Merge pull request #897 from lk-iqt/feature/mavlink-external-gps

Feature/mavlink external gps
IQTLabs · Oct 4, 2023 · 274eb8b · 274eb8b
2 parents 5e08963 + c581e0b
commit 274eb8b
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Showing 29 changed files with 1,349 additions and 1,098 deletions.
diff --git a/.github/workflows/ci-test.yml b/.github/workflows/ci-test.yml
@@ -3,12 +3,11 @@ name: CI Test
 on: [push, pull_request]
 
 jobs:
-
   ci-test:
     runs-on: ubuntu-22.04
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 1
       - name: Set up Python
@@ -23,8 +22,25 @@ jobs:
           version: 1.4.2
       - name: Get dependencies
         run: |
-          sudo apt-get update && sudo apt-get install -y --no-install-recommends build-essential cmake gcc git g++ gnuradio-dev libev-dev libboost-all-dev libuhd-dev libunwind-dev make pkg-config software-properties-common sox swig uhd-host wget libopencv-dev
-          grep -h 'git clone' docker/*|sed -E 's/RUN\s+git clone\s+//g'|sort|uniq|xargs -L1 git clone
+          sudo apt-get update && sudo apt-get install -y --no-install-recommends \
+            build-essential \
+            cmake \
+            g++ \
+            gcc \
+            git \
+            gnuradio-dev \
+            libboost-all-dev \
+            libev-dev \
+            libopencv-dev \
+            libuhd-dev \
+            libunwind-dev \
+            make \
+            pkg-config \
+            software-properties-common \
+            sox \
+            uhd-host \
+            wget \
+          && grep -h 'git clone' docker/*|sed -E 's/RUN\s+git clone\s+//g'|sort|uniq|xargs -L1 git clone
       - name: Install dependencies
         run: |
           for repodir in flatbuffers json libsigmf gr-iqtlabs ; do \
@@ -33,7 +49,8 @@ jobs:
           done && \
           sudo ldconfig -v && \
           poetry config virtualenvs.create false && \
-          poetry install --no-interaction
+          poetry install --no-interaction && \
+          sudo dpkg -r --force-depends python3-numpy
       - name: test gamutrf-samples2raw
         env:
           PYTHONPATH: /usr/local/lib/python3.10/dist-packages:/usr/lib/python3/dist-packages

diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
@@ -39,7 +39,7 @@ jobs:
 
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     # Initializes the CodeQL tools for scanning.
     - name: Initialize CodeQL

diff --git a/.github/workflows/docker-extras.yml b/.github/workflows/docker-extras.yml
@@ -9,7 +9,7 @@ jobs:
   buildx-mqtt:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - name: Get the version
@@ -19,20 +19,20 @@ jobs:
       id: change_version
       run: if [ "${{ steps.get_version.outputs.VERSION }}" == "main" ]; then echo ::set-output name=VERSION::latest; else echo ::set-output name=VERSION::${{ steps.get_version.outputs.VERSION }}; fi
     - name: Set up qemu
-      uses: docker/setup-qemu-action@v2
+      uses: docker/setup-qemu-action@v3
       with:
         platforms: all
     - name: Set up Docker Buildx
       id: buildx
-      uses: docker/setup-buildx-action@v2
+      uses: docker/setup-buildx-action@v3
     - name: Docker Login
       env:
         DOCKER_PASSWORD: ${{ secrets.DOCKER_TOKEN }}
       run: |
         echo "${DOCKER_PASSWORD}" | docker login --username "${{ secrets.DOCKER_USERNAME }}" --password-stdin
       if: github.repository == 'iqtlabs/gamutrf' && github.event_name == 'push'
     - name: Build and push platforms
-      uses: docker/build-push-action@v4
+      uses: docker/build-push-action@v5
       with:
         context: docker
         file: docker/Dockerfile.mqtt
@@ -43,7 +43,7 @@ jobs:
   buildx-airspyfm:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - name: Get the version
@@ -53,12 +53,12 @@ jobs:
       id: change_version
       run: if [ "${{ steps.get_version.outputs.VERSION }}" == "main" ]; then echo ::set-output name=VERSION::latest; else echo ::set-output name=VERSION::${{ steps.get_version.outputs.VERSION }}; fi
     - name: Set up qemu
-      uses: docker/setup-qemu-action@v2
+      uses: docker/setup-qemu-action@v3
       with:
         platforms: all
     - name: Set up Docker Buildx
       id: buildx
-      uses: docker/setup-buildx-action@v2
+      uses: docker/setup-buildx-action@v3
     - name: Docker Login
       env:
         DOCKER_PASSWORD: ${{ secrets.DOCKER_TOKEN }}
@@ -67,7 +67,7 @@ jobs:
       if: github.repository == 'iqtlabs/gamutrf' && github.event_name == 'push'
 
     - name: Build and push platforms
-      uses: docker/build-push-action@v4
+      uses: docker/build-push-action@v5
       with:
         context: docker
         file: docker/Dockerfile.airspyfm

diff --git a/.github/workflows/docker-test.yml b/.github/workflows/docker-test.yml
@@ -1,16 +1,24 @@
 name: docker-test
 on: [push, pull_request]
 jobs:
-  test:
+  test-gamutrf-extra-images:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: docker build
       run: |
         cd docker
-        docker build -f Dockerfile.base . -t iqtlabs/gamutrf-base:latest
         docker build -f Dockerfile.airspyfm . -t iqtlabs/gamutrf-airspyfm:latest
         docker build -f Dockerfile.mqtt . -t iqtlabs/gamutrf-mqtt:latest
+  test-gamutrf-images:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: docker build
+      run: |
+        cd docker
+        docker build -f Dockerfile.vkfft . -t iqtlabs/gamutrf-vkfft:latest
+        docker build -f Dockerfile.base . -t iqtlabs/gamutrf-base:latest
         cd ..
         docker build -f Dockerfile . -t iqtlabs/gamutrf:latest
         docker run -t iqtlabs/gamutrf:latest gamutrf-scan --help

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -9,7 +9,7 @@ jobs:
   buildx-base:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - name: Get the version
@@ -19,21 +19,29 @@ jobs:
       id: change_version
       run: if [ "${{ steps.get_version.outputs.VERSION }}" == "main" ]; then echo ::set-output name=VERSION::latest; else echo ::set-output name=VERSION::${{ steps.get_version.outputs.VERSION }}; fi
     - name: Set up qemu
-      uses: docker/setup-qemu-action@v2
+      uses: docker/setup-qemu-action@v3
       with:
         platforms: all
     - name: Set up Docker Buildx
       id: buildx
-      uses: docker/setup-buildx-action@v2
+      uses: docker/setup-buildx-action@v3
     - name: Docker Login
       env:
         DOCKER_PASSWORD: ${{ secrets.DOCKER_TOKEN }}
       run: |
         echo "${DOCKER_PASSWORD}" | docker login --username "${{ secrets.DOCKER_USERNAME }}" --password-stdin
       if: github.repository == 'iqtlabs/gamutrf' && github.event_name == 'push'
-
-    - name: Build and push platforms
-      uses: docker/build-push-action@v4
+    - name: Build and push platforms vkfft
+      uses: docker/build-push-action@v5
+      with:
+        context: docker
+        file: docker/Dockerfile.vkfft
+        platforms: linux/amd64,linux/arm64
+        push: true
+        tags: iqtlabs/gamutrf-vkfft:${{ steps.change_version.outputs.VERSION }}
+      if: github.repository == 'iqtlabs/gamutrf' && github.event_name == 'push'
+    - name: Build and push platforms base
+      uses: docker/build-push-action@v5
       with:
         context: docker
         file: docker/Dockerfile.base
@@ -45,7 +53,7 @@ jobs:
     needs: [buildx-base]
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - name: Get the version
@@ -55,12 +63,12 @@ jobs:
       id: change_version
       run: if [ "${{ steps.get_version.outputs.VERSION }}" == "main" ]; then echo ::set-output name=VERSION::latest; else echo ::set-output name=VERSION::${{ steps.get_version.outputs.VERSION }}; fi
     - name: Set up qemu
-      uses: docker/setup-qemu-action@v2
+      uses: docker/setup-qemu-action@v3
       with:
         platforms: all
     - name: Set up Docker Buildx
       id: buildx
-      uses: docker/setup-buildx-action@v2
+      uses: docker/setup-buildx-action@v3
     - name: Docker Login
       env:
         DOCKER_PASSWORD: ${{ secrets.DOCKER_TOKEN }}
@@ -69,7 +77,7 @@ jobs:
       if: github.repository == 'iqtlabs/gamutrf' && github.event_name == 'push'
 
     - name: Build and push platforms
-      uses: docker/build-push-action@v4
+      uses: docker/build-push-action@v5
       with:
         context: .
         platforms: linux/amd64,linux/arm64

diff --git a/.github/workflows/pypi.yml b/.github/workflows/pypi.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - name: Install Poetry

diff --git a/.github/workflows/secrets-scan.yml b/.github/workflows/secrets-scan.yml
@@ -6,7 +6,7 @@ jobs:
   scan:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: scan
       run: |
         export DEBIAN_FRONTEND=noninteractive && \
@@ -25,7 +25,7 @@ jobs:
             echo {{steps.scan.outputs.found-count}} && \
             core.setFailed('Secrets found. Please check the uploaded report')
     - name: Upload scan reports
-      uses: actions/[email protected].2
+      uses: actions/[email protected].3
       if: failure()
       with:
         name: whispers-report

diff --git a/.github/workflows/semgrep.yml b/.github/workflows/semgrep.yml
@@ -11,7 +11,7 @@ jobs:
   docker_scan:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         repository: ${{ github.event.pull_request.head.repo.full_name }}
         ref: ${{ github.event.pull_request.head.ref }}
@@ -23,7 +23,7 @@ jobs:
       env:
         DEBIAN_FRONTEND: noninteractive
       run: |
-        sudo apt-get update && sudo apt-get install jq && python3 -m pip install semgrep 
+        sudo apt-get update && sudo apt-get install jq && python3 -m pip install semgrep==1.37.0
     - name: scan
       id: d_scan
       run: |
@@ -51,15 +51,15 @@ jobs:
 
           core.setFailed('Semgrep found errors in Dockerfiles or docker-compose files. Please check the uploaded report');
     - name: Upload scan reports
-      uses: actions/[email protected].2
+      uses: actions/[email protected].3
       if: failure()
       with:
         name: semgrep-docker-report
         path: /home/runner/reports/semgrep.out
   python_scan:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         repository: ${{ github.event.pull_request.head.repo.full_name }}
         ref: ${{ github.event.pull_request.head.ref }}
@@ -71,7 +71,7 @@ jobs:
       env:
         DEBIAN_FRONTEND: noninteractive
       run: |
-        sudo apt-get update && sudo apt-get install jq && python3 -m pip install semgrep
+        sudo apt-get update && sudo apt-get install jq && python3 -m pip install semgrep==1.37.0
     - name: run semgrep
       run: |
         mkdir -p /home/runner/reports/ && \
@@ -101,7 +101,7 @@ jobs:
 
           core.setFailed('Semgrep found errors in Python files. Please check the uploaded report');
     - name: Upload scan reports
-      uses: actions/[email protected].2
+      uses: actions/[email protected].3
       if: failure()
       with:
         name: semgrep-python-report

diff --git a/Dockerfile b/Dockerfile
@@ -31,10 +31,10 @@ RUN apt-get update && apt-get install --no-install-recommends -y -q \
 
 # nosemgrep:github.workflows.config.dockerfile-source-not-pinned
 FROM ubuntu:22.04
+COPY --from=iqtlabs/gnuradio:3.10.7 /usr/share/uhd/images /usr/share/uhd/images
 COPY --from=installer /usr/local /usr/local
 COPY --from=installer /gamutrf /gamutrf
 COPY --from=installer /root/.local /root/.local
-COPY --from=iqtlabs/gamutrf-base:latest /usr/share/uhd/images /usr/share/uhd/images
 LABEL maintainer="Charlie Lewis <[email protected]>"
 ENV DEBIAN_FRONTEND noninteractive
 ENV UHD_IMAGES_DIR /usr/share/uhd/images
@@ -55,9 +55,11 @@ RUN apt-get update && apt-get install --no-install-recommends -y -q \
     libopencv-core4.5d \
     libopencv-imgcodecs4.5d \
     libopencv-imgproc4.5d \
+    librtlsdr0 \
     libspdlog1 \
     libuhd4.1.0 \
     libunwind8 \
+    libvulkan1 \
     libzmq5 \
     mesa-vulkan-drivers \
     python3 \
@@ -67,6 +69,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y -q \
     sox \
     sudo \
     wget \
+    uhd-host \
     zstd && \
     apt-get -y -q clean && rm -rf /var/lib/apt/lists/*
 WORKDIR /gamutrf