Fix/removed message

.github/workflows/monthly.yaml

@@ -0,0 +1,11 @@
+name: Monthly
+on:
+  schedule:
+    - cron: '0 0 1 * *'
+  workflow_dispatch:
+
+jobs:
+  main:
+    uses: ubuntu-robotics/ros-foxglove-bridge/.github/workflows/snap.yaml@main
+    with:
+      branch-name: "main"

.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' }}

snap/hooks/configure

@@ -0,0 +1,8 @@
+#!/bin/bash -e
+
+$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
+

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
+

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
+

snap/hooks/install

@@ -0,0 +1,3 @@
+#!/bin/sh -e
+
+. $SNAP/usr/bin/reset_config.sh

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
+

snap/local/launch.sh

@@ -0,0 +1,38 @@
+#!/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
+use-compression
+capabilities
+include-hidden
+asset-uri-allowlist"
+
+for OPTION in ${OPTIONS}; do
+  VALUE="$(snapctl get ${OPTION})"
+  if [ -n "${VALUE}" ]; then
+    LAUNCH_OPTIONS="${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}

snap/local/reset_config.sh

@@ -0,0 +1,23 @@
+#!/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 use-compression!
+snapctl set capabilities!
+snapctl set include-hidden!
+snapctl set asset-uri-allowlist!

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.
+