From 935338455f114c15bca1a244b09a9a71826879a6 Mon Sep 17 00:00:00 2001
From: artivis <jeremie.deray@canonical.com>
Date: Thu, 24 Aug 2023 19:34:31 +0200
Subject: [PATCH 01/13] add snap packaging

Signed-off-by: artivis <jeremie.deray@canonical.com>
---
 snap/hooks/configure       |  64 +++++++++++
 snap/hooks/install         |   3 +
 snap/local/launch.sh       |  37 +++++++
 snap/local/reset_config.sh |  22 ++++
 snap/snapcraft.yaml        | 218 +++++++++++++++++++++++++++++++++++++
 5 files changed, 344 insertions(+)
 create mode 100644 snap/hooks/configure
 create mode 100644 snap/hooks/install
 create mode 100755 snap/local/launch.sh
 create mode 100755 snap/local/reset_config.sh
 create mode 100644 snap/snapcraft.yaml

diff --git a/snap/hooks/configure b/snap/hooks/configure
new file mode 100644
index 0000000..4c608ad
--- /dev/null
+++ b/snap/hooks/configure
@@ -0,0 +1,64 @@
+#!/bin/bash -e
+
+# Here we can assert that the parameters value set by the user are proper.
+
+# Get the parameters values.
+# They may be 'unset' as per the install hook.
+port="$(snapctl get port)"
+address="$(snapctl get address)"
+tls="$(snapctl get tls)"
+certfile="$(snapctl get certfile)"
+keyfile="$(snapctl get keyfile)"
+topic_whitelist="$(snapctl get topic-whitelist)"
+param_whitelist="$(snapctl get param-whitelist)"
+service_whitelist="$(snapctl get service-whitelist)"
+client_topic_whitelist="$(snapctl get client-topic-whitelist)"
+min_qos_depth="$(snapctl get min-qos-depth)"
+max_qos_depth="$(snapctl get max-qos-depth)"
+num_threads="$(snapctl get num-threads)"
+send_buffer_limit="$(snapctl get send-buffer-limit)"
+use_sim_time="$(snapctl get use-sim-time)"
+capabilities="$(snapctl get capabilities)"
+include_hidden="$(snapctl get include-hidden)"
+asset_uri_allowlist="$(snapctl get asset-uri-allowlist)"
+
+# If the parameter has been explicitely set by the user
+if [ -n "${port}" ]; then
+  # Check that it is a valid value
+  if ! expr "${port}" : '^[0-9]\+$' > /dev/null; then
+    logger -t ${SNAP_NAME} "'${opt}' is not a valid port value."
+    echo "'${port}' is not a valid port value" >&2
+    return 1
+  fi
+fi
+
+for opt in max_qos_depth num_threads send_buffer_limit; do
+  if [ -n "${!opt}" ]; then
+  # Check that it is a valid value
+  if ! expr "${!opt}" : '^[0-9]\+$' > /dev/null; then
+    logger -t ${SNAP_NAME} "'${!opt}' is not a valid value for ${opt}."
+    echo "'${!opt}' is not a valid value for ${opt}." >&2
+    return 1
+  fi
+fi
+done
+
+for opt in tls include_hidden use_sim_time; do
+  if [ -n "${!opt}" ]; then
+    case "${!opt}" in
+        true) ;;
+        false) ;;
+        *)
+        logger -t ${SNAP_NAME} "'${!opt}' is not a valid boolean for ${opt}. Please use 'true' or 'false'."
+        echo "'${!opt}' is not a valid boolean for ${opt}. Please use 'true' or 'false'." >&2
+        return 1
+        ;;
+    esac
+  fi
+done
+
+# @todo assert the rest of the parameters.
+
+# Service was already enabled, just restart it
+# to make sure the new config values are picked up
+snapctl restart ${SNAP_NAME}.${SNAP_NAME} 2>&1 || true
diff --git a/snap/hooks/install b/snap/hooks/install
new file mode 100644
index 0000000..1f7cab8
--- /dev/null
+++ b/snap/hooks/install
@@ -0,0 +1,3 @@
+#!/bin/sh -e
+
+. $SNAP/usr/bin/reset_config.sh
diff --git a/snap/local/launch.sh b/snap/local/launch.sh
new file mode 100755
index 0000000..48d75ed
--- /dev/null
+++ b/snap/local/launch.sh
@@ -0,0 +1,37 @@
+#!/usr/bin/sh -e
+
+LAUNCH_OPTIONS=""
+
+OPTIONS="port
+address
+tls
+certfile
+keyfile
+topic-whitelist
+param-whitelist
+service-whitelist
+client-topic-whitelist
+min-qos-depth
+max-qos-depth
+num-threads
+send-buffer-limit
+use-sim-time
+capabilities
+include-hidden
+asset-uri-allowlist"
+
+for OPTION in ${OPTIONS}; do
+  VALUE="$(snapctl get ${OPTION})"
+  if [ -n "${VALUE}" ]; then
+    LAUNCH_OPTIONS+="${OPTION}:=${VALUE} "
+  fi
+done
+
+# Replace '-' with '_'
+LAUNCH_OPTIONS=$(echo ${LAUNCH_OPTIONS} | tr - _)
+
+if [ "${LAUNCH_OPTIONS}" ]; then
+  logger -t ${SNAP_NAME} "Running with options: ${LAUNCH_OPTIONS}"
+fi
+
+ros2 launch foxglove_bridge foxglove_bridge_launch.xml ${LAUNCH_OPTIONS}
diff --git a/snap/local/reset_config.sh b/snap/local/reset_config.sh
new file mode 100755
index 0000000..bdb03c3
--- /dev/null
+++ b/snap/local/reset_config.sh
@@ -0,0 +1,22 @@
+#!/bin/sh -e
+
+# All parameters are unset
+# leaving the default values up to the launchfile.
+
+snapctl set port!
+snapctl set address!
+snapctl set tls!
+snapctl set certfile!
+snapctl set keyfile!
+snapctl set topic_whitelist!
+snapctl set param_whitelist!
+snapctl set service_whitelist!
+snapctl set client_topic_whitelist!
+snapctl set min_qos_depth!
+snapctl set max_qos_depth!
+snapctl set num_threads!
+snapctl set send_buffer_limit!
+snapctl set use_sim_time!
+snapctl set capabilities!
+snapctl set include_hidden!
+snapctl set asset_uri_allowlist!
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
new file mode 100644
index 0000000..9a86f98
--- /dev/null
+++ b/snap/snapcraft.yaml
@@ -0,0 +1,218 @@
+name: foxglove-bridge
+adopt-info: foxglove-bridge
+license: MIT
+summary: The foxglove-bridge snap
+description: |
+  The foxglove-bridge.
+
+grade: stable
+confinement: strict
+base: core22
+
+issues: https://github.com/foxglove/ros-foxglove-bridge/issues
+website: https://foxglove.dev/
+
+architectures:
+  - build-on: amd64
+  - build-on: arm64
+
+apps:
+  foxglove-bridge:
+    command: usr/bin/launch.sh
+    daemon: simple
+    plugs: [network, network-bind]
+    extensions: [ros2-humble]
+
+  reset-config:
+    command: usr/bin/reset_config.sh
+
+parts:
+  foxglove-bridge:
+    plugin: colcon
+    colcon-cmake-args:
+      - -DCMAKE_BUILD_TYPE=Release
+      - -DBUILD_TESTING=OFF
+    source: .
+    override-pull: |
+        craftctl default
+
+        version="$(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="$grade"
+    stage-packages:
+      - ros-humble-ros2launch
+      # Messages definition are required to bridge them.
+      # No custom message is going to be support for now
+      - ros-humble-ackermann-msgs
+      - ros-humble-action-msgs
+      - ros-humble-actionlib-msgs
+      - ros-humble-actuator-msgs
+      - ros-humble-apriltag-msgs
+      - ros-humble-aruco-msgs
+      - ros-humble-aruco-opencv-msgs
+      - ros-humble-automotive-autonomy-msgs
+      - ros-humble-automotive-navigation-msgs
+      - ros-humble-automotive-platform-msgs
+      - ros-humble-autoware-auto-msgs
+      - ros-humble-can-msgs
+      - ros-humble-cartographer-ros-msgs
+      - ros-humble-cascade-lifecycle-msgs
+      - ros-humble-clearpath-msgs
+      - ros-humble-clearpath-platform-msgs
+      - ros-humble-control-msgs
+      - ros-humble-controller-manager-msgs
+      - ros-humble-create-msgs
+      - ros-humble-dataspeed-dbw-msgs
+      - ros-humble-dataspeed-ulc-msgs
+      - ros-humble-dbw-fca-msgs
+      - ros-humble-dbw-ford-msgs
+      - ros-humble-dbw-polaris-msgs
+      - ros-humble-delphi-esr-msgs
+      - ros-humble-delphi-mrr-msgs
+      - ros-humble-delphi-srr-msgs
+      - ros-humble-depthai-ros-msgs
+      - ros-humble-derived-object-msgs
+      - ros-humble-diagnostic-msgs
+      - ros-humble-dwb-msgs
+      - ros-humble-dynamixel-workbench-msgs
+      - ros-humble-event-camera-msgs
+      - ros-humble-flexbe-msgs
+      - ros-humble-flir-camera-msgs
+      - ros-humble-foros-msgs
+      - ros-humble-four-wheel-steering-msgs
+      - ros-humble-foxglove-msgs
+      - ros-humble-gazebo-msgs
+      - ros-humble-geographic-msgs
+      - ros-humble-geometry-msgs
+      - ros-humble-gps-msgs
+      - ros-humble-graph-msgs
+      - ros-humble-grasping-msgs
+      - ros-humble-grbl-msgs
+      - ros-humble-grid-map-msgs
+      - ros-humble-ibeo-msgs
+      - ros-humble-irobot-create-msgs
+      - ros-humble-kartech-linear-actuator-msgs
+      - ros-humble-leo-msgs
+      - ros-humble-lgsvl-msgs
+      - ros-humble-lifecycle-msgs
+      - ros-humble-map-msgs
+      - ros-humble-marker-msgs
+      - ros-humble-marti-can-msgs
+      - ros-humble-marti-common-msgs
+      - ros-humble-marti-dbw-msgs
+      - ros-humble-marti-introspection-msgs
+      - ros-humble-marti-nav-msgs
+      - ros-humble-marti-perception-msgs
+      - ros-humble-marti-sensor-msgs
+      - ros-humble-marti-status-msgs
+      - ros-humble-marti-visualization-msgs
+      - ros-humble-marvelmind-ros2-msgs
+      - ros-humble-mavros-msgs
+      - ros-humble-micro-ros-diagnostic-msgs
+      - ros-humble-micro-ros-msgs
+      - ros-humble-microstrain-inertial-msgs
+      - ros-humble-mobileye-560-660-msgs
+      - ros-humble-moveit-msgs
+      - ros-humble-mrpt-msgs
+      - ros-humble-nao-command-msgs
+      - ros-humble-nao-sensor-msgs
+      - ros-humble-nav-2d-msgs
+      - ros-humble-nav-msgs
+      - ros-humble-nav2-msgs
+      - ros-humble-neobotix-usboard-msgs
+      - ros-humble-nmea-msgs
+      - ros-humble-novatel-gps-msgs
+      - ros-humble-novatel-oem7-msgs
+      - ros-humble-object-recognition-msgs
+      - ros-humble-octomap-msgs
+      - ros-humble-ouster-msgs
+      - ros-humble-pal-statistics-msgs
+      - ros-humble-pcl-msgs
+      - ros-humble-pendulum-msgs
+      - ros-humble-phidgets-msgs
+      - ros-humble-plansys2-msgs
+      - ros-humble-play-motion2-msgs
+      - ros-humble-plotjuggler-msgs
+      - ros-humble-polygon-msgs
+      - ros-humble-radar-msgs
+      - ros-humble-raspimouse-msgs
+      - ros-humble-rc-common-msgs
+      - ros-humble-rc-reason-msgs
+      - ros-humble-rclpy-message-converter-msgs
+      - ros-humble-rcss3d-agent-msgs
+      - ros-humble-realsense2-camera-msgs
+      - ros-humble-rmf-api-msgs
+      - ros-humble-rmf-building-map-msgs
+      - ros-humble-rmf-charger-msgs
+      - ros-humble-rmf-dispenser-msgs
+      - ros-humble-rmf-door-msgs
+      - ros-humble-rmf-fleet-msgs
+      - ros-humble-rmf-ingestor-msgs
+      - ros-humble-rmf-lift-msgs
+      - ros-humble-rmf-obstacle-msgs
+      - ros-humble-rmf-scheduler-msgs
+      - ros-humble-rmf-site-map-msgs
+      - ros-humble-rmf-task-msgs
+      - ros-humble-rmf-traffic-msgs
+      - ros-humble-rmf-visualization-msgs
+      - ros-humble-rmf-workcell-msgs
+      - ros-humble-robot-calibration-msgs
+      - ros-humble-robot-controllers-msgs
+      - ros-humble-rosapi-msgs
+      - ros-humble-rosbridge-msgs
+      - ros-humble-rosbridge-test-msgs
+      - ros-humble-rosgraph-msgs
+      - ros-humble-rqt-image-overlay
+      - ros-humble-rtabmap-msgs
+      - ros-humble-rtcm-msgs
+      - ros-humble-rviz-2d-overlay-msgs
+      - ros-humble-sensor-msgs
+      - ros-humble-shape-msgs
+      - ros-humble-smacc2-msgs
+      - ros-humble-smach-msgs
+      - ros-humble-soccer-object-msgs
+      - ros-humble-soccer-vision-2d-msgs
+      - ros-humble-soccer-vision-3d-msgs
+      - ros-humble-soccer-vision-attribute-msgs
+      - ros-humble-social-nav-msgs
+      - ros-humble-statistics-msgs
+      - ros-humble-std-msgs
+      - ros-humble-stereo-msgs
+      - ros-humble-stubborn-buddies-msgs
+      - ros-humble-system-modes-msgs
+      - ros-humble-teleop-tools-msgs
+      - ros-humble-test-msgs
+      - ros-humble-tf2-geometry-msgs
+      - ros-humble-tf2-msgs
+      - ros-humble-tf2-sensor-msgs
+      - ros-humble-trajectory-msgs
+      - ros-humble-turtlebot3-msgs
+      - ros-humble-turtlebot4-msgs
+      - ros-humble-tuw-airskin-msgs
+      - ros-humble-tuw-geometry-msgs
+      - ros-humble-tuw-msgs
+      - ros-humble-tuw-multi-robot-msgs
+      - ros-humble-tuw-nav-msgs
+      - ros-humble-tuw-object-msgs
+      - ros-humble-twist-mux-msgs
+      - ros-humble-ublox-msgs
+      - ros-humble-ublox-ubx-msgs
+      - ros-humble-udp-msgs
+      - ros-humble-unique-identifier-msgs
+      - ros-humble-ur-dashboard-msgs
+      - ros-humble-ur-msgs
+      - ros-humble-urg-node-msgs
+      - ros-humble-velodyne-msgs
+      - ros-humble-vision-msgs
+      - ros-humble-visualization-msgs
+      - ros-humble-webots-ros2-msgs
+      - ros-humble-wiimote-msgs
+      - ros-humble-wireless-msgs
+
+  # copy local scripts to the snap usr/bin
+  local-files:
+    plugin: dump
+    source: snap/local/
+    organize:
+      '*.sh': usr/bin/

From 55e7f4ab55b6adaa61b38fadb35e96189d1152a1 Mon Sep 17 00:00:00 2001
From: artivis <jeremie.deray@canonical.com>
Date: Thu, 12 Oct 2023 10:28:59 +0200
Subject: [PATCH 02/13] stage spdlog-vendor

Signed-off-by: artivis <jeremie.deray@canonical.com>
---
 snap/snapcraft.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 9a86f98..894c1c8 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -41,6 +41,7 @@ parts:
         craftctl set version="$version"
         craftctl set grade="$grade"
     stage-packages:
+      - ros-humble-spdlog-vendor
       - ros-humble-ros2launch
       # Messages definition are required to bridge them.
       # No custom message is going to be support for now

From dc918887211bd5566f7a3f9801d7352c0e8604ea Mon Sep 17 00:00:00 2001
From: Kotochleb <krzy.wojciecho@gmail.com>
Date: Mon, 16 Oct 2023 09:51:12 +0200
Subject: [PATCH 03/13] Fix launch.sh and configure scripts

---
 snap/hooks/configure | 4 ++--
 snap/local/launch.sh | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/snap/hooks/configure b/snap/hooks/configure
index 4c608ad..f72dace 100644
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -46,8 +46,8 @@ done
 for opt in tls include_hidden use_sim_time; do
   if [ -n "${!opt}" ]; then
     case "${!opt}" in
-        true) ;;
-        false) ;;
+        True) ;;
+        False) ;;
         *)
         logger -t ${SNAP_NAME} "'${!opt}' is not a valid boolean for ${opt}. Please use 'true' or 'false'."
         echo "'${!opt}' is not a valid boolean for ${opt}. Please use 'true' or 'false'." >&2
diff --git a/snap/local/launch.sh b/snap/local/launch.sh
index 48d75ed..d464eb8 100755
--- a/snap/local/launch.sh
+++ b/snap/local/launch.sh
@@ -23,7 +23,7 @@ asset-uri-allowlist"
 for OPTION in ${OPTIONS}; do
   VALUE="$(snapctl get ${OPTION})"
   if [ -n "${VALUE}" ]; then
-    LAUNCH_OPTIONS+="${OPTION}:=${VALUE} "
+    LAUNCH_OPTIONS="${LAUNCH_OPTIONS} ${OPTION}:=${VALUE}"
   fi
 done
 

From f2a3022af0640986ed7a3ceae942e585e25d9b46 Mon Sep 17 00:00:00 2001
From: Kotochleb <krzy.wojciecho@gmail.com>
Date: Mon, 16 Oct 2023 18:04:35 +0200
Subject: [PATCH 04/13] FIx missing spdlog on build

---
 snap/snapcraft.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 894c1c8..58f6350 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -40,6 +40,8 @@ parts:
         [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
         craftctl set version="$version"
         craftctl set grade="$grade"
+    build-packages:
+      - ros-humble-spdlog-vendor
     stage-packages:
       - ros-humble-spdlog-vendor
       - ros-humble-ros2launch

From 13284b03964d860a38d26fd805545b27725ad813 Mon Sep 17 00:00:00 2001
From: Kotochleb <krzy.wojciecho@gmail.com>
Date: Mon, 16 Oct 2023 18:42:48 +0200
Subject: [PATCH 05/13] Add use-compression parameter

---
 snap/hooks/configure       | 3 ++-
 snap/local/launch.sh       | 1 +
 snap/local/reset_config.sh | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/snap/hooks/configure b/snap/hooks/configure
index f72dace..4288d6c 100644
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -18,6 +18,7 @@ max_qos_depth="$(snapctl get max-qos-depth)"
 num_threads="$(snapctl get num-threads)"
 send_buffer_limit="$(snapctl get send-buffer-limit)"
 use_sim_time="$(snapctl get use-sim-time)"
+use_compression="$(snapctl get use-compression)"
 capabilities="$(snapctl get capabilities)"
 include_hidden="$(snapctl get include-hidden)"
 asset_uri_allowlist="$(snapctl get asset-uri-allowlist)"
@@ -43,7 +44,7 @@ for opt in max_qos_depth num_threads send_buffer_limit; do
 fi
 done
 
-for opt in tls include_hidden use_sim_time; do
+for opt in tls include_hidden use_sim_time use_compression; do
   if [ -n "${!opt}" ]; then
     case "${!opt}" in
         True) ;;
diff --git a/snap/local/launch.sh b/snap/local/launch.sh
index d464eb8..a661af6 100755
--- a/snap/local/launch.sh
+++ b/snap/local/launch.sh
@@ -16,6 +16,7 @@ max-qos-depth
 num-threads
 send-buffer-limit
 use-sim-time
+use-compression
 capabilities
 include-hidden
 asset-uri-allowlist"
diff --git a/snap/local/reset_config.sh b/snap/local/reset_config.sh
index bdb03c3..792648d 100755
--- a/snap/local/reset_config.sh
+++ b/snap/local/reset_config.sh
@@ -17,6 +17,7 @@ snapctl set max_qos_depth!
 snapctl set num_threads!
 snapctl set send_buffer_limit!
 snapctl set use_sim_time!
+snapctl set use-compression!
 snapctl set capabilities!
 snapctl set include_hidden!
 snapctl set asset_uri_allowlist!

From 40da7c4c76328992022b04e8d664b74ba802d381 Mon Sep 17 00:00:00 2001
From: Kotochleb <krzy.wojciecho@gmail.com>
Date: Mon, 16 Oct 2023 20:01:35 +0200
Subject: [PATCH 06/13] Replace _ with - in reset

---
 snap/local/reset_config.sh | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/snap/local/reset_config.sh b/snap/local/reset_config.sh
index 792648d..cc066fb 100755
--- a/snap/local/reset_config.sh
+++ b/snap/local/reset_config.sh
@@ -8,16 +8,16 @@ snapctl set address!
 snapctl set tls!
 snapctl set certfile!
 snapctl set keyfile!
-snapctl set topic_whitelist!
-snapctl set param_whitelist!
-snapctl set service_whitelist!
-snapctl set client_topic_whitelist!
-snapctl set min_qos_depth!
-snapctl set max_qos_depth!
-snapctl set num_threads!
-snapctl set send_buffer_limit!
-snapctl set use_sim_time!
+snapctl set topic-whitelist!
+snapctl set param-whitelist!
+snapctl set service-whitelist!
+snapctl set client-topic-whitelist!
+snapctl set min-qos-depth!
+snapctl set max-qos-depth!
+snapctl set num-threads!
+snapctl set send-buffer-limit!
+snapctl set use-sim-time!
 snapctl set use-compression!
 snapctl set capabilities!
-snapctl set include_hidden!
-snapctl set asset_uri_allowlist!
+snapctl set include-hidden!
+snapctl set asset-uri-allowlist!

From 057c4b79659f2d5b1f9453902513a40ed8f79160 Mon Sep 17 00:00:00 2001
From: Kotochleb <krzy.wojciecho@gmail.com>
Date: Thu, 2 Nov 2023 15:13:48 +0100
Subject: [PATCH 07/13] Fix incorrect config log

---
 snap/hooks/configure | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/snap/hooks/configure b/snap/hooks/configure
index 4288d6c..09b229f 100644
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -50,8 +50,8 @@ for opt in tls include_hidden use_sim_time use_compression; do
         True) ;;
         False) ;;
         *)
-        logger -t ${SNAP_NAME} "'${!opt}' is not a valid boolean for ${opt}. Please use 'true' or 'false'."
-        echo "'${!opt}' is not a valid boolean for ${opt}. Please use 'true' or 'false'." >&2
+        logger -t ${SNAP_NAME} "'${!opt}' is not a valid boolean for ${opt}. Please use 'True' or 'False'."
+        echo "'${!opt}' is not a valid boolean for ${opt}. Please use 'True' or 'False'." >&2
         return 1
         ;;
     esac

From dfa38847f22f1e961a75bdf3a289193bba9f4f17 Mon Sep 17 00:00:00 2001
From: Guillaumebeuzeboc <guillaume.beuzeboc@gmail.com>
Date: Wed, 3 Apr 2024 14:57:01 +0200
Subject: [PATCH 08/13] feat(content-snap-config): configure the bridge from
 the content snap

---
 snap/hooks/configure                          | 61 +-----------------
 snap/hooks/connect-plug-configuration-read    | 12 ++++
 snap/hooks/disconnect-plug-configuration-read |  5 ++
 snap/local/config_from_content_snap.sh        | 15 +++++
 snap/local/validate_config.sh                 | 62 +++++++++++++++++++
 snap/snapcraft.yaml                           | 12 ++++
 6 files changed, 108 insertions(+), 59 deletions(-)
 create mode 100755 snap/hooks/connect-plug-configuration-read
 create mode 100755 snap/hooks/disconnect-plug-configuration-read
 create mode 100755 snap/local/config_from_content_snap.sh
 create mode 100755 snap/local/validate_config.sh

diff --git a/snap/hooks/configure b/snap/hooks/configure
index 09b229f..60eb5b5 100644
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -1,65 +1,8 @@
 #!/bin/bash -e
 
-# Here we can assert that the parameters value set by the user are proper.
-
-# Get the parameters values.
-# They may be 'unset' as per the install hook.
-port="$(snapctl get port)"
-address="$(snapctl get address)"
-tls="$(snapctl get tls)"
-certfile="$(snapctl get certfile)"
-keyfile="$(snapctl get keyfile)"
-topic_whitelist="$(snapctl get topic-whitelist)"
-param_whitelist="$(snapctl get param-whitelist)"
-service_whitelist="$(snapctl get service-whitelist)"
-client_topic_whitelist="$(snapctl get client-topic-whitelist)"
-min_qos_depth="$(snapctl get min-qos-depth)"
-max_qos_depth="$(snapctl get max-qos-depth)"
-num_threads="$(snapctl get num-threads)"
-send_buffer_limit="$(snapctl get send-buffer-limit)"
-use_sim_time="$(snapctl get use-sim-time)"
-use_compression="$(snapctl get use-compression)"
-capabilities="$(snapctl get capabilities)"
-include_hidden="$(snapctl get include-hidden)"
-asset_uri_allowlist="$(snapctl get asset-uri-allowlist)"
-
-# If the parameter has been explicitely set by the user
-if [ -n "${port}" ]; then
-  # Check that it is a valid value
-  if ! expr "${port}" : '^[0-9]\+$' > /dev/null; then
-    logger -t ${SNAP_NAME} "'${opt}' is not a valid port value."
-    echo "'${port}' is not a valid port value" >&2
-    return 1
-  fi
-fi
-
-for opt in max_qos_depth num_threads send_buffer_limit; do
-  if [ -n "${!opt}" ]; then
-  # Check that it is a valid value
-  if ! expr "${!opt}" : '^[0-9]\+$' > /dev/null; then
-    logger -t ${SNAP_NAME} "'${!opt}' is not a valid value for ${opt}."
-    echo "'${!opt}' is not a valid value for ${opt}." >&2
-    return 1
-  fi
-fi
-done
-
-for opt in tls include_hidden use_sim_time use_compression; do
-  if [ -n "${!opt}" ]; then
-    case "${!opt}" in
-        True) ;;
-        False) ;;
-        *)
-        logger -t ${SNAP_NAME} "'${!opt}' is not a valid boolean for ${opt}. Please use 'True' or 'False'."
-        echo "'${!opt}' is not a valid boolean for ${opt}. Please use 'True' or 'False'." >&2
-        return 1
-        ;;
-    esac
-  fi
-done
-
-# @todo assert the rest of the parameters.
+$SNAP/usr/bin/validate_config.sh
 
 # Service was already enabled, just restart it
 # to make sure the new config values are picked up
 snapctl restart ${SNAP_NAME}.${SNAP_NAME} 2>&1 || true
+
diff --git a/snap/hooks/connect-plug-configuration-read b/snap/hooks/connect-plug-configuration-read
new file mode 100755
index 0000000..4bcbe78
--- /dev/null
+++ b/snap/hooks/connect-plug-configuration-read
@@ -0,0 +1,12 @@
+#!/bin/sh -e
+
+CONFIGURATION_FILE_PATH=$SNAP_COMMON/configuration/foxglove-bridge.yaml
+
+if [ ! -f "$CONFIGURATION_FILE_PATH" ]; then
+    echo "Configuration file '$CONFIGURATION_FILE_PATH' does not exist."
+    exit 1
+fi
+
+snapctl start --enable ${SNAP_NAME}.config-from-content-snap 2>&1
+snapctl restart ${SNAP_NAME} 2>&1 || true
+
diff --git a/snap/hooks/disconnect-plug-configuration-read b/snap/hooks/disconnect-plug-configuration-read
new file mode 100755
index 0000000..8bf79c8
--- /dev/null
+++ b/snap/hooks/disconnect-plug-configuration-read
@@ -0,0 +1,5 @@
+#!/bin/sh -e
+
+snapctl stop --disable ${SNAP_NAME}.config-from-content-snap 2>&1
+snapctl restart ${SNAP_NAME} 2>&1 || true
+
diff --git a/snap/local/config_from_content_snap.sh b/snap/local/config_from_content_snap.sh
new file mode 100755
index 0000000..8d23362
--- /dev/null
+++ b/snap/local/config_from_content_snap.sh
@@ -0,0 +1,15 @@
+#!/bin/bash -e
+
+CONFIGURATION_FILE_PATH=$SNAP_COMMON/configuration/foxglove-bridge.yaml
+
+if [ ! -f "$CONFIGURATION_FILE_PATH" ]; then
+    echo "Configuration file '$CONFIGURATION_FILE_PATH' does not exist."
+    exit 1
+fi
+
+snapctl set port=$(yq '.port // 54321' $CONFIGURATION_FILE_PATH)
+snapctl set address=$(yq '.address // "0.0.0.0"' $CONFIGURATION_FILE_PATH)
+snapctl set topic-whitelist=$(yq '.topic-whitelist // "*"' $CONFIGURATION_FILE_PATH)
+
+$SNAP/usr/bin/validate_config.sh
+
diff --git a/snap/local/validate_config.sh b/snap/local/validate_config.sh
new file mode 100755
index 0000000..d154df0
--- /dev/null
+++ b/snap/local/validate_config.sh
@@ -0,0 +1,62 @@
+#!/bin/bash -e
+
+# Here we can assert that the parameters value set by the user are proper.
+
+# Get the parameters values.
+# They may be 'unset' as per the install hook.
+port="$(snapctl get port)"
+address="$(snapctl get address)"
+tls="$(snapctl get tls)"
+certfile="$(snapctl get certfile)"
+keyfile="$(snapctl get keyfile)"
+topic_whitelist="$(snapctl get topic-whitelist)"
+param_whitelist="$(snapctl get param-whitelist)"
+service_whitelist="$(snapctl get service-whitelist)"
+client_topic_whitelist="$(snapctl get client-topic-whitelist)"
+min_qos_depth="$(snapctl get min-qos-depth)"
+max_qos_depth="$(snapctl get max-qos-depth)"
+num_threads="$(snapctl get num-threads)"
+send_buffer_limit="$(snapctl get send-buffer-limit)"
+use_sim_time="$(snapctl get use-sim-time)"
+use_compression="$(snapctl get use-compression)"
+capabilities="$(snapctl get capabilities)"
+include_hidden="$(snapctl get include-hidden)"
+asset_uri_allowlist="$(snapctl get asset-uri-allowlist)"
+
+# If the parameter has been explicitely set by the user
+if [ -n "${port}" ]; then
+  # Check that it is a valid value
+  if ! expr "${port}" : '^[0-9]\+$' > /dev/null; then
+    logger -t ${SNAP_NAME} "'${opt}' is not a valid port value."
+    echo "'${port}' is not a valid port value" >&2
+    return 1
+  fi
+fi
+
+for opt in max_qos_depth num_threads send_buffer_limit; do
+  if [ -n "${!opt}" ]; then
+    # Check that it is a valid value
+    if ! expr "${!opt}" : '^[0-9]\+$' > /dev/null; then
+      logger -t ${SNAP_NAME} "'${!opt}' is not a valid value for ${opt}."
+      echo "'${!opt}' is not a valid value for ${opt}." >&2
+      return 1
+    fi
+  fi
+done
+
+for opt in tls include_hidden use_sim_time use_compression; do
+  if [ -n "${!opt}" ]; then
+    case "${!opt}" in
+        True) ;;
+        False) ;;
+        *)
+        logger -t ${SNAP_NAME} "'${!opt}' is not a valid boolean for ${opt}. Please use 'True' or 'False'."
+        echo "'${!opt}' is not a valid boolean for ${opt}. Please use 'True' or 'False'." >&2
+        return 1
+        ;;
+    esac
+  fi
+done
+
+# @todo assert the rest of the parameters.
+
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 58f6350..4f67f4b 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -16,7 +16,17 @@ architectures:
   - build-on: amd64
   - build-on: arm64
 
+plugs:
+  configuration-read:
+    interface: content
+    target: $SNAP_COMMON/configuration
+
 apps:
+  config-from-content-snap:
+    command: usr/bin/config_from_content_snap.sh
+    daemon: oneshot
+    install-mode: disable
+    before: [foxglove-bridge]
   foxglove-bridge:
     command: usr/bin/launch.sh
     daemon: simple
@@ -42,6 +52,8 @@ parts:
         craftctl set grade="$grade"
     build-packages:
       - ros-humble-spdlog-vendor
+    stage-snaps:
+      - yq
     stage-packages:
       - ros-humble-spdlog-vendor
       - ros-humble-ros2launch

From 2fbec02dcc07755eb82bb510bd27114d18e03055 Mon Sep 17 00:00:00 2001
From: Guillaumebeuzeboc <guillaume.beuzeboc@gmail.com>
Date: Thu, 4 Apr 2024 18:44:37 +0200
Subject: [PATCH 09/13] feat(ci): build and publish the snap

---
 .github/workflows/snap.yaml | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)
 create mode 100644 .github/workflows/snap.yaml

diff --git a/.github/workflows/snap.yaml b/.github/workflows/snap.yaml
new file mode 100644
index 0000000..235d9bc
--- /dev/null
+++ b/.github/workflows/snap.yaml
@@ -0,0 +1,25 @@
+name: snap
+on:
+  push:
+    branches:
+      - feature/snap
+  pull_request:
+    branches:
+      - feature/snap
+  workflow_dispatch:
+  workflow_call:
+   inputs:
+      branch-name:
+        required: false
+        type: string
+        default: ''
+
+jobs:
+  snap:
+    uses: ubuntu-robotics/snap_workflows/.github/workflows/snap.yaml@main
+    secrets:
+      store-login: ${{ secrets.STORE_LOGIN }}
+    with:
+      branch-name: ${{ inputs.branch-name == '' && github.ref || inputs.branch-name }}
+      snap-name: foxglove-bridge
+      publish: ${{ github.event_name == 'push' || ( github.event_name == 'workflow_dispatch' && inputs.branch-name != '' ) }}

From d866eb9efc65417bcc73ba5c9c2993842e7952d3 Mon Sep 17 00:00:00 2001
From: Guillaumebeuzeboc <guillaume.beuzeboc@gmail.com>
Date: Fri, 5 Apr 2024 11:11:20 +0200
Subject: [PATCH 10/13] ci(monthly): add a monthly build

---
 .github/workflows/monthly.yaml | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 .github/workflows/monthly.yaml

diff --git a/.github/workflows/monthly.yaml b/.github/workflows/monthly.yaml
new file mode 100644
index 0000000..8864caa
--- /dev/null
+++ b/.github/workflows/monthly.yaml
@@ -0,0 +1,11 @@
+name: Monthly
+on:
+  schedule:
+    - cron: '0 0 1 * *'
+  workflow_dispatch:
+
+jobs:
+  main:
+    uses: canonical/ros-foxglove-bridge/.github/workflows/snap.yaml@main
+    with:
+      branch-name: "main"

From 12b0ff5eb8bf82928898bc35b2289979fff51ea1 Mon Sep 17 00:00:00 2001
From: Guillaumebeuzeboc <guillaume.beuzeboc@gmail.com>
Date: Fri, 5 Apr 2024 17:18:25 +0200
Subject: [PATCH 11/13] fix(ci): simplify publication condition

---
 .github/workflows/snap.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/snap.yaml b/.github/workflows/snap.yaml
index 235d9bc..1fea76e 100644
--- a/.github/workflows/snap.yaml
+++ b/.github/workflows/snap.yaml
@@ -22,4 +22,4 @@ jobs:
     with:
       branch-name: ${{ inputs.branch-name == '' && github.ref || inputs.branch-name }}
       snap-name: foxglove-bridge
-      publish: ${{ github.event_name == 'push' || ( github.event_name == 'workflow_dispatch' && inputs.branch-name != '' ) }}
+      publish: ${{ github.event_name == 'push' || github.event_name == 'workflow_dispatch' }}

From 80168325af1db7a3dc55d09a4e39fb7a5fd68fe0 Mon Sep 17 00:00:00 2001
From: Guillaumebeuzeboc <guillaume.beuzeboc@gmail.com>
Date: Mon, 8 Apr 2024 11:46:59 +0200
Subject: [PATCH 12/13] fix(ci): reusable workflow path

---
 .github/workflows/monthly.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/monthly.yaml b/.github/workflows/monthly.yaml
index 8864caa..849ec11 100644
--- a/.github/workflows/monthly.yaml
+++ b/.github/workflows/monthly.yaml
@@ -6,6 +6,6 @@ on:
 
 jobs:
   main:
-    uses: canonical/ros-foxglove-bridge/.github/workflows/snap.yaml@main
+    uses: ubuntu-robotics/ros-foxglove-bridge/.github/workflows/snap.yaml@main
     with:
       branch-name: "main"

From 02a34d1af6284b484f0edc94e79fba5692d2f805 Mon Sep 17 00:00:00 2001
From: Guillaumebeuzeboc <guillaume.beuzeboc@gmail.com>
Date: Mon, 3 Jun 2024 15:36:31 +0200
Subject: [PATCH 13/13] fix(snap): ros-humble-dataspeed-dbw-msgs got removed

https://discourse.ros.org/t/new-packages-and-patch-release-for-humble-hawksbill-2024-05-23/37872#removed-packages-4-4
---
 snap/snapcraft.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 4f67f4b..20080a1 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -78,7 +78,6 @@ parts:
       - ros-humble-control-msgs
       - ros-humble-controller-manager-msgs
       - ros-humble-create-msgs
-      - ros-humble-dataspeed-dbw-msgs
       - ros-humble-dataspeed-ulc-msgs
       - ros-humble-dbw-fca-msgs
       - ros-humble-dbw-ford-msgs