From 8106f9937f53c5fcf7ec38823a253b24732255c4 Mon Sep 17 00:00:00 2001
From: eloise dalin <eloise.dalin@inria.fr>
Date: Wed, 31 Aug 2022 10:17:17 +0200
Subject: [PATCH] updated with latest devel and format_code

---
 README.md                 |  1 +
 base-icub/Dockerfile      |  9 +++++++--
 base-pal/Dockerfile       |  7 ++++++-
 base/Dockerfile           |  5 ++++-
 make.py                   | 12 ++++++++----
 pinocchio_tsid/Dockerfile |  4 ++--
 ros/Dockerfile            | 12 ++++++++++++
 7 files changed, 40 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index a9d5e54..719f84a 100644
--- a/README.md
+++ b/README.md
@@ -224,3 +224,4 @@ Install the following apps:
 - docker
 - Remote Development
 - Remote X11 (optional)
+- Clang-Format
diff --git a/base-icub/Dockerfile b/base-icub/Dockerfile
index 1e9943a..42f0107 100644
--- a/base-icub/Dockerfile
+++ b/base-icub/Dockerfile
@@ -33,7 +33,8 @@ RUN apt-get install -qqy \
   python \
   python-numpy \
   swig \
-  clang-10
+  clang-10 \
+  clang-format-6.0 
 
  
 RUN sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-10 100
@@ -51,8 +52,12 @@ RUN useradd -ms /bin/bash ${USERNAME} && \
 
 USER $USERNAME
 WORKDIR /home/${USERNAME}
-RUN mkdir install
 
+RUN  /bin/bash -c "cd /home/$USERNAME; \
+  git clone https://github.com/resibots/format_code.git;"
+
+
+RUN mkdir install
 
 # we start from a CLEAN .bashrc
 ADD .bashrc .bashrc
diff --git a/base-pal/Dockerfile b/base-pal/Dockerfile
index 2372859..6bec70c 100644
--- a/base-pal/Dockerfile
+++ b/base-pal/Dockerfile
@@ -43,7 +43,8 @@ RUN apt-get install -y \
   libssl-dev \
   dbus-x11 \
   terminator \
-  clang-10
+  clang-10 \
+  clang-format-6.0 
 
 RUN sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-10 100
 RUN sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-10 100
@@ -72,6 +73,10 @@ RUN useradd -ms /bin/bash ${USERNAME} && \
 
 USER $USERNAME
 WORKDIR /home/${USERNAME}
+
+RUN  /bin/bash -c "cd /home/$USERNAME; \
+  git clone https://github.com/resibots/format_code.git;"
+
 RUN mkdir install
 
 
diff --git a/base/Dockerfile b/base/Dockerfile
index 4cf5ea1..48080c8 100644
--- a/base/Dockerfile
+++ b/base/Dockerfile
@@ -30,7 +30,8 @@ RUN apt-get update && apt-get install -y \
   libssl-dev \
   bash-completion \
   cmake-curses-gui \
-  clang-10
+  clang-10 \
+  clang-format-6.0 
 
 RUN sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-10 100
 RUN sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-10 100
@@ -62,6 +63,8 @@ RUN /bin/bash -c "echo 'export LD_LIBRARY_PATH=:/home/pal/install/lib:$LD_LIBRAR
   && echo 'export PATH=/home/pal/bin:$PATH' >> /home/$USERNAME/.bashrc \
   && echo 'PS1=\"\[\033[1;36m\][DOCKER:inria_wbc] \[\033[1;34m\]\w\[\033[0;35m\] \[\033[1;36m\]> \[\033[0m\]\"' >> /home/pal/.bashrc"
 
+RUN  /bin/bash -c "cd /home/$USERNAME; \
+  git clone https://github.com/resibots/format_code.git;"
 
 USER root
 
diff --git a/make.py b/make.py
index 4897442..0869de7 100755
--- a/make.py
+++ b/make.py
@@ -28,6 +28,7 @@ promp =  clone_repo("promp", "git@gitlab.inria.fr:H2020-AnDy/promp.git")
 inria_xsens = clone_repo("inria_xsens", "git@gitlab.inria.fr:locolearn/inria_xsens.git")
 iwbc_teleop =  clone_repo("inria_wbc_teleop", "git@gitlab.inria.fr:locolearn/inria_wbc_teleop.git")
 bashrc = "cd base && rm -f .bashrc && cp ../files/.bashrc .bashrc"
+icub_bashrc = "cd base-icub && rm -f .bashrc && cp ../files/.bashrc .bashrc"
 
 # for PAL
 pal_bashrc = "cd base-pal && rm -f .bashrc && cp ../files/.bashrc .bashrc"
@@ -71,7 +72,7 @@ images = {
               "registry.gitlab.inria.fr/locolearn/public/docker_inria_wbc/inria_wbc_icub", # where to push
               ["base-icub", "dart", "robot_dart", "pinocchio_tsid", "inria_wbc", "robotology", "iwbc_icub_controller"], # base packages
               [], # extended packages
-              [bashrc, iwbc_icub_controller],# preparation commands
+              [icub_bashrc, iwbc_icub_controller],# preparation commands
               [] # extended preparation commands
             ], 
 }
@@ -88,10 +89,13 @@ def build_image(image_name, lightweight, use_cache, sub_tag, dryrun, verbose, wi
     image = images[image_name]
     base_image = image[0]
     tag_lightweight = "-light" if lightweight else ""
-    tag = image[1] + ":" + sub_tag + tag_lightweight
+    tag_fast = "-fast" if (architecture != "") else ""
+    tag = image[1] + ":" + sub_tag + tag_fast + tag_lightweight
     subdirs = image[2] if lightweight else image[2] + image[3]
     cache = "--no-cache" if use_cache else ""
-    cxxflags = "-march=" + architecture
+    cxxflags = ""
+    if (architecture != ""):
+        cxxflags = "-march=" + architecture
     cmds = [] if without_prep_cmds else image[4] if lightweight else image[4] + image[5]
     for i in cmds:
         run(i, dryrun, verbose)
@@ -129,7 +133,7 @@ def parse_args():
     parser.add_argument("-v", '--verbose', action="store_true", help='verbose')
     parser.add_argument("-w", '--without_prep_cmds', action="store_true", help='without_preparation_commands avoids to clone again the repos')
     parser.add_argument("-r", '--registry', action="store_true", help='list the registry URLs')
-    parser.add_argument("-a", '--architecture', default="ivybridge", help='compile for a specific architecture, e.g.: native or broadwell [default:ivybridge]')
+    parser.add_argument("-a", '--architecture', default="", help='compile for a specific architecture, e.g.: ivybridge (talos), native or broadwell [default:""]')
 
     args = parser.parse_args()
     return args, parser
diff --git a/pinocchio_tsid/Dockerfile b/pinocchio_tsid/Dockerfile
index 017691d..538d4eb 100644
--- a/pinocchio_tsid/Dockerfile
+++ b/pinocchio_tsid/Dockerfile
@@ -67,9 +67,9 @@ RUN  /bin/bash -c "cd /home/$USERNAME; \
 
 
 RUN  /bin/bash -c "cd /home/$USERNAME; \
-  git clone  --recursive https://github.com/hucebot/tsid.git; \
+  git clone  --recursive https://github.com/stack-of-tasks/tsid.git; \
   cd tsid; \
-  git checkout qpmad;\
+  git checkout devel;\
   mkdir build; \
   cd build; \
   CC=clang CXX=clang++ CXXFLAGS=\"${CXXFLAGS}\" cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX='/home/$USERNAME/install' -DCMAKE_PREFIX_PATH='/home/$USERNAME/install' -DBUILD_PYTHON_INTERFACE=OFF  -DCMAKE_CXX_STANDARD=17 ..; \
diff --git a/ros/Dockerfile b/ros/Dockerfile
index 7ccd4f8..40e2c1d 100644
--- a/ros/Dockerfile
+++ b/ros/Dockerfile
@@ -6,6 +6,18 @@ FROM $BASE_IMAGE
 # e.g. CXXFLAGS=-march=native or CXXFLAGS=-march=haswell
 ARG CXXFLAGS
 
+
+
+RUN  /bin/bash -c "cd /home/$USERNAME; \
+  git clone https://github.com/hucebot/data_serializer.git; \
+  cd data_serializer; \
+  mkdir build; \
+  cd build; \
+  CC=clang CXX=clang++ CXXFLAGS=\"${CXXFLAGS}\" cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX='/home/$USERNAME/install' -DCMAKE_PREFIX_PATH='/home/$USERNAME/install' -DBUILD_PYTHON_INTERFACE=OFF  -DCMAKE_CXX_STANDARD=17 ..; \
+  make -j$(nproc); \
+  make install; \
+  make clean"
+
 RUN  /bin/bash -c ". /opt/pal/ferrum/setup.bash \
     && mkdir -p /home/$USERNAME/catkin_ws/src \
     && cd /home/$USERNAME/catkin_ws/src \
-- 
GitLab