Automated builds and robossembler cache update

.gitlab-ci.yml

@@ -0,0 +1,34 @@
+stages:
+  - build
+  - push
+
+variables:
+    CACHIX_CACHE_NAME: robossembler
+
+default:
+  image: nixpkgs/cachix-flakes:nixos-23.11
+  before_script:
+    - mkdir -p /etc/nix
+    - echo "experimental-features = nix-command flakes" >> /etc/nix/nix.conf
+    - cachix use "$CACHIX_CACHE_NAME"
+
+general-packages:
+  stage: build
+  inherit:
+    default: [before_script, image]
+  script:
+    - cachix watch-exec robossembler -- nix develop .#all  -c echo "General Packages is BUILT"
+
+ros-packages:
+  stage: build
+  inherit:
+    default: [before_script, image]
+  script:
+    - cachix watch-exec robossembler -- nix develop .#ros -c echo "ROS environment is BUILT"
+
+perception-packages:
+  stage: build
+  inherit:
+    default: [before_script, image]
+  script:
+    - cachix watch-exec robossembler -- nix develop .#perception -c echo "PERCEPTION packages is BUILT"

flake.nix

@@ -55,7 +55,6 @@
           pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
           pytorch3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pytorch3d { };
           mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
-          darknet = pkgs.callPackage ./pkgs/misc/darknet { };
           fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
           open3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/open3d {  };
           unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
@@ -65,7 +64,6 @@
           ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
           megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
           spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
-          slic3r = pkgs.callPackage ./pkgs/misc/slic3r { };
         in
         {
           inherit pkgs;
@@ -78,10 +76,12 @@
           };
 
           packages = {
-            inherit mayo blender bpy pysdf fstl unified-planning slic3r megapose6d test-script pytorch3d;
-            gazebo = ros.humble.gazebo;
+            inherit mayo pysdf fstl unified-planning test-script;
+            zoz = pkgs.btop;
           };
 
+          devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
+
           devShells.ros = 
             pkgs.mkShell {
               buildInputs = (with humble-overrided; [
@@ -121,7 +121,7 @@
             };
 
           devShells.all = pkgs.mkShell { 
-            packages = [ mayo blender bpy pysdf fstl darknet slic3r ];
+            packages = [ mayo blender bpy pysdf fstl ];
           };
 
           devShells.perception =

pkgs/misc/darknet/default.nix

@@ -1,93 +0,0 @@
-{ lib
-, stdenv
-, fetchFromGitHub
-, cmake
-, cudatoolkit
-, opencv4
-, cudaPackages
-, addOpenGLRunpath
-, enableCuda ? false
-, cudaSupport ? true
-, linkFarm
-, symlinkJoin
-, autoPatchelfHook
-}:
-let
-  cudaStub = linkFarm "cuda-stub" [{
-    name = "libcuda.so.1";
-    path = "${cudatoolkit}/lib/stubs/libcuda.so";
-  }];
-
-  cudaEnv = symlinkJoin {
-      name = "darknet-cuda-env";
-      paths = with cudaPackages; [];
-      postBuild = ''
-        ln -s ${addOpenGLRunpath.driverLink}/lib/libcuda.so $out/lib
-        ln -s lib $out/lib64
-      '';
-    };
- 
-  cuda-opencv = opencv4.override {
-    enableCuda = true;
-  };
-in
-stdenv.mkDerivation rec {
-  pname = "darknet";
-  version = "unstable";
-
-  src = fetchFromGitHub {
-    owner = "AlexeyAB";
-    repo = "darknet";
-    rev = "0faed3e60e52f742bbef43b83f6be51dd30f373e";
-    hash = "sha256-6qY1QG7Pq/d5W+BvnMD2pFdBVWdvmCP0spUAjyGWB8M=";
-  };
-
-  nativeBuildInputs = [
-    cmake
-    opencv4
-    autoPatchelfHook
-    cudaPackages.autoAddOpenGLRunpathHook
-  ];
-
-  buildInputs = [
-    cudaPackages.cudnn
-    cudatoolkit
-    cudaEnv
-  ];
-
-  cmakeFlags =
-    (lib.optionals enableCuda [ "CUDA_PATH=${cudatoolkit}" ]) ++ [
-      "GPU=1"
-      "CUDNN=1"
-      "OPENCV=1"
-      "AVX=1"
-      "OPENMP=1"
-      "LIBSO=0"
-      "ARCH= -gencode arch=compute_61,code=sm_61 -gencode arch=compute_61,code=compute_61"
-    ];
-
-  configurePhase = ''
-    mkdir build_release
-    cd build_release
-    cmake ..
-  '';
-
-  buildPhase = ''
-    export LD_LIBRARY_PATH=${cudaStub}''${LD_LIBRARY_PATH:+:}$LD_LIBRARY_PATH
-    cmake --build . --target install --parallel 8
-  '';
-
-  installPhase = ''
-    mkdir -p $out/bin
-    cp darknet $out/bin
-  '';
-
-  autoPatchelfIgnoreMissingDeps = true;
-
-  meta = with lib; {
-    description = "YOLOv4 / Scaled-YOLOv4 / YOLO - Neural Networks for Object Detection (Windows and Linux version of Darknet )";
-    homepage = "https://github.com/AlexeyAB/darknet";
-    license = with licenses; [ ];
-    maintainers = with maintainers; [ ];
-  };
-}

pkgs/misc/slic3r/default.nix

@@ -1,84 +0,0 @@
-{ lib, stdenv, fetchFromGitHub, perl, makeWrapper
-, makeDesktopItem, which, perlPackages, boost
-}:
-
-stdenv.mkDerivation rec {
-  version = "unstable";
-  pname = "slic3r";
-
-  src = fetchFromGitHub {
-    owner = "slic3r";
-    repo = "Slic3r";
-    rev = "026c1380e0ad12176dd2fc8cdf8f6f181deeb071";
-    hash = "sha256-4ss6Kau7tx2WRkhFTvoeOUb65X1ka+8TsFtDI40/0Mo=";
-  };
-
-  nativeBuildInputs = [ makeWrapper which ];
-  buildInputs =
-  [boost] ++
-  (with perlPackages; [ perl
-    EncodeLocale MathClipper ExtUtilsXSpp
-    MathConvexHullMonotoneChain MathGeometryVoronoi MathPlanePath Moo
-    IOStringy ClassXSAccessor Wx GrowlGNTP NetDBus ImportInto XMLSAX
-    ExtUtilsMakeMaker OpenGL WxGLCanvas ModuleBuild LWP
-    ExtUtilsCppGuess ModuleBuildWithXSpp ExtUtilsTypemapsDefault
-    DevelChecklib locallib
-  ]);
-
-  desktopItem = makeDesktopItem {
-    name = "slic3r";
-    exec = "slic3r";
-    icon = "slic3r";
-    comment = "G-code generator for 3D printers";
-    desktopName = "Slic3r";
-    genericName = "3D printer tool";
-    categories = [ "Development" ];
-  };
-
-  prePatch = ''
-    # In nix ioctls.h isn't available from the standard kernel-headers package
-    # on other distributions. As the copy in glibc seems to be identical to the
-    # one in the kernel, we use that one instead.
-    sed -i 's|"/usr/include/asm-generic/ioctls.h"|<asm-generic/ioctls.h>|g' xs/src/libslic3r/GCodeSender.cpp
-  '';
-
-  buildPhase = ''
-    export SLIC3R_NO_AUTO=true
-    export LD=$CXX
-    export PERL5LIB="./xs/blib/arch/:./xs/blib/lib:$PERL5LIB"
-    substituteInPlace Build.PL \
-      --replace "0.9918" "0.9923" \
-      --replace "eval" ""
-    pushd xs
-      perl Build.PL
-      perl Build
-    popd
-    perl Build.PL --gui
-  '';
-
-  installPhase = ''
-    mkdir -p "$out/share/slic3r/"
-    cp -r * "$out/share/slic3r/"
-    wrapProgram "$out/share/slic3r/slic3r.pl" \
-      --prefix PERL5LIB : "$out/share/slic3r/xs/blib/arch:$out/share/slic3r/xs/blib/lib:$PERL5LIB"
-    mkdir -p "$out/bin"
-    ln -s "$out/share/slic3r/slic3r.pl" "$out/bin/slic3r"
-    mkdir -p "$out/share/pixmaps/"
-    ln -s "$out/share/slic3r/var/Slic3r.png" "$out/share/pixmaps/slic3r.png"
-    mkdir -p "$out/share/applications"
-    cp "$desktopItem"/share/applications/* "$out/share/applications/"
-  '';
-
-  meta = with lib; {
-    description = "G-code generator for 3D printers";
-    longDescription = ''
-      Slic3r is the tool you need to convert a digital 3D model into printing
-      instructions for your 3D printer. It cuts the model into horizontal
-      slices (layers), generates toolpaths to fill them and calculates the
-      amount of material to be extruded.'';
-    homepage = "https://slic3r.org/";
-    license = licenses.agpl3;
-    platforms = platforms.linux;
-    maintainers = with maintainers; [ bjornfor ];
-  };
-}