From 8dec500702c573ad34e9faf4d43c8cae51e35afa Mon Sep 17 00:00:00 2001
From: sfalexrog <sfalexrog@gmail.com>
Date: Sun, 7 Apr 2019 17:50:31 +0300
Subject: [PATCH] builder: Add ros_ws281x package

---
 builder/assets/rosled.service | 14 ++++++++++++++
 builder/image-build.sh        |  1 +
 builder/image-ros.sh          |  9 ++++++++-
 builder/test/tests.sh         |  1 +
 4 files changed, 24 insertions(+), 1 deletion(-)
 create mode 100644 builder/assets/rosled.service

diff --git a/builder/assets/rosled.service b/builder/assets/rosled.service
new file mode 100644
index 00000000..03b399e4
--- /dev/null
+++ b/builder/assets/rosled.service
@@ -0,0 +1,14 @@
+[Unit]
+Description=ROS ws281x support
+Requires=roscore.service
+After=roscore.service
+
+[Service]
+EnvironmentFile=/lib/systemd/system/roscore.env
+ExecStart=/opt/ros/kinetic/bin/roslaunch ros_ws281x clever4.launch --wait --screen
+Restart=on-failure
+RestartSec=3
+TimeoutSec=infinity
+
+[Install]
+WantedBy=multi-user.target
diff --git a/builder/image-build.sh b/builder/image-build.sh
index a9fdb25a..76d2ccb4 100755
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -112,6 +112,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_pyt
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add PX4 udev rules
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-px4fmu.rules' '/lib/udev/rules.d/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/rosled.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
diff --git a/builder/image-ros.sh b/builder/image-ros.sh
index ff96d971..b67956da 100755
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -137,6 +137,10 @@ fi
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
+echo_stamp "Adding ros_ws281x ROS package"
+cd /home/pi/catkin_ws/src
+git clone https://github.com/sfalexrog/ros_ws281x
+
 echo_stamp "Installing CLEVER" \
 && cd /home/pi/catkin_ws/src/clever \
 && git status \
@@ -145,7 +149,7 @@ echo_stamp "Installing CLEVER" \
 && my_travis_retry pip install wheel \
 && my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
 && source /opt/ros/kinetic/setup.bash \
-&& catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
+&& catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DROS_WS2811_REAL_LIB=ON \
 && catkin_make run_tests \
 && catkin_test_results \
 && systemctl enable roscore \
@@ -153,6 +157,9 @@ echo_stamp "Installing CLEVER" \
 && echo_stamp "All CLEVER was installed!" "SUCCESS" \
 || (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
 
+echo_stamp "Enabling ROS LED service"
+systemctl enable rosled
+
 echo_stamp "Build CLEVER documentation"
 cd /home/pi/catkin_ws/src/clever
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
diff --git a/builder/test/tests.sh b/builder/test/tests.sh
index bb36f3c9..e544145d 100755
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -46,3 +46,4 @@ rosversion rosserial
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
+rosversion ros_ws281x