From de4fa2cc84fc819176ce3b3aa73a014436b1344d Mon Sep 17 00:00:00 2001
From: husarion <dominik.nwk@gmail.com>
Date: Thu, 29 Aug 2024 11:04:24 +0200
Subject: [PATCH] added hardware-observer to plugs for Raspberry Pi

---
 justfile                       | 24 +++++++++++++++++---
 snap/snapcraft.yaml            | 41 ++++++++++++++++++++++++++++++----
 snapcraft_template.yaml.jinja2 |  4 +---
 3 files changed, 59 insertions(+), 10 deletions(-)

diff --git a/justfile b/justfile
index 45cb2e9..e09ef70 100644
--- a/justfile
+++ b/justfile
@@ -39,7 +39,7 @@ clean:
     export SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS=1
     snapcraft clean   
 
-iterate target="humble":
+iterate target="jazzy":
     #!/bin/bash
     start_time=$(date +%s)
     
@@ -83,7 +83,7 @@ iterate target="humble":
 
 swap-enable:
     #!/bin/bash
-    sudo fallocate -l 3G /swapfile
+    sudo fallocate -l 2G /swapfile
     sudo chmod 600 /swapfile
     sudo mkswap /swapfile
     sudo swapon /swapfile
@@ -114,4 +114,22 @@ publish:
     #!/bin/bash
     export SNAPCRAFT_STORE_CREDENTIALS=$(cat exported.txt)
     snapcraft login
-    snapcraft upload --release edge husarion-astra*.snap
\ No newline at end of file
+    snapcraft upload --release edge husarion-depthai*.snap
+
+list-lxd-cache:
+    #!/bin/bash
+    sudo du -h --max-depth=1 /var/snap/lxd/common/lxd/storage-pools/default/containers/ | sort -h
+
+remove-lxd-cache:
+    #!/bin/bash
+    lxc project switch snapcraft
+
+    for container in $(lxc list --format csv -c n); do
+        lxc delete $container --force
+    done
+
+    echo "verify:"
+    sudo du -h --max-depth=1 /var/snap/lxd/common/lxd/storage-pools/default/containers/
+    df -h
+
+    lxc project switch default
\ No newline at end of file
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 310b8f8..e171832 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -51,12 +51,23 @@ slots:
     interface: shared-memory
     write: ['*'] # paths are relative to /dev/shm
 
+  c189-slot:
+    interface: custom-device
+    custom-device: c189
+    files:
+      write:
+        - /run/udev/data/c189:*
+
 plugs:
   shm-plug:
     interface: shared-memory
     shared-memory: shm-slot
     private: false
 
+  c189-plug:
+    interface: custom-device
+    custom-device: c189
+
 apps:
 
   daemon:
@@ -71,8 +82,8 @@ apps:
   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]
-    # plugs: [network, network-bind, shm-plug, raw-usb, system-observe, hardware-observe, network-control, network-observe, camera, browser-support]
+    
+    plugs: [network, network-bind, shm-plug, raw-usb, system-observe, hardware-observe, network-control, network-observe, camera, browser-support]
     # block-devices, 
     slots: [shm-slot]
     extensions: [ros2-jazzy-ros-base]
@@ -115,7 +126,7 @@ parts:
       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"
+      craftctl set grade="stable"
 
   
 
@@ -149,4 +160,26 @@ parts:
       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
\ No newline at end of file
+      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
\ No newline at end of file
diff --git a/snapcraft_template.yaml.jinja2 b/snapcraft_template.yaml.jinja2
index df27cc2..b20a95b 100644
--- a/snapcraft_template.yaml.jinja2
+++ b/snapcraft_template.yaml.jinja2
@@ -71,9 +71,7 @@ apps:
   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]
-    # plugs: [network, network-bind, shm-plug, raw-usb, system-observe, hardware-observe, network-control, network-observe, camera, browser-support]
-    # block-devices, 
+    plugs: [network, network-bind, shm-plug, raw-usb, hardware-observe]
     slots: [shm-slot]
     extensions: [ros2-{{ ros_distro }}-ros-base]