Merge/deformable infantry

.script/build-rmcs

@@ -11,6 +11,46 @@ fi
 
 cd "${RMCS_PATH}"/rmcs_ws || exit 1
 
+check_default_dir_restorable() {
+    local link_name="$1"
+    local expected_prefix="$2"
+
+    if [[ ! -L "${link_name}" ]]; then
+        return
+    fi
+
+    local target
+    target="$(readlink "${link_name}")"
+    if [[ "${target}" != "${expected_prefix}"-cross-* && "${target}" != */"${expected_prefix}"-cross-* ]]; then
+        echo "> ERROR: ${RMCS_PATH}/rmcs_ws/${link_name} is a symlink to ${target}."
+        echo "> It is not a build-rmcs-cross default link. Fix it before running build-rmcs."
+        exit 1
+    fi
+}
+
+restore_default_dir() {
+    local link_name="$1"
+
+    if [[ ! -L "${link_name}" ]]; then
+        return
+    fi
+
+    local target
+    target="$(readlink "${link_name}")"
+
+    rm "${link_name}" || exit 1
+    mkdir -p "${link_name}" || exit 1
+    echo "> Restored ${RMCS_PATH}/rmcs_ws/${link_name} from ${target} symlink."
+}
+
+check_default_dir_restorable build build
+check_default_dir_restorable install install
+check_default_dir_restorable log log
+
+restore_default_dir build
+restore_default_dir install
+restore_default_dir log
+
 [[ -x /opt/cmake/bin/cmake ]] &&
     export PATH="/opt/cmake/bin:$PATH"
 

.script/build-rmcs-cross

@@ -7,15 +7,17 @@ set -euo pipefail
 usage() {
     cat <<'EOF'
 Usage:
-  build-rmcs-cross --target-arch <arm64|amd64> [colcon build args...]
+  build-rmcs-cross --target-arch <arm64|amd64> [--link-default] [colcon build args...]
 
 Examples:
   build-rmcs-cross --target-arch arm64
+  build-rmcs-cross --target-arch arm64 --link-default
   build-rmcs-cross --target-arch amd64 --packages-up-to rmcs_executor
 EOF
 }
 
 target_arch=""
+link_default=0
 colcon_args=()
 
 while (($# > 0)); do
@@ -33,6 +35,10 @@ while (($# > 0)); do
         target_arch="${1#*=}"
         shift
         ;;
+    --link-default)
+        link_default=1
+        shift
+        ;;
     -h | --help)
         usage
         exit 0
@@ -150,6 +156,30 @@ build_base="build-cross-${RMCS_TARGET_ARCH}"
 install_base="install-cross-${RMCS_TARGET_ARCH}"
 log_base="log-cross-${RMCS_TARGET_ARCH}"
 
+check_default_linkable() {
+    local target="$1"
+    local link_name="$2"
+
+    if [[ ! -d "${target}" ]]; then
+        echo "> ERROR: Cross build output not found: ${workspace}/${target}"
+        exit 1
+    fi
+
+    if [[ -e "${link_name}" && ! -L "${link_name}" ]]; then
+        echo "> ERROR: Cannot link ${workspace}/${link_name} -> ${target}."
+        echo "> ${workspace}/${link_name} exists and is not a symlink. Move or remove it first."
+        exit 1
+    fi
+}
+
+link_default_base() {
+    local target="$1"
+    local link_name="$2"
+
+    ln -sfnT "${target}" "${link_name}"
+    echo "> Linked ${workspace}/${link_name} -> ${target}"
+}
+
 CLICOLOR_FORCE=1 NINJA_STATUS="" \
     colcon \
     --log-base "${log_base}" \
@@ -163,3 +193,13 @@ CLICOLOR_FORCE=1 NINJA_STATUS="" \
     -DRMCS_TARGET_ARCH="${RMCS_TARGET_ARCH}" \
     -DRMCS_SYSROOT="${RMCS_SYSROOT}" \
     -DRMCS_TARGET_TRIPLET="${RMCS_TARGET_TRIPLET}"
+
+if ((link_default)); then
+    check_default_linkable "${build_base}" build
+    check_default_linkable "${install_base}" install
+    check_default_linkable "${log_base}" log
+
+    link_default_base "${build_base}" build
+    link_default_base "${install_base}" install
+    link_default_base "${log_base}" log
+fi

.script/complete/_build-rmcs-cross

@@ -2,4 +2,5 @@
 
 _arguments \
   '--target-arch=[Cross compile target architecture]:target:(arm64 amd64)' \
+  '--link-default[Link build/install/log to cross build output directories]' \
   '*:colcon build args:'