trifinger_base_pylon.def

# Add Pylon SDK to the image
# This is not included in the original image due to possible license issues.
Bootstrap: localimage
From: ./trifinger_base.sif

%post -c /bin/bash
    set -e
    export DEBIAN_FRONTEND=noninteractive

    # The code below for downloading Pylon is taken from
    # https://github.com/basler/pylon-ros-camera/blob/ed094fad02eed38af830a052c7420befc6483ef3/pylon_camera/rosdep/pylon_sdk.rdmanifest
    # and is distributed with the following license:
    #
    # Copyright (C) 2018, Magazino GmbH. All rights reserved.
    #
    # Improved by drag and bot GmbH (www.dragandbot.com), 2019
    #
    # Redistribution and use in source and binary forms, with or without
    # modification, are permitted provided that the following conditions are met:
    #
    # 1. Redistributions of source code must retain the above copyright notice,
    #    this list of conditions and the following disclaimer.
    # 2. Redistributions in binary form must reproduce the above copyright
    #    notice, this list of conditions and the following disclaimer in the
    #    documentation and/or other materials provided with the distribution.
    # 3. Neither the names of Magazino GmbH nor the names of its
    #    contributors may be used to endorse or promote products derived from
    #    this software without specific prior written permission.
    #
    # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    # POSSIBILITY OF SUCH DAMAGE.

    arch="$(uname -m)"
    if [ "$arch" == "armv7l" ]; then
        pkgarch="armhf"
    elif [ "$arch" == "aarch64" ]; then
        pkgarch="arm64"
    elif [ "$arch" == "arm64" ]; then
        pkgarch="arm64"
    elif [ "$arch" == "x86_64" ]; then
        pkgarch="amd64"
    else
        pkgarch="i386"
    fi

    version="5.2.0.13457"
    checksum=9d4f70aae93012d6ca21bb4aff706ce409da155a446e86b90d00f0dd0a26fd55
    pkg=pylon_${version}-deb0_${pkgarch}.deb
    url="https://dnb-public-downloads-misc.s3.eu-central-1.amazonaws.com/pylon/${pkg}"
    download_path="/_cache/${pkg}"

    # only download if not existing
    if [ ! -e "${download_path}" ]; then
        wget --no-check-certificate -O "${download_path}" $url
    fi
    # verify checksum (to make sure the package on the server wasn't modified)
    echo "${checksum} ${download_path}" | sha256sum --check || exit 2

    dpkg -i "${download_path}"


%help
    Container for building the BLMC_EI/ROBOT_FINGER project.
    Run it with `singularity shell` at the root of your workspace, set up the
    environment by executing `source /setup.sh` and build with `colcon build`.

    This version of the image contains the Pylon Camera Software Suite needed to
    operate the Basler cameras.  The license of this software can be found in
    `/opt/pylon5/share/pylon/License.html` inside this image.  You may only use
    it if you accept its license.