Makefile

ROS_DISTRO := humble
ROS_PACKAGE := deepdrive
ROS_ROOT := /ros_ws

RUNTIME ?= nvidia
# RUNTIME=runc
GPU_FLAG ?= --gpus all
# GPU_FLAG

# on machine without nvidia gpu
# make dockersimshell RUNTIME=runc GPU_FLAG:=

rosdeps:
	rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ./src/${ROS_PACKAGE} > ${ROS_PACKAGE}.rosinstall

.PHONY: docker
docker:
	docker build -t ${ROS_PACKAGE} .

.PHONY: dockershell
# dockershell: 
dockershell: docker
	docker run \
		--network=host \
		--runtime $(RUNTIME) \
		-it \
		--name deepdrive \
		--rm \
		--privileged \
		$(GPU_FLAG) \
		-e DISPLAY=${DISPLAY} \
		-e PYTHONBUFFERED=1 \
		-v /dev/:/dev/ \
		-v /tmp:/tmp \
		-v /proc/device-tree/compatible:/proc/device-tree/compatible \
		-v /proc/device-tree/chosen:/proc/device-tree/chosen \
		--device /dev/gpiochip0 \
		--device /dev/snd \
		-v /etc/timezone:/etc/timezone:ro \
		-v /etc/localtime:/etc/localtime:ro \
		--mount source=${PWD}/,target=/ros_ws,type=bind \
		-v ${PWD}/.cache/huggingface:/root/.cache/huggingface \
		${ROS_PACKAGE} 

		# TODO: See if we need these
		# -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
		# -v ${HOME}/.Xauthority:/root/.Xauthority:ro \
		# -v ${PWD}/.session.yml:/root/.session.yml \
		# -v ${PWD}/.tmux.conf:/root/.tmux.conf \
		# -e JETSON_MODEL_NAME="JETSON_ORIN_NANO" \


.PHONY: dockersim
dockersim: 
	docker build -t ${ROS_PACKAGE}-sim -f Dockerfile.simulator .

.PHONY: dockersimshell
dockersimshell: dockersim
	# xhost +local:docker
	docker run \
		--network=host \
		--runtime $(RUNTIME) \
		-it \
		--name deepdrive-sim \
		--rm \
		--mount source=${PWD}/src,target=/ros_ws/src,type=bind \
		--privileged \
		$(GPU_FLAG) \
		-e DISPLAY=${DISPLAY} \
		-e PYTHONBUFFERED=1 \
		-v /etc/timezone:/etc/timezone:ro \
		-v /etc/localtime:/etc/localtime:ro \
		-v /tmp/deepdrive:/tmp \
		-v "/tmp/.gazebo/:/root/.gazebo/" \
		--device=/dev/bus/usb:/dev/bus/usb \
		${ROS_PACKAGE}-sim

# Use this to develop on mac with docker
.PHONY: dockerdev
dockerdev: 
	docker build --platform linux/arm64/v8 -t ${ROS_PACKAGE}-dev -f Dockerfile.dev .

.PHONY: dockerdevshell
dockerdevshell: dockerdev
	xhost +local:docker
	docker run \
		--platform linux/arm64/v8 \
		--network=host \
		-it \
		--name deepdrive-dev \
		-v ${PWD}:${ROS_ROOT}/ \
		--privileged \
		-e DISPLAY=${DISPLAY} \
		-e PYTHONBUFFERED=1 \
		-v /etc/timezone:/etc/timezone:ro \
		-v /etc/localtime:/etc/localtime:ro \
		-v /tmp \
		-v "/root/.gazebo/" \
		--device=/dev/bus/usb:/dev/bus/usb \
		${ROS_PACKAGE}-dev bash


# Host networking not currently working for x11 (novnc)
# --network=host