\//_} .
+#      - run:
+#          name: "Build documentation"
+#          command: |
+#            DOXY_BUILD=/revolve/docker/make_dosc.sh
+#            docker run -it cigroup/revolve:${CIRCLE_BRANCH//\//_} ${DOXY_BUILD}
+      - run:
+          name: Save Docker image layer cache
+          command: |
+            mkdir -p ~/caches
+            docker save -o ~/caches/revolve.tar cigroup/revolve:${CIRCLE_BRANCH//\//_}
+      - save_cache:
+          key: v1-{{ .Branch }}-{{ epoch }}
+          paths:
+            - ~/caches/revolve.tar
+  test:
+    docker:
+      - image: circleci/python:3-stretch-node
+
+    steps:
+      - setup_remote_docker:
+          docker_layer_caching: true
 
+      - restore_cache:
+          keys:
+            - v1-{{ .Branch }}
+          paths:
+            - ~/caches/revolve.tar
+      - run:
+          name: Load Docker image layer cache
+          command: |
+            set +o pipefail
+            docker load -i ~/caches/revolve.tar | true
       - run:
           name: "Run Python tests"
           command: |
             PY_TESTS=/revolve/docker/test_python.sh
-            docker run -it cigroup/revolve:$CIRCLE_BRANCH ${PY_TESTS}
+            docker run -it cigroup/revolve:${CIRCLE_BRANCH//\//_} ${PY_TESTS}
+
+  deploy:
+    docker:
+      - image: circleci/python:3-stretch-node
+
+    steps:
+      - setup_remote_docker:
+          docker_layer_caching: true
+
+      - restore_cache:
+          keys:
+            - v1-{{ .Branch }}
+          paths:
+            - ~/caches/revolve.tar
+
+      - run:
+          name: Load Docker image layer cache
+          command: |
+            set +o pipefail
+            docker load -i ~/caches/revolve.tar | true
 
       - run:
           name: "Save Docker image"
           command: |
             set -e
             TAG=0.1.$CIRCLE_BUILD_NUM
             docker login -u $DOCKER_USER -p $DOCKER_PASS
-            docker push cigroup/revolve:$CIRCLE_BRANCH
+            docker push cigroup/revolve:${CIRCLE_BRANCH//\//_}
 
-#      - run:
-#          name: "Build documentation"
-#          command: |
-#            DOXY_BUILD=/revolve/docker/make_dosc.sh
-#            docker run -it cigroup/revolve:$CIRCLE_BRANCH ${DOXY_BUILD}
+workflows:
+  version: 2
+  build_test_deploy:
+    jobs:
+      - build
+      - test:
+          requires:
+            - build
+      - deploy:
+          requires:
+            - build
+            - test
+          filters:
+            branches:
+              only:
+                - master
+                - development

.gitignore

@@ -45,6 +45,8 @@ htmlcov/
 nosetests.xml
 coverage.xml
 *,cover
+experiments/examples/output/
+test.py
 
 # Translations
 *.mo
@@ -67,8 +69,10 @@ target/
 
 # Virtual env
 .venv*/
+.python-version
+Pipfile
+Pipfile.lock
 
 # Revolve related
 *.sdf
-*.urdf
-*.yaml
+*.urdf

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "thirdparty/limbo"]
+	path = thirdparty/limbo
+	url = https://github.com/resibots/limbo.git

CMakeLists.txt

@@ -2,4 +2,8 @@ cmake_minimum_required(VERSION 2.8.12)
 
 project(revolve)
 
+if (BUILD_RASPBERRY)
+    add_subdirectory(thirdparty/PIGPIO)
+endif()
+
 add_subdirectory(cpprevolve)

Dockerfile

@@ -1,24 +1,19 @@
-FROM ubuntu:bionic
+FROM cigroup/gazebo:gazebo10-revolve
 
 # Dependencies
-RUN apt-get update
-RUN apt-get install -y build-essential      \
-                       libboost-all-dev     \
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+                       build-essential      \
                        cmake                \
-                       curl                 \
-                       cppcheck             \
-                       doxygen              \
                        git                  \
-                       gsl-bin libgsl0-dev  \
-                       mercurial            \
-                       pkg-config           \
-                       python               \
+                       libgsl0-dev          \
                        python3-pip          \
                        libyaml-cpp-dev      \
-                       xsltproc             \
-                       libcairo2-dev
-RUN apt-get install -y libgazebo9-dev gazebo9
-RUN apt-get clean && rm -rf /var/lib/apt/lists/*
+                       libcairo2-dev        \
+                       graphviz             \
+                       libeigen3-dev        \
+                       libnlopt-dev      && \
+    apt-get clean  && \
+    rm -rf /var/lib/apt/lists/*
 
 ADD . /revolve
 RUN /revolve/docker/build_revolve.sh