New ros common (#2)

* better params validation

* small cleanup

README.md

@@ -9,6 +9,7 @@ Snap for OAK-x cameras customized for Husarion robots
 | `husarion-depthai.start` | Start the `husarion-depthai.daemon` service |
 | `husarion-depthai.stop` | Stop the `husarion-depthai.daemon` service |
 | `husarion-depthai` | Start the application in the foreground (run in the current terminal). Remember to stop the daemon first |
+| `husarion-depthai.image-view` | Preview the image from the camera |
 
 ## Setup FFMPEG
 

demo/rviz.launch.py

@@ -27,8 +27,8 @@ def launch_setup(context, *args, **kwargs):
         name="republish",
         arguments=[
             "ffmpeg",
-            # "in/ffmpeg:=camera/color/image_raw/ffmpeg",
-            "in/ffmpeg:=abc/xyz/rgb/image_raw/ffmpeg",
+            "in/ffmpeg:=/image_raw/ffmpeg",
+            # "in/ffmpeg:=abc/xyz/rgb/image_raw/ffmpeg",
             "raw",
             "out:=camera/color/image_uncompressed",
         ],

snap/hooks/configure

@@ -1,34 +1,59 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # The configure hook is called every time one the following actions happen:
 # - initial snap installation
 # - snap refresh
 # - whenever the user runs snap set|unset to change a configuration option
 
 # Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
-
-log() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-}
+source $SNAP/usr/bin/utils.sh
 
-$SNAP/usr/bin/configure_hook_ros.sh
+# # Define the top-level key and the list of valid keys
+VALID_DRIVER_KEYS=(
+  "name"         
+  "parent-frame"
+  "camera-model"
+  "cam-pos-x"
+  "cam-pos-y"
+  "cam-pos-z"
+  "cam-roll"
+  "cam-pitch"
+  "cam-yaw"
+  "params-file"
+  "ffmpeg-image-transport"
+)
 
-DEPTHAI_PARAMS_FILE="$(snapctl get driver.params-file)"
+VALID_FFMPEG_IMAGE_TRANSPORT_KEYS=(
+  "encoding"
+  "preset"
+  "tune"
+)
 
-# Check if the file exists
-if [ ! -f "$DEPTHAI_PARAMS_FILE" ]; then
-  log_and_echo "$DEPTHAI_PARAMS_FILE does not exist."
-  exit 1
-fi
+# common
+
+validate_keys "driver" VALID_DRIVER_KEYS[@]
+validate_keys "driver.ffmpeg-image-transport" VALID_FFMPEG_IMAGE_TRANSPORT_KEYS[@]
+
+# validate driver.name
+validate_regex "driver.name" '^[a-z_-]{1,10}$' "Possible values are text with a maximum length of 10 characters, containing only lowercase letters (a-z), "-" or '_'."
+
+# validate driver.parent-frame
+validate_regex "driver.parent-frame" '^[a-z_-]{1,40}$' "Possible values are text with a maximum length of 40 characters, containing only lowercase letters (a-z), "-" or '_'."
+
+# validate driver.camera-model
+VALID_CAMERA_MODEL_OPTIONS=("OAK-D" "OAK-D-LITE")
+validate_option "driver.camera-model" VALID_CAMERA_MODEL_OPTIONS[@]
+
+# validate driver.cam-x
+validate_float "driver.cam-pos-x"
+validate_float "driver.cam-pos-y"
+validate_float "driver.cam-pos-z"
+validate_float "driver.cam-roll"
+validate_float "driver.cam-pitch"
+validate_float "driver.cam-yaw"
+
+# validate driver.params-file
+validate_path "driver.params-file"
 
 export LD_LIBRARY_PATH=$SNAP/usr/lib/$(uname -m)-linux-gnu/pulseaudio:$SNAP/usr/lib/$(uname -m)-linux-gnu/blas:$SNAP/usr/lib/$(uname -m)-linux-gnu/lapack:$LD_LIBRARY_PATH
 
@@ -39,8 +64,8 @@ if [ -n "$FFMPEG_ENCODING" ]; then
   # Run ffmpeg -codecs and check if the codec is available
   if ! ffmpeg -encoders 2>/dev/null | awk '{print $2}' | grep -q "$FFMPEG_ENCODING"; then
     log_and_echo "Error: Codec $FFMPEG_ENCODING is not available:"
-    # log_and_echo "Available codecs:"
-    # ffmpeg -encoders 2>/dev/null | awk '/^ V/ {print $0}'
+    log_and_echo "Find available codecs here: $SNAP_COMMON/ffmpeg_codecs.txt"
+    ffmpeg -encoders 2>/dev/null | awk '/^ V/ {print $0}' > $SNAP_COMMON/ffmpeg_codecs.txt
     exit 1
   fi
 
@@ -60,6 +85,8 @@ else
   yq -i './**.ros__parameters.ffmpeg_image_transport = {}' $SNAP_COMMON/ffmpeg_params.yaml
 fi
 
+$SNAP/usr/bin/configure_hook_ros.sh
+
 # restart services with new ROS 2 config
 for service in daemon; do
   if snapctl services ${SNAP_NAME}.${service} | grep -qw active; then

snap/hooks/connect-plug-ros-humble-ros-base

@@ -1,8 +1,8 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # now we can start the service
-# if snapctl services ${SNAP_NAME}.daemon | grep -q inactive; then
-#   snapctl start --enable ${SNAP_NAME}.daemon 2>&1 || true
+# if snapctl services ${SNAP_NAME}.${SNAP_NAME} | grep -q inactive; then
+#   snapctl start --enable ${SNAP_NAME}.${SNAP_NAME} 2>&1 || true
 # fi
 
 logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' connected"

snap/hooks/disconnect-plug-ros-humble-ros-base

@@ -1,4 +1,4 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' disconnected"
 snapctl stop --disable ${SNAP_NAME}.daemon 2>&1 || true

snap/hooks/install

@@ -22,14 +22,13 @@ snapctl set driver.params-file=$SNAP_COMMON/depthai_params.yaml
 snapctl set driver.ffmpeg-image-transport.encoding=libx264
 snapctl set driver.ffmpeg-image-transport.preset=ultrafast
 snapctl set driver.ffmpeg-image-transport.tune=zerolatency
-snapctl set driver.namespace!
 
 if ! snapctl is-connected raw-usb; then
   log "Plug 'raw-usb' isn't connected, please run:"
   log "sudo snap connect ${SNAP_NAME}:raw-usb"
 fi
 
-# copy joy params
+# copy params
 cp -r $SNAP/usr/share/husarion-depthai/config/*.yaml ${SNAP_COMMON}/
 
 # # # copy meshes to shared folder

snap/local/launcher.sh

@@ -28,8 +28,6 @@ OPTIONS="\
     cam-pitch \
     cam-yaw \
     params-file \
-    namespace \
-    device-namespace \
 "
 
 LAUNCH_OPTIONS=""

snap/local/ros_common/check_daemon_running.sh → snap/local/local-ros/check_daemon_running.sh

@@ -1,13 +1,7 @@
-#!/usr/bin/bash
+#!/bin/bash -e
 
 # Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "${SNAP_NAME}.check_daemon_running.sh: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
+source $SNAP/usr/bin/utils.sh
 
 if snapctl services ${SNAP_NAME}.daemon | grep -qw active; then
     log_and_echo "to run ${SNAP_NAME} snap interactively, you need to stop the daemon first, run:"

snap/local/local-ros/configure_hook_ros.sh

@@ -0,0 +1,176 @@
+#!/bin/bash -e
+
+# The configure hook is called every time one the following actions happen:
+# - initial snap installation
+# - snap refresh
+# - whenever the user runs snap set|unset to change a configuration option
+
+# Define a function to log and echo messages
+source $SNAP/usr/bin/utils.sh
+
+# Function to check the type of the provided XML file
+check_xml_profile_type() {
+    local xml_file="$1"
+
+    if [[ ! -f "$xml_file" ]]; then
+        log_and_echo "File '$xml_file' does not exist."
+        return 1
+    fi
+
+    local root_element
+    local namespace
+
+    # Extract the root element
+    root_element=$(yq '. | keys | .[1]' "$xml_file")
+
+    # Extract the namespace based on the root element
+    if [[ "$root_element" == "CycloneDDS" ]]; then
+        namespace=$(yq .CycloneDDS."+@xmlns" "$xml_file")
+    elif [[ "$root_element" == "profiles" ]]; then
+        namespace=$(yq .profiles."+@xmlns" "$xml_file")
+    else
+        namespace="unknown"
+    fi
+
+    # Remove quotes from the extracted values
+    root_element=${root_element//\"/}
+    namespace=${namespace//\"/}
+
+    if [[ "$root_element" == "profiles" ]] && [[ "$namespace" == "http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" ]]; then
+        echo "rmw_fastrtps_cpp"
+    elif [[ "$root_element" == "CycloneDDS" ]] && [[ "$namespace" == "https://cdds.io/config" ]]; then
+        echo "rmw_cyclonedds_cpp"
+    else
+        exit 1
+    fi
+}
+
+VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
+
+# Call the validation function
+validate_keys "ros" VALID_ROS_KEYS[@]
+
+ROS_LOCALHOST_ONLY="$(snapctl get ros.localhost-only)"
+ROS_DOMAIN_ID="$(snapctl get ros.domain-id)"
+
+# Make sure ROS_LOCALHOST_ONLY is valid
+VALID_ROS_LOCALHOST_ONLY_OPTIONS=(1 0)
+validate_option "ros.localhost-only" VALID_ROS_LOCALHOST_ONLY_OPTIONS[@]
+
+# Make sure ROS_DOMAIN_ID is valid
+# Make sure WEBUI_PORT is valid
+SUPPORTED_RANGE=(0 232)
+# Validate a specific port, for example, webui.port
+validate_number "ros.domain-id" SUPPORTED_RANGE[@]
+
+# Get the ros.transport setting using snapctl
+OPT="ros.transport"
+TRANSPORT_SETTING="$(snapctl get ${OPT})"
+
+# Check if TRANSPORT_SETTING is "builtin"
+if [ "$TRANSPORT_SETTING" == "builtin" ]; then
+  # Change the value to "rmw_fastrtps_cpp"
+  TRANSPORT_SETTING="rmw_fastrtps_cpp"
+fi
+
+# Only exit with status 1 if conditions are not met
+if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ] && [ ! -f "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" ]; then
+  log_and_echo "'${SNAP_COMMON}/${TRANSPORT_SETTING}.xml' does not exist."
+  exit 1
+fi
+
+if [ "$TRANSPORT_SETTING" = "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" = "shm" ]; then
+  if ! snapctl is-connected shm-plug; then
+    log_and_echo "to use 'rmw_fastrtps_cpp' and 'shm' tranport shm-plug need to be connected, please run:"
+    log_and_echo "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
+    exit 1
+  fi
+fi
+
+# Make sure ros-humble-ros-base is connected
+ROS_PLUG="ros-humble-ros-base"
+
+if ! snapctl is-connected ${ROS_PLUG}; then
+    log_and_echo "Plug '${ROS_PLUG}' isn't connected. Please run:"
+    log_and_echo "snap connect ${SNAP_NAME}:${ROS_PLUG} ${ROS_PLUG}:${ROS_PLUG}"
+    exit 1
+fi
+
+# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
+ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
+
+# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
+ROS_SNAP_ARGS="${SNAP_COMMON}/ros_snap_args"
+
+echo "export ROS_DOMAIN_ID=${ROS_DOMAIN_ID}" > "${ROS_ENV_FILE}"
+echo "export ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}" >> "${ROS_ENV_FILE}"
+
+NAMESPACE=$(snapctl get ros.namespace)
+
+# Check if the namespace is set and not empty
+if [ -n "$NAMESPACE" ]; then
+  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace=${NAMESPACE}" > "${ROS_SNAP_ARGS}"
+  echo "export ROS_NAMESPACE=${NAMESPACE}" >> "${ROS_ENV_FILE}"
+else
+  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace!" > "${ROS_SNAP_ARGS}"
+  echo "unset ROS_NAMESPACE" >> "${ROS_ENV_FILE}"
+fi
+
+# Check the ros.transport setting and export the appropriate environment variable
+if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ]; then
+    profile_type=$(check_xml_profile_type "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml")
+    if [[ "$profile_type" == "rmw_fastrtps_cpp" ]]; then
+        echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
+        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
+        echo "export FASTRTPS_DEFAULT_PROFILES_FILE=${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
+    elif [[ "$profile_type" == "rmw_cyclonedds_cpp" ]]; then
+        echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
+        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
+        echo "export CYCLONEDDS_URI=file://${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
+    else
+        log_and_echo "'${TRANSPORT_SETTING}' is not a supported value for '${OPT}'. Possible values are: rmw_fastrtps_cpp, rmw_cyclonedds_cpp, or a valid profile XML file."
+        exit 1
+    fi
+elif [ "$TRANSPORT_SETTING" == "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" == "rmw_cyclonedds_cpp" ]; then
+  echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
+  echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
+  echo "export RMW_IMPLEMENTATION=${TRANSPORT_SETTING}" >> "${ROS_ENV_FILE}"
+fi
+
+# Define the path for the manage_ros_env.sh script
+MANAGE_SCRIPT="${SNAP_COMMON}/manage_ros_env.sh"
+
+# Create the manage_ros_env.sh script in ${SNAP_COMMON}
+cat << EOF > "${MANAGE_SCRIPT}"
+#!/bin/bash
+
+ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
+SOURCE_LINE="source \${ROS_ENV_FILE}"
+
+add_source_to_bashrc() {
+  if ! grep -Fxq "\$SOURCE_LINE" ~/.bashrc; then
+    echo "\$SOURCE_LINE" >> ~/.bashrc
+    echo "Added '\$SOURCE_LINE' to ~/.bashrc"
+  else
+    echo "'\$SOURCE_LINE' is already in ~/.bashrc"
+  fi
+}
+
+remove_source_from_bashrc() {
+  sed -i "\|\$SOURCE_LINE|d" ~/.bashrc
+  echo "Removed '\$SOURCE_LINE' from ~/.bashrc"
+}
+
+case "\$1" in
+  remove)
+    remove_source_from_bashrc
+    ;;
+  add|*)
+    add_source_to_bashrc
+    ;;
+esac
+EOF
+
+# Make the manage_ros_env.sh script executable
+chmod +x "${MANAGE_SCRIPT}"
+

snap/local/ros_common/install_hook_ros.sh → snap/local/local-ros/install_hook_ros.sh

@@ -1,16 +1,12 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # Define a function to log messages
-log() {
-  local message="$1"
-  # Log the message with logger
-  logger -t "${SNAP_NAME}" "install hook: $message"
-}
+source $SNAP/usr/bin/utils.sh
 
-
-snapctl set transport="udp"
-snapctl set ros-localhost-only=0
-snapctl set ros-domain-id=0
+snapctl set ros.transport="udp"
+snapctl set ros.localhost-only=0
+snapctl set ros.domain-id=0
+snapctl set ros.namespace! # unset
 
 if ! snapctl is-connected ros-humble-ros-base; then
   log "Plug 'ros-humble-ros-base' isn't connected, please run:"

snap/local/local-ros/ros_setup.sh

@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+source $SNAP_COMMON/ros.env
+
+exec $@

snap/local/ros_common/shm.xml → snap/local/local-ros/shm.xml

@@ -15,4 +15,4 @@
             <useBuiltinTransports>false</useBuiltinTransports>
         </rtps>
     </participant>
-</profiles>
+</profiles>