run.sh

#!/bin/bash

# BSD 3-Clause License
#
# Copyright (c) 2023, Ekumen 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:
#
# 1. Redistributions of source code must retain the above copyright notice, this
#    list of conditions and the following disclaimer.
#
# 2. 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.
#
# 3. Neither the name of the copyright holder 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.

set +e

# Prints information about usage.
function show_help() {
  echo $'\nUsage:\t run.sh [OPTIONS] \n
  Options:\n
  \t-i --image_name\t\t Name of the image to be run (default ros2_humble_andino).\n
  \t-c --container_name\t Name of the container(default ros2_humble_andino_container).\n
  \t--use_nvidia\t\t Use nvidia runtime.\n
  Examples:\n
  \trun.sh\n
  \trun.sh --image_name custom_image_name --container_name custom_container_name \n'
}

# Returns true when the path is relative, false otherwise.
#
# Arguments
#   $1 -> Path
function is_relative_path() {
  case $1 in
    /*) return 1 ;; # false
    *) return 0 ;;  # true
  esac
}

echo "Running the container..."

# Location of the repository
REPOSITORY_FOLDER_PATH="$(cd "$(dirname "$0")"; cd ..; pwd)"
REPOSITORY_FOLDER_NAME=$( basename $REPOSITORY_FOLDER_PATH )

DSIM_REPOS_PARENT_FOLDER_PATH="$(cd "$(dirname "$0")"; cd ..; pwd)"
# Location from where the script was executed.
RUN_LOCATION="$(pwd)"

# Parse arguments
while [[ "$#" -gt 0 ]]; do
    case $1 in
        -i|--image_name) IMAGE_NAME="${2}"; shift ;;
        -c|--container_name) CONTAINER_NAME="${2}"; shift ;;
        -h|--help) show_help ; exit 1 ;;
        --use_nvidia) NVIDIA_FLAGS="--gpus=all -e NVIDIA_DRIVER_CAPABILITIES=all" ;;
        *) echo "Unknown parameter passed: $1"; exit 1 ;;
    esac
    shift
done

# Update the arguments to default values if needed.

IMAGE_NAME=${IMAGE_NAME:-ros2_humble_andino}
CONTAINER_NAME=${CONTAINER_NAME:-ros2_humble_andino_container}

SSH_PATH=/home/$USER/.ssh
WORKSPACE_SRC_CONTAINER=/home/$(whoami)/ws/src/$REPOSITORY_FOLDER_NAME
WORKSPACE_ROOT_CONTAINER=/home/$(whoami)/ws
SSH_AUTH_SOCK_USER=$SSH_AUTH_SOCK

# Create cache folders to store colcon build files
mkdir -p ${REPOSITORY_FOLDER_PATH}/.build
mkdir -p ${REPOSITORY_FOLDER_PATH}/.install

# Transfer the ownership to the user
chown -R "$USER" ${REPOSITORY_FOLDER_PATH}/.build
chown -R "$USER" ${REPOSITORY_FOLDER_PATH}/.install

# Check if name container is already taken.
if sudo -g docker docker container ls -a | grep "${CONTAINER_NAME}$" -c &> /dev/null; then
   printf "Error: Docker container called $CONTAINER_NAME is already opened.     \
   \n\nTry removing the old container by doing: \n\t docker rm $CONTAINER_NAME   \
   \nor just initialize it with a different name.\n"
   exit 1
fi

xhost +
sudo docker run --privileged --net=host -it $NVIDIA_FLAGS \
       -e DISPLAY=$DISPLAY \
       -e SSH_AUTH_SOCK=$SSH_AUTH_SOCK_USER \
       -v $(dirname $SSH_AUTH_SOCK_USER):$(dirname $SSH_AUTH_SOCK_USER) \
       -v /tmp/.X11-unix:/tmp/.X11-unix \
       -v ${REPOSITORY_FOLDER_PATH}:$WORKSPACE_SRC_CONTAINER \
       -v ${REPOSITORY_FOLDER_PATH}/.build:$WORKSPACE_ROOT_CONTAINER/build:rw \
       -v ${REPOSITORY_FOLDER_PATH}/.install:$WORKSPACE_ROOT_CONTAINER/install:rw \
       -v $SSH_PATH:$SSH_PATH \
       --name $CONTAINER_NAME $IMAGE_NAME
xhost -

# Trap workspace exits and give the user the choice to save changes.
function onexit() {
  while true; do
    read -p "Do you want to overwrite the image called '$IMAGE_NAME' with the current changes? [y/n]: " answer
    if [[ "${answer:0:1}" =~ y|Y ]]; then
      echo "Overwriting docker image..."
      sudo docker commit $CONTAINER_NAME $IMAGE_NAME
      break
    elif [[ "${answer:0:1}" =~ n|N ]]; then
      break
    fi
  done
  docker stop $CONTAINER_NAME > /dev/null
  docker rm $CONTAINER_NAME > /dev/null
}

trap onexit EXIT