snapcraft_template.yaml.jinja2

name: husarion-depthai
adopt-info: husarion-depthai
license: Apache-2.0
summary: OAK-x cameras driver for Husarion robots
icon: snap/gui/icon.png
description: |
  The `husarion-depthai` snap contains all the necessary software to bring the OAK-x cameras up.
  
  **Parameters**

  The snap provides the following configurable parameters (`param name`: `default value`):

  * `driver`: `{...}`
  * `ros`: `{...}`

  The `ros` contains the following keys:

  * `ros.domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
  * `ros.localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver.
  * `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the `/var/snap/husarion-depthai/common` directory (custom FastDDS setups can also be created here).
  * `ros.namespace`: `(unset)` - Namespace for all topics and transforms.

  The `driver` contains the following keys:

  * name: `oak`
  * parent-frame: `oak-d-base-frame`
  * camera-model: `OAK-D`
  * cam-pos-x: `0.0`
  * cam-pos-y: `0.0`
  * cam-pos-z: `0.0`
  * cam-roll: `0.0`
  * cam-pitch: `0.0`
  * cam-yaw: `0.0`
  * camera-params: `default` - Sets the camera parameters based on `/var/snap/husarion-depthai/common/camera-params-<VALUE>.yaml`
  * ffmpeg-params: `default` - Sets the FFMPEG parameters based on `/var/snap/husarion-camera/common/ffmpeg-params-<VALUE>.yaml`
  
  To set the parameters, use the snap set command, e.g.,

     snap set husarion-depthai driver.namespace=robot

grade: stable
confinement: strict
base: {{ 'core22' if ros_distro == 'humble' else 'core24' }}

contact: https://github.com/husarion/depthai-snap/issues
issues: https://github.com/husarion/depthai-snap/issues
website: https://husarion.com/

slots:
  shm-slot:
    interface: shared-memory
    write: ['*'] # paths are relative to /dev/shm

plugs:
  shm-plug:
    interface: shared-memory
    shared-memory: shm-slot
    private: false

apps:

  daemon:
    command: usr/bin/launcher.sh
    command-chain: [usr/bin/ros_setup.sh]
    daemon: simple
    install-mode: enable
    plugs: [network, network-bind, shm-plug, raw-usb, hardware-observe]
    slots: [shm-slot]
    extensions: [ros2-{{ ros_distro }}-ros-base]

  husarion-depthai:
    command: usr/bin/launcher.sh
    command-chain: [usr/bin/check_daemon_running.sh, usr/bin/ros_setup.sh]
    plugs: [network, network-bind, shm-plug, raw-usb, hardware-observe]
    slots: [shm-slot]
    extensions: [ros2-{{ ros_distro }}-ros-base]

  start:
    command: usr/bin/start_launcher.sh

  restart:
    command: usr/bin/restart_launcher.sh

  stop:
    command: usr/bin/stop_launcher.sh

parts:

  husarion-depthai:
    plugin: colcon
    source: https://github.com/luxonis/depthai-ros.git
    source-branch: {{ ros_distro }}
    build-packages: 
      - python3-vcstool
    stage-packages: 
      - ros-{{ ros_distro }}-image-transport
      - ros-{{ ros_distro }}-image-transport-plugins
      # https://index.ros.org/p/ffmpeg_image_transport/github-ros-misc-utilities-ffmpeg_image_transport/#humble
      - ros-{{ ros_distro }}-ffmpeg-image-transport
      - ffmpeg
      - ros-{{ ros_distro }}-cv-bridge
      # needed to run ffmpeg without errors:
      - libpulse-dev
      - libblas3
      - libjpeg-turbo8-dev
      - ros-{{ ros_distro }}-rmw-cyclonedds-cpp
    override-pull: |
      craftctl default

      # Set the snap version from the git tag
      # The grade is set to 'stable' if the latest entry in the git history
      # is the tag itself, otherwise set to devel
      version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
      [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
      craftctl set version="$version"
      craftctl set grade="stable"

  {#
    # uncomment when depthai-ros package for jazzy is available here: https://index.ros.org/search/?term=depthai
    husarion-depthai:
    plugin: nil
    stage-packages:
      - ros-{{ ros_distro }}-depthai-ros
      - ros-{{ ros_distro }}-image-transport
      - ros-{{ ros_distro }}-image-transport-plugins
      # https://index.ros.org/p/ffmpeg_image_transport/github-ros-misc-utilities-ffmpeg_image_transport/#humble
      - ros-{{ ros_distro }}-ffmpeg-image-transport
      - ffmpeg
      - ros-{{ ros_distro }}-cv-bridge
      # needed to run ffmpeg without errors:
      - libpulse-dev
      - libblas3
      - libjpeg-turbo8-dev
    override-stage: |
      craftctl default
      version="$(apt-cache policy ros-{{ ros_distro }}-depthai-ros-driver | grep Candidate | awk '{print $2}')"
      craftctl set version="$version"
      craftctl set grade="stable" #}

  local-files:
    plugin: dump
    source: snap/local/
    organize:
      '*.sh': usr/bin/
      '*.py': usr/bin/
      '*.yaml': usr/share/husarion-depthai/config/
      # '*.xml': usr/share/husarion-depthai/config/
      # '*.json': usr/share/husarion-depthai/config/

  husarion-snap-common:
    plugin: dump
    source: https://github.com/husarion/husarion-snap-common
    source-branch: "0.5.0"
    source-type: git
    build-environment:
      - YQ_VERSION: "v4.35.1"
    build-packages:
      - curl
    organize:
      'local-ros/*.sh': usr/bin/
      'local-ros/*.xml': usr/share/husarion-snap-common/config/
      'local-ros/ros.env': usr/share/husarion-snap-common/config/
    override-build: |
      craftctl default
      curl -L "https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_linux_${CRAFT_ARCH_BUILD_FOR}" -o $CRAFT_PART_BUILD/yq
    override-prime: |
      craftctl default
      cp $CRAFT_PART_BUILD/yq $CRAFT_PRIME/usr/bin/yq
      chmod +x $CRAFT_PRIME/usr/bin/yq
      rm -rf $CRAFT_PRIME/local-ros

  fix-execstack:
    plugin: nil
    after:
      - husarion-depthai
      - local-files
      - husarion-snap-common
    build-packages:
      - execstack
    override-prime: |
      set -eu
      craftctl default

      choosen_files=(
        usr/lib/x86_64-linux-gnu/libamdhip64.so*
      )

      for f in "${choosen_files[@]}"; do
        if [ -f "$f" ]; then
          execstack -c "$f"
        fi
      done