Initial commit.

.codespellrc

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+# Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/spell-check/.codespellrc
+# See: https://github.com/codespell-project/codespell#using-a-config-file
+[codespell]
+# In the event of a false positive, add the problematic word, in all lowercase, to a comma-separated list here:
+ignore-words-list = ,
+skip = ./.git,./.licenses,__pycache__,node_modules,./go.mod,./go.sum,./package-lock.json,./poetry.lock,./yarn.lock,./external
+builtin = clear,informal,en-GB_to_en-US
+check-filenames =
+check-hidden =

.github/dependabot.yml

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+# See: https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#about-the-dependabotyml-file
+version: 2
+
+updates:
+  # Configure check for outdated GitHub Actions actions in workflows.
+  # Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/dependabot/README.md
+  # See: https://docs.github.com/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot
+  - package-ecosystem: github-actions
+    directory: / # Check the repository's workflows under /.github/workflows/
+    schedule:
+      interval: daily
+    labels:
+      - "topic: ci"

.github/workflows/spell-check.yml

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+# Source: https://github.com/per1234/.github/blob/main/workflow-templates/spell-check.md
+name: Spell Check
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Tuesday at 8 AM UTC to catch new misspelling detections resulting from dictionary updates.
+    - cron: "0 8 * * TUE"
+  workflow_dispatch:
+  repository_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  spellcheck:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Spell check
+        uses: codespell-project/actions-codespell@master

.github/workflows/sync-labels.yml

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+# Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/sync-labels.md
+name: Sync Labels
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+    paths:
+      - ".github/workflows/sync-labels.ya?ml"
+      - ".github/label-configuration-files/*.ya?ml"
+  pull_request:
+    paths:
+      - ".github/workflows/sync-labels.ya?ml"
+      - ".github/label-configuration-files/*.ya?ml"
+  schedule:
+    # run every Tuesday at 3 AM UTC
+    - cron: "0 3 * * 2"
+  workflow_dispatch:
+  repository_dispatch:
+
+env:
+  CONFIGURATIONS_FOLDER: .github/label-configuration-files
+  CONFIGURATIONS_ARTIFACT: label-configuration-files
+
+jobs:
+  check:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Download JSON schema for labels configuration file
+        id: download-schema
+        uses: carlosperate/[email protected]
+        with:
+          file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json
+          location: ${{ runner.temp }}/label-configuration-schema
+
+      - name: Install JSON schema validator
+        run: |
+          sudo npm install \
+            --global \
+            ajv-cli \
+            ajv-formats
+
+      - name: Validate local labels configuration
+        run: |
+          # See: https://github.com/ajv-validator/ajv-cli#readme
+          ajv validate \
+            --all-errors \
+            -c ajv-formats \
+            -s "${{ steps.download-schema.outputs.file-path }}" \
+            -d "${{ env.CONFIGURATIONS_FOLDER }}/*.{yml,yaml}"
+
+  download:
+    needs: check
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        filename:
+          # Filenames of the shared configurations to apply to the repository in addition to the local configuration.
+          # https://github.com/107-systems/.github/blob/main/workflow-templates/assets/sync-labels
+          - universal.yml
+
+    steps:
+      - name: Download
+        uses: carlosperate/[email protected]
+        with:
+          file-url: https://raw.githubusercontent.com/107-systems/.github/main/workflow-templates/assets/sync-labels/${{ matrix.filename }}
+
+      - name: Pass configuration files to next job via workflow artifact
+        uses: actions/upload-artifact@v3
+        with:
+          path: |
+            *.yaml
+            *.yml
+          if-no-files-found: error
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+
+  sync:
+    needs: download
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Set environment variables
+        run: |
+          # See: https://docs.github.com/en/actions/reference/workflow-commands-for-github-actions#setting-an-environment-variable
+          echo "MERGED_CONFIGURATION_PATH=${{ runner.temp }}/labels.yml" >> "$GITHUB_ENV"
+
+      - name: Determine whether to dry run
+        id: dry-run
+        if: >
+          github.event == 'pull_request' ||
+          github.ref != format('refs/heads/{0}', github.event.repository.default_branch)
+        run: |
+          # Use of this flag in the github-label-sync command will cause it to only check the validity of the
+          # configuration.
+          echo "::set-output name=flag::--dry-run"
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Download configuration files artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+          path: ${{ env.CONFIGURATIONS_FOLDER }}
+
+      - name: Remove unneeded artifact
+        uses: geekyeggo/delete-artifact@v2
+        with:
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+
+      - name: Merge label configuration files
+        run: |
+          # Merge all configuration files
+          shopt -s extglob
+          cat "${{ env.CONFIGURATIONS_FOLDER }}"/*.@(yml|yaml) > "${{ env.MERGED_CONFIGURATION_PATH }}"
+
+      - name: Install github-label-sync
+        run: sudo npm install --global github-label-sync
+
+      - name: Sync labels
+        env:
+          GITHUB_ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          # See: https://github.com/Financial-Times/github-label-sync
+          github-label-sync \
+            --labels "${{ env.MERGED_CONFIGURATION_PATH }}" \
+            ${{ steps.dry-run.outputs.flag }} \
+            ${{ github.repository }}

.gitignore

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+.idea/

LICENSE

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+MIT License
+
+Copyright (c) 2023 Alexander Entinger, MSc / LXRobotics GmbH
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
+:floppy_disk: `viper-docker`
+============================
+[![Spell Check status](https://github.com/107-systems/viper-docker/actions/workflows/spell-check.yml/badge.svg)](https://github.com/107-systems/viper-docker/actions/workflows/spell-check.yml)
+
+Dockerfile and scripts to run [viper](https://github.com/107-systems/viper) generic drone software stack on the [Pika Spark](https://pika-spark.io/).
+
+<p align="center">
+  <a href="https://github.com/107-systems/viper"><img src="https://github.com/107-systems/.github/raw/main/logo/viper.jpg" width="40%"></a>
+</p>
+
+#### How-to-Docker
+This section is for building and executing this ROS node on the [Pika Spark](https://pika-spark.io/) via [Docker](https://www.docker.com/). You have to `cd docker/build-and-run` or `cd docker/devel` and then build and run the docker container.
+```bash
+./docker-build.sh
+sudo ./docker-run.sh
+```

docker/build-and-run/Dockerfile

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+FROM docker.io/arm64v8/ros:humble-ros-base
+
+WORKDIR /tmp
+RUN git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
+RUN mkdir build && cd build
+RUN cmake .. && make -j8
+RUN sudo make install
+
+RUN git clone https://github.com/catchorg/Catch2 && cd Catch2
+RUN mkdir build && cd build
+RUN cmake .. && make -j8
+RUN sudo make install
+
+RUN git clone https://github.com/fmtlib/fmt && cd fmt
+RUN mkdir build && cd build
+RUN cmake -DFMT_TEST=OFF ..
+RUN make -j8
+RUN sudo make install
+
+RUN git clone https://github.com/mpusz/mp-units && cd mp-units
+RUN mkdir build && cd build
+RUN cmake -DMP_UNITS_AS_SYSTEM_HEADERS=ON -DMP_UNITS_BUILD_LA=OFF ..
+RUN make -j8
+RUN sudo make install
+
+RUN mkdir -p /tmp/colcon_ws/src
+WORKDIR /tmp/colcon_ws/src
+RUN git clone --recursive https://github.com/107-systems/viper
+
+WORKDIR /tmp/colcon_ws
+RUN . /opt/ros/humble/setup.sh && \
+    colcon_ws build --symlink-install
+
+COPY start.sh /
+RUN chmod ugo+x /start.sh
+
+ENTRYPOINT ["/start.sh"]

docker/build-and-run/docker-build.sh

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+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+docker build --pull --no-cache --tag pika_spark_docker_build_and_run .

docker/build-and-run/docker-run.sh

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+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+if [ "$(id -u)" != "0" ]; then
+  echo "This script must be run as root."
+  exit 1
+fi
+
+CAN=can0
+CAN_BITRATE=250000
+GPIO_CAN0_STBY=160
+
+echo "Configuring $CAN for a bitrate of $CAN_BITRATE bits/s"
+
+function finish
+{
+  ip link set $CAN down
+  echo 1 > /sys/class/gpio/gpio$GPIO_CAN0_STBY/value
+  echo $GPIO_CAN0_STBY > /sys/class/gpio/unexport
+}
+trap finish EXIT
+
+echo $GPIO_CAN0_STBY > /sys/class/gpio/export
+echo out > /sys/class/gpio/gpio$GPIO_CAN0_STBY/direction
+echo 0 > /sys/class/gpio/gpio$GPIO_CAN0_STBY/value
+
+ip link set $CAN type can bitrate $CAN_BITRATE
+ip link set $CAN up
+
+sudo -u fio ifconfig $CAN
+
+docker run -it \
+   -u 0 \
+   --privileged \
+   --network host \
+   pika_spark_docker_build_and_run

docker/build-and-run/start.sh

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+#!/bin/sh
+cd tmp/colcon_ws
+. /opt/ros/humble/setup.sh
+. install/setup.sh
+ros2 launch viper viper-quad.py

docker/devel/Dockerfile

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+FROM docker.io/arm64v8/ros:humble-ros-base
+
+WORKDIR /tmp
+RUN git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
+RUN mkdir build && cd build
+RUN cmake .. && make -j8
+RUN sudo make install
+
+RUN git clone https://github.com/catchorg/Catch2 && cd Catch2
+RUN mkdir build && cd build
+RUN cmake .. && make -j8
+RUN sudo make install
+
+RUN git clone https://github.com/fmtlib/fmt && cd fmt
+RUN mkdir build && cd build
+RUN cmake -DFMT_TEST=OFF ..
+RUN make -j8
+RUN sudo make install
+
+RUN git clone https://github.com/mpusz/mp-units && cd mp-units
+RUN mkdir build && cd build
+RUN cmake -DMP_UNITS_AS_SYSTEM_HEADERS=ON -DMP_UNITS_BUILD_LA=OFF ..
+RUN make -j8
+RUN sudo make install
+
+RUN mkdir -p /tmp/colcon_ws/src
+WORKDIR /tmp/colcon_ws/src
+RUN git clone --recursive https://github.com/107-systems/viper
+
+WORKDIR /tmp/colcon_ws
+RUN . /opt/ros/humble/setup.sh && \
+    colcon_ws build --symlink-install

docker/devel/docker-build.sh

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+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+docker build --pull --no-cache --tag pika_spark_docker_devel .

docker/devel/docker-run.sh

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+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+if [ "$(id -u)" != "0" ]; then
+  echo "This script must be run as root."
+  exit 1
+fi
+
+CAN=can0
+CAN_BITRATE=250000
+GPIO_CAN0_STBY=160
+
+echo "Configuring $CAN for a bitrate of $CAN_BITRATE bits/s"
+
+function finish
+{
+  ip link set $CAN down
+  echo 1 > /sys/class/gpio/gpio$GPIO_CAN0_STBY/value
+  echo $GPIO_CAN0_STBY > /sys/class/gpio/unexport
+}
+trap finish EXIT
+
+echo $GPIO_CAN0_STBY > /sys/class/gpio/export
+echo out > /sys/class/gpio/gpio$GPIO_CAN0_STBY/direction
+echo 0 > /sys/class/gpio/gpio$GPIO_CAN0_STBY/value
+
+ip link set $CAN type can bitrate $CAN_BITRATE
+ip link set $CAN up
+
+sudo -u fio ifconfig $CAN
+
+docker run -it \
+   -u 0 \
+   --privileged \
+   --network host \
+   pika_spark_docker_devel sh