trifinger.def

# Install the BLMC_EI project software in the image so it can be used without
# building
Bootstrap: localimage
From: {{ BASE_IMAGE }}

%arguments
    BASE_IMAGE=trifinger_base.sif
    REALTIME_BUILD=false

%files
    {{ WS_DIR }} /opt/blmc_ei

%post -c /bin/bash
    set -o errexit
    set -o nounset
    set -o pipefail

    NOW=`date`
    echo "export IMAGE_BUILD_DATE=\"${NOW}\"" >> $SINGULARITY_ENVIRONMENT

    cd /opt/blmc_ei

    # store git revision of each package (so we know which versions were used)
    for d in src/*/
    do
        echo "${d#*/}"
        git -C "$d" describe --always 2> /dev/null
        git --no-pager -C "$d" show --pretty='[%cs] %d: %s' --no-patch 2> /dev/null
        git -C "$d" status -s 2> /dev/null
        echo ""
    done > git_status.txt

    # explicitly set OS version to preempt-rt if REALTIME_BUILD=true
    if [ {{ REALTIME_BUILD }} = true ]; then
        CMAKE_ARG_OS_VERSION=-DOS_VERSION=preempt-rt
    else
        CMAKE_ARG_OS_VERSION=
    fi

    bash -c ". /setup.bash; colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ${CMAKE_ARG_OS_VERSION}"
    echo ". /opt/blmc_ei/install/local_setup.bash" >> /setup.bash

    # cleanup build and source files to reduce image size
    rm -rf build src log

%runscript
    # run something with environment set up
    bash -c ". /setup.bash; $*"