name: micro-ros-agent
base: core20
version: git
summary: Bridge between Micro ROS client applications and ROS 2
description: |
  Micro-ROS, whose default implementation is based on eProsima's
  Micro XRCE-DDS middleware, is composed of client applications
  which interact with the ROS 2 world by means of an Agent.
  This agent keeps tracks of the entities created by means of
  requests performed on the microcontroller side, and uses them
  to communicate with the ROS 2 dataspace.

  Being an extension of the Micro XRCE-DDS Agent, the micro-ROS
  agent supports being run by the user like this:

      $ micro-ros-agent --help

  In addition, the Agent supports running as a service that can be
  enabled with:

      $ snap set micro-ros-agent daemon=true

  If the service is enabled, by default it uses the `udp4` transport on
  port 8888. The following parameters can be changed (these are
  specific to the service, the `micro-ros-agent` command simply
  takes command-line arguments, but the capabilities are the same):

  * `transport`. Supported transports are `udp4`, `udp6`, `tcp4`,
    `tcp6`, `serial`, and `pseudoterminal`. Default is `udp4`. Change
    with:

        $ snap set micro-ros-agent transport="new transport"

  * `middleware`. Supported kinds of middleware are `ced`, `rtps`, and
    `dds`. Default is `dds`. Change with:

        $ snap set micro-ros-agent middleware="new middleware"

  * `verbosity`. Supported verbosity levels are 0-6, defaulting to 4.
    Change with:

        $ snap set micro-ros-agent verbosity="selected verbosity"

  * `discovery`. Enable or disable the discovery server. Defaults to
    "false". Change with:

        $ snap set micro-ros-agent discovery="true or false"

  * `discovery-port`. Port on which the discovery server (see above)
    listens. Defaults to 7400. Change with:

        $ snap set micro-ros-agent discovery-port="selected port"

  * `p2p-port`. Port to use for the P2P profile. Change with:

        $ snap set micro-ros-agent p2p-port="selected port"

  * `port`. Port on which the agent listens. Only applicable to one of
    the UDP or TCP transports (see above). Defaults to 8888. Change with:

        $ snap set micro-ros-agent port="selected port"

  * `baudrate`. Baud rate to use when accessing serial ports. Only
    applicable when using the `serial` or `pseudoterminal` transport.
    Defaults to 115200. Change with:

        $ snap set micro-ros-agent baudrate="baud rate"

  * `device`. The serial device to use. Only applicable when using the
    `serial` or `pseudoterminal` transport. Change with:

        $ snap set micro-ros-agent device="device path"

  If connecting the micro-ROS Agent using an IP based connection mode,
  that is, `udp4`, `udp6`, `tcp4` or `tcp6`, care must be taken to
  connect first the `micro-ros-agent-shm-netplug` plug.
  This is due to the fact that ROS 2 Foxy is using Fast-DDS as the
  default DDS middleware, and Fast-DDS comes with *shared memory transport*.
  Thus, this plugin must be enabled, in order to gain access to the
  `/dev/shm` folder from the snap image, prior to running it:

      $ sudo snap connect micro-ros-agent:micro-ros-agent-shm-netplug

  When using the snap with a serial device, some steps need to be taken
  in order to establish a successful connection:

  * Refresh your local installation of the snap `core` package:

        $ sudo snap refresh core --edge

  * Enable the hotplug feature and restart the `snapd` daemon:

        $ sudo snap set core experimental.hotplug=true
        $ sudo systemctl restart snapd

  * After plugging the microcontroller to the serial port, execute
    the `snap interface serial-port` command. You should see something
    like this:

          name:    serial-port
          summary: allows accessing a specific serial port
          plugs:
            - micro-ros-agent
          slots:
          - snapd:cp2102cp2109uartbrid (allows accessing a specific serial port)

  * Connect your snap image to the desired serial port (replace accordingly):

        $ snap connect micro-ros-agent:serial-port snapd:cp2102cp2109uartbrid

  After this, you can execute your snap as usual,
  using `sudo micro-ros-agent serial -d <serial-dev>`.

grade: stable
confinement: strict

architectures:
  - build-on: amd64
  - build-on: arm64
  - build-on: armhf
  - build-on: ppc64el

parts:

  uros-agent:
    plugin: colcon
    source: .
    override-build: |
        set +u
        git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
        git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
        git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
        git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
        git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
        git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b $ROS_DISTRO
        . /opt/ros/$ROS_DISTRO/setup.sh
        colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
        set -u
    build-packages: [make, gcc, g++]
    stage-packages: [ros-foxy-ros2launch]

  runner:
    plugin: dump
    source: snap/local/
    organize:
      '*': usr/bin/

plugs:
  micro-ros-agent-shm-netplug:
    interface: system-files
    allow-auto-connection: true
    write:
      - /dev/shm

apps:
  micro-ros-agent:
    command: lib/micro_ros_agent/micro_ros_agent
    environment:
        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
    extensions: [ros2-foxy]

  daemon:
    command: usr/bin/micro-ros-agent-daemon
    environment:
        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
    daemon: simple
    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]