Setup ccache - save the planet

flake.nix

@@ -76,6 +76,7 @@
               jrl-cmakemodulesv2 = inputs.jrl-cmakemodulesv2.packages.${prev.system}.default;
               jrl-cmakemodulesv2-test = inputs.jrl-cmakemodulesv2-test.packages.${prev.system}.default;
             })
+            (import ./overlay-ccache.nix {})
           ];
           pkgs = import inputs.nixpkgs {
             inherit system overlays;
@@ -127,10 +128,22 @@
             # Creates a custom devShell with all dependencies required to build mc_mujoco as defined in its derivation,
             # but without actually building the derivation
             # This can be used to test building the mc_mujoco app manually with all dependencies available (and a working find_pacakge)
+            mc-rtc = pkgs.mkShell {
+              inputsFrom = [ pkgs.mc-rtc ];
+              buildInputs = [ pkgs.ninja ];
+            };
             mc-mujoco = pkgs.mkShell {
               inputsFrom = [ pkgs.mc-mujoco ];
               buildInputs = [ pkgs.ninja ];
             };
+            mc-panda = pkgs.mkShell {
+              inputsFrom = [ pkgs.mc-panda ];
+              buildInputs = [ pkgs.ninja ];
+            };
+            mc-panda-lirmm = pkgs.mkShell {
+              inputsFrom = [ pkgs.mc-panda-lirmm ];
+              buildInputs = [ pkgs.ninja ];
+            };
             mc-rtc-imgui = pkgs.mkShell {
               inputsFrom = [ pkgs.mc-rtc-imgui ];
               buildInputs = [ pkgs.ninja ];

overlay-ccache.nix

@@ -0,0 +1,69 @@
+{}:
+
+final: prev:
+let
+  withCCache = packages: with builtins; listToAttrs (map
+    (name: {
+      inherit name; value = (getAttr name prev).override { stdenv = prev.ccacheStdenv; };
+    })
+    packages);
+in
+{
+  ccacheWrapper = prev.ccacheWrapper.override {
+    extraConfig = ''
+      export CCACHE_COMPRESS=1
+      export CCACHE_DIR="/var/cache/ccache"
+      export CCACHE_UMASK=007
+      # export CCACHE_SLOPPINESS=random_seed
+      export CCACHE_SLOPPINESS=time_macros,include_file_mtime,file_macro,locale,pch_defines,random_seed
+      # - `time_macros`: Ignore changes in __DATE__ and __TIME__ macros.
+      # - `include_file_mtime`: Ignore changes in the mtime of included files.
+      # - `file_macro`: Ignore changes in the __FILE__ macro.
+      # - `locale`: Ignore locale differences.
+      # - `pch_defines`: Ignore differences in precompiled header defines.
+      # - mandatory: `random_seed`: Ignore random seed differences (already in your config).
+      if [ ! -d "$CCACHE_DIR" ]; then
+        echo "====="
+        echo "Directory '$CCACHE_DIR' does not exist"
+        echo "Please create it with:"
+        echo "  sudo mkdir -m0770 '$CCACHE_DIR'"
+        echo "  sudo chown root:nixbld '$CCACHE_DIR'"
+        echo "====="
+        exit 1
+      fi
+      if [ ! -w "$CCACHE_DIR" ]; then
+        echo "====="
+        echo "Directory '$CCACHE_DIR' is not accessible for user $(whoami)"
+        echo "Please verify its access permissions"
+        echo "====="
+        exit 1
+      fi
+    '';
+  };
+} // withCCache [
+  "spacevecalg"
+  "rbdyn"
+  "sch-core"
+  "eigen-qld"
+  "eigen-quadprog"
+  "tasks"
+  "tvm"
+  "mc-rtc-magnum"
+  "mc-rtc-magnum-standalone"
+  "mc-panda"
+  "mc-panda-lirmm"
+  "libpoco"
+  "libfranka"
+  "mc-franka"
+  "panda-prosthesis"
+
+  "mc-force-shoe-plugin"
+
+  "magnum"
+  "magnum-integration"
+  "magnum-plugins"
+  "mc_rtc-imgui"
+
+  # "mc-rtc-rviz-panel" # how to make it work for buildRosPackage?
+  # "mc-rtc"
+]

pkgs/mc-rtc-magnum/standalone.nix

@@ -25,7 +25,7 @@ stdenv.mkDerivation {
   #   fetchsubmodules = true;
   # };
   src = if useLocal then
-    builtins.trace "Using local workspace for mc_rtc-magnum: ${localWorkspace}/mc_rtc-magnum"
+    builtins.trace "Using local workspace for mc_rtc-magnum: ${localWorkspace}/mc_rtc-magnum-standalone"
     (builtins.path {
       path = "${localWorkspace}/mc_rtc-magnum-standalone";
       name = "mc_rtc-magnum-src";

shell.nix

@@ -50,6 +50,9 @@ pkgs.mkShell {
     # FIXME this flag gets too huge and gcc fails
     export NIX_CFLAGS_COMPILE=""
 
+    # FIXME we might need to run ros2 daemon stop && ros2 daemon start
+    export ROS_DOMAIN_ID=100
+
     echo "======================================="
     echo "  mc-rtc-superbuild interactive shell  "
     echo "======================================="