Merge branch 'main' of https://github.com/OpenSourceEcology/LifeTrac #40
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| name: Generate Animation GIF | |
| on: | |
| push: | |
| branches: [ main, master ] | |
| paths: | |
| - 'LifeTrac-v25/mechanical_design/openscad/lifetrac_v25.scad' | |
| - 'LifeTrac-v25/mechanical_design/openscad/**/*.scad' | |
| pull_request: | |
| branches: [ main, master ] | |
| paths: | |
| - 'LifeTrac-v25/mechanical_design/openscad/lifetrac_v25.scad' | |
| - 'LifeTrac-v25/mechanical_design/openscad/**/*.scad' | |
| workflow_dispatch: | |
| jobs: | |
| generate-animation-gif: | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: write | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| ref: ${{ github.head_ref || github.ref_name }} | |
| fetch-depth: 0 | |
| - name: Install OpenSCAD and ImageMagick | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y openscad xvfb x11-utils imagemagick | |
| openscad --version | |
| - name: Start Xvfb | |
| run: | | |
| Xvfb :99 -screen 0 1024x768x16 & | |
| XVFB_PID=$! | |
| echo "XVFB_PID=$XVFB_PID" >> $GITHUB_ENV | |
| # Wait for Xvfb to be ready (max 10 seconds) | |
| for i in {1..10}; do | |
| if xdpyinfo -display :99 >/dev/null 2>&1; then | |
| echo "Xvfb is ready on display :99" | |
| break | |
| fi | |
| if [ $i -eq 10 ]; then | |
| echo "Timeout waiting for Xvfb to start" | |
| exit 1 | |
| fi | |
| sleep 1 | |
| done | |
| echo "DISPLAY=:99" >> $GITHUB_ENV | |
| - name: Calculate camera position | |
| run: | | |
| cd LifeTrac-v25/mechanical_design | |
| # Calculate camera position dynamically based on machine dimensions | |
| # Extract parameters from OpenSCAD file | |
| MACHINE_HEIGHT=$(grep -E "^MACHINE_HEIGHT = " openscad/lifetrac_v25.scad | grep -oE "[0-9]+\.?[0-9]*" || echo "1000") | |
| WHEEL_BASE=$(grep -E "^WHEEL_BASE = " openscad/lifetrac_v25.scad | grep -oE "[0-9]+\.?[0-9]*" || echo "1400") | |
| GROUND_CLEARANCE=$(grep -E "^GROUND_CLEARANCE = " openscad/lifetrac_v25.scad | grep -oE "[0-9]+\.?[0-9]*" || echo "150") | |
| ARM_MAX_ANGLE=$(grep -E "^ARM_MAX_ANGLE = " openscad/lifetrac_v25.scad | grep -oE "[0-9]+\.?[0-9]*" || echo "60") | |
| BUCKET_HEIGHT=$(grep -E "^BUCKET_HEIGHT = " openscad/lifetrac_v25.scad | grep -oE "[0-9]+\.?[0-9]*" || echo "450") | |
| # Validate all extracted parameters | |
| if [ -z "$MACHINE_HEIGHT" ] || [ -z "$WHEEL_BASE" ] || [ -z "$GROUND_CLEARANCE" ] || [ -z "$ARM_MAX_ANGLE" ] || [ -z "$BUCKET_HEIGHT" ]; then | |
| echo "ERROR: Failed to extract required parameters from OpenSCAD file" | |
| echo " MACHINE_HEIGHT: $MACHINE_HEIGHT" | |
| echo " WHEEL_BASE: $WHEEL_BASE" | |
| echo " GROUND_CLEARANCE: $GROUND_CLEARANCE" | |
| echo " ARM_MAX_ANGLE: $ARM_MAX_ANGLE" | |
| echo " BUCKET_HEIGHT: $BUCKET_HEIGHT" | |
| exit 1 | |
| fi | |
| # Calculate key dimensions | |
| FRAME_Z_OFFSET=$GROUND_CLEARANCE | |
| ARM_PIVOT_Z=$((FRAME_Z_OFFSET + MACHINE_HEIGHT - 50)) | |
| WHEEL_MIDPOINT_Y=$((WHEEL_BASE / 2)) | |
| # Calculate maximum height when arms are raised to ARM_MAX_ANGLE | |
| ARM_LENGTH_APPROX=1600 | |
| # Max height = ARM_PIVOT_Z + ARM_LENGTH * sin(ARM_MAX_ANGLE) + BUCKET_HEIGHT | |
| MAX_ARM_TIP_HEIGHT=$(awk "BEGIN {pi=3.14159; print int($ARM_PIVOT_Z + $ARM_LENGTH_APPROX * sin($ARM_MAX_ANGLE * pi / 180) + $BUCKET_HEIGHT)}") | |
| # Calculate camera position to frame the scene properly | |
| SCENE_HEIGHT=$MAX_ARM_TIP_HEIGHT | |
| MARGIN_FACTOR="1.75" | |
| # Center point: halfway between ground and max height, at wheel midpoint Y | |
| CENTER_Y=$WHEEL_MIDPOINT_Y | |
| CENTER_Z=$(awk "BEGIN {print int($SCENE_HEIGHT / 2)}") | |
| # Camera distance | |
| CAMERA_DISTANCE=$(awk "BEGIN {print int($SCENE_HEIGHT * $MARGIN_FACTOR * 1.414)}") | |
| echo "=== Camera Calculation ===" | |
| echo "Camera position: --camera=$CAMERA_DISTANCE,$CAMERA_DISTANCE,$CAMERA_DISTANCE,0,$CENTER_Y,$CENTER_Z" | |
| echo "==========================" | |
| # Export calculated values as environment variables for subsequent steps | |
| echo "CAMERA_DISTANCE=$CAMERA_DISTANCE" >> $GITHUB_ENV | |
| echo "CENTER_Y=$CENTER_Y" >> $GITHUB_ENV | |
| echo "CENTER_Z=$CENTER_Z" >> $GITHUB_ENV | |
| - name: Create output directories | |
| run: | | |
| cd LifeTrac-v25/mechanical_design | |
| mkdir -p output/animations/frames | |
| - name: Generate animation frames | |
| run: | | |
| cd LifeTrac-v25/mechanical_design | |
| # Use camera parameters calculated in previous step (from environment variables) | |
| echo "Generating animation frames with calculated camera position..." | |
| echo "Camera: $CAMERA_DISTANCE,$CAMERA_DISTANCE,$CAMERA_DISTANCE,0,$CENTER_Y,$CENTER_Z" | |
| # Generate 36 frames for animation (every 10 degrees) | |
| # Using dynamically calculated camera position that adapts to machine dimensions | |
| total_frames=36 | |
| for i in $(seq 0 $((total_frames-1))); do | |
| # Use total_frames-1 so last frame lands exactly at t=1.0 | |
| t=$(awk "BEGIN {print $i/($total_frames-1)}") | |
| printf "Frame %d (t=%.4f)\n" "$i" "$t" | |
| openscad -o "output/animations/frames/frame_$(printf %03d $i).png" \ | |
| --camera=$CAMERA_DISTANCE,$CAMERA_DISTANCE,$CAMERA_DISTANCE,0,$CENTER_Y,$CENTER_Z \ | |
| --imgsize=720,720 \ | |
| --projection=p \ | |
| --colorscheme=Nature \ | |
| -D "animation_time=$t" \ | |
| -D "\$t=$t" \ | |
| openscad/lifetrac_v25.scad | |
| done | |
| echo "Animation frames generated" | |
| - name: Create animation GIF | |
| run: | | |
| cd LifeTrac-v25/mechanical_design/output/animations | |
| echo "Creating animation GIF of arm movement..." | |
| convert -delay 10 -loop 0 frames/frame_*.png lifetrac_v25_animation.gif | |
| # Copy to parent directory for easy access | |
| cp lifetrac_v25_animation.gif ../../lifetrac_v25_animation.gif | |
| echo "✓ Animation GIF created successfully" | |
| ls -lh ../../lifetrac_v25_animation.gif | |
| - name: Upload animation artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: openscad-animation | |
| path: | | |
| LifeTrac-v25/mechanical_design/output/animations/ | |
| LifeTrac-v25/mechanical_design/lifetrac_v25_animation.gif | |
| retention-days: 90 | |
| - name: Commit and push animation GIF | |
| run: | | |
| cd LifeTrac-v25/mechanical_design | |
| git config --global user.email "github-actions[bot]@users.noreply.github.com" | |
| git config --global user.name "github-actions[bot]" | |
| git add lifetrac_v25_animation.gif || true | |
| if git diff --staged --quiet; then | |
| echo "ℹ️ No changes to commit" | |
| else | |
| echo "📝 Committing changes..." | |
| git commit -m "Update animation GIF [skip ci]" | |
| # Fetch and rebase to incorporate any remote changes | |
| BRANCH_NAME="${{ github.head_ref || github.ref_name }}" | |
| echo "🔄 Fetching latest changes from branch: ${BRANCH_NAME}..." | |
| if git fetch origin "${BRANCH_NAME}"; then | |
| echo "🔄 Rebasing on latest changes..." | |
| if ! git rebase "origin/${BRANCH_NAME}"; then | |
| echo "❌ Failed to rebase. There may be conflicts." | |
| echo "Aborting rebase and exiting..." | |
| git rebase --abort | |
| exit 1 | |
| fi | |
| else | |
| echo "⚠️ Could not fetch branch ${BRANCH_NAME} from origin. This may be a PR from a fork. Skipping fetch/rebase." | |
| fi | |
| echo "📤 Pushing changes with --force-with-lease..." | |
| if git push --force-with-lease; then | |
| echo "✅ Changes pushed successfully" | |
| else | |
| echo "⚠️ Push failed. This is expected for PRs from forks or if you do not have write permissions." | |
| echo "The files are available as workflow artifacts." | |
| fi | |
| fi | |
| - name: Cleanup Xvfb | |
| if: always() | |
| run: | | |
| if [ -n "$XVFB_PID" ]; then | |
| echo "Stopping Xvfb process (PID: $XVFB_PID)" | |
| # Try graceful shutdown first | |
| kill -TERM $XVFB_PID 2>/dev/null || true | |
| # Wait up to 5 seconds for process to terminate | |
| for i in {1..5}; do | |
| if ! kill -0 $XVFB_PID 2>/dev/null; then | |
| echo "Xvfb stopped gracefully" | |
| break | |
| fi | |
| sleep 1 | |
| done | |
| # Force kill if still running | |
| kill -KILL $XVFB_PID 2>/dev/null || true | |
| echo "Xvfb force stopped" | |
| fi |