Add system.bash support

clearpath_config/sample/sensors/flir_blackfly.yaml

@@ -1,5 +1,9 @@
 serial_number: a300-0000
 version: 0
+system:
+  bash:
+    env:
+      SPINNAKER_GENTL64_CTI: /opt/ros/jazzy/lib/spinnaker-gentl/Spinnaker_GenTL.cti
 sensors:
   camera:
     - model: flir_blackfly

clearpath_config/system/bash.py

@@ -0,0 +1,97 @@
+# Software License Agreement (BSD)
+#
+# @author    Chris Iverach-Brereton <[email protected]>
+# @copyright (c) 2025, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * 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.
+# * Neither the name of Clearpath Robotics 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 HOLDER 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.
+import os
+from typing import List
+
+from clearpath_config.common.types.config import BaseConfig
+from clearpath_config.common.utils.dictionary import flip_dict
+
+
+class BashConfig(BaseConfig):
+    """
+    Contains additional BASH sources and envars.
+
+    These are passed to the generator for inclusion in setup.bash.
+    """
+
+    SOURCE = 'source'
+    ENV = 'env'
+
+    TEMPLATE = {
+        SOURCE: SOURCE,
+        ENV: ENV,
+    }
+
+    KEYS = flip_dict(TEMPLATE)
+
+    DEFAULTS = {
+        SOURCE: [],
+        ENV: {},
+    }
+
+    def __init__(
+        self,
+        config: dict = {},
+        source: List[str] = DEFAULTS[SOURCE],
+        env: dict = DEFAULTS[ENV],
+    ) -> None:
+        self._env = {}
+        self._source = []
+
+        setters = {
+            self.KEYS[self.SOURCE]: BashConfig.additional_sources,
+            self.KEYS[self.ENV]: BashConfig.additional_envars,
+        }
+
+        super().__init__(setters, config)
+
+        self.additional_envars = env
+        self.additional_sources = source
+
+    @property
+    def additional_sources(self) -> List[str]:
+        return self._source
+
+    @additional_sources.setter
+    def additional_sources(self, sources: List[str]) -> None:
+        self._source.clear()
+        for f in sources:
+            assert isinstance(f, str), f'Bash source {f} must be a string'
+            assert os.path.exists(f), f'Bash source {f} does not exist'
+            self._source.append(f)
+
+    @property
+    def additional_envars(self) -> dict:
+        return self._env
+
+    @additional_envars.setter
+    def additional_envars(self, envars: dict) -> None:
+        self._env.clear()
+        for env in envars:
+            assert isinstance(env, str), f'Environment variable {env} must be a string'
+            self._env[env] = str(envars[env])

clearpath_config/system/system.py

@@ -35,6 +35,7 @@
 from clearpath_config.common.types.namespace import Namespace
 from clearpath_config.common.types.username import Username
 from clearpath_config.common.utils.dictionary import flip_dict
+from clearpath_config.system.bash import BashConfig
 from clearpath_config.system.hosts import HostConfig, HostListConfig
 from clearpath_config.system.middleware import MiddlewareConfig
 
@@ -51,6 +52,7 @@ class SystemConfig(BaseConfig):
     DOMAIN_ID = 'domain_id'
     MIDDLEWARE = MiddlewareConfig.MIDDLEWARE
     WORKSPACES = 'workspaces'
+    BASH = 'bash'
 
     TEMPLATE = {
         SYSTEM: {
@@ -63,7 +65,8 @@ class SystemConfig(BaseConfig):
                 DOMAIN_ID: DOMAIN_ID,
                 MIDDLEWARE: MIDDLEWARE,
                 WORKSPACES: WORKSPACES
-            }
+            },
+            BASH: BASH,
         }
     }
 
@@ -83,7 +86,9 @@ class SystemConfig(BaseConfig):
         # Discovery Server Disabled
         MIDDLEWARE: MiddlewareConfig.DEFAULTS,
         # Workpaces: empty list
-        WORKSPACES: []
+        WORKSPACES: [],
+        # additional bash environment
+        BASH: BashConfig.DEFAULTS,
     }
 
     def __init__(
@@ -95,7 +100,8 @@ def __init__(
             namespace: str | Namespace = DEFAULTS[NAMESPACE],
             domain_id: int | DomainID = DEFAULTS[DOMAIN_ID],
             middleware: dict | MiddlewareConfig = DEFAULTS[MIDDLEWARE],
-            workspaces: list = DEFAULTS[WORKSPACES]
+            workspaces: list = DEFAULTS[WORKSPACES],
+            bash: dict | BashConfig = DEFAULTS[BASH],
             ) -> None:
         # Initialization
         self._config = {}
@@ -106,6 +112,7 @@ def __init__(
         self.domain_id = domain_id
         self.middleware = middleware
         self.workspaces = workspaces
+        self.bash = bash
         # Setter Template
         setters = {
             self.KEYS[self.HOSTS]: SystemConfig.hosts,
@@ -115,6 +122,7 @@ def __init__(
             self.KEYS[self.DOMAIN_ID]: SystemConfig.domain_id,
             self.KEYS[self.MIDDLEWARE]: SystemConfig.middleware,
             self.KEYS[self.WORKSPACES]: SystemConfig.workspaces,
+            self.KEYS[self.BASH]: SystemConfig.bash,
         }
         # Set from Config
         super().__init__(setters, config, self.SYSTEM)
@@ -272,3 +280,20 @@ def workspaces(self, value: list) -> None:
         assert all([isinstance(i, str) for i in value]), (  # noqa:C419
             'Workspaces must be "list" of "str"')
         self._workspaces = value
+
+    @property
+    def bash(self) -> BashConfig:
+        return self._bash
+
+    @bash.setter
+    def bash(self, bash: dict | BashConfig) -> None:
+        if isinstance(bash, dict):
+            self._bash = BashConfig(
+                source=bash.get('source', []),
+                env=bash.get('env', {}),
+            )
+        elif isinstance(bash, BashConfig):
+            self._bash = bash
+        else:
+            assert isinstance(bash, dict) or isinstance(bash, BashConfig), \
+                'Bash configuration must be of type "dict" or "BashConfig"'