run.bash

#!/usr/bin/env bash

#
# Copyright (C) 2018 Open Source Robotics Foundation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#

# Runs a docker container with the image created by build.bash
# Requires:
#   docker
#   nvidia-docker
#   an X server
#   rocker
# Recommended:
#   A joystick mounted to /dev/input/js0 or /dev/input/js1
############################################################
# Help                                                     #
############################################################
Help()
{
  # Display Help
  echo "Runs a docker container with the image created by build.bash."
  echo
  echo "Syntax: $(basename $0) [-p <host_port>] [-c|i|r|s|t|h] <docker_img_name>"
  echo "options:"
  echo "r     With internal graphics card (without nvidia) and with RDP. The default user in container is 'docker' due to RDP constraints (custom host port can be set via the -p option)"
  echo "c     Add cuda library support."
  echo "i     With internal graphics card (without nvidia)"
  echo "p     Override host RDP port (follow syntax for usage, only affects -r option)"
  echo "s     Create an image with novnc for use with cloudsim."
  echo "t     Create a test image for use with CI pipelines."
  echo "x     Create base image for the VRX competition server."
  echo "h     Print this help message and exit."
  
  echo
}


JOY=/dev/input/js0
CUDA=""
HOST_RDP_PORT=3389
ROCKER_ARGS="--devices /dev/dri $JOY --dev-helpers --nvidia --x11 --git --volume "$HOME":/root/HOST"

while getopts ":cstxhirp:" option; do
  case $option in
    c) # enable cuda library support 
      CUDA="--cuda";;
    i) # With internal graphics card (without nvidia)
      ROCKER_ARGS="--devices /dev/dri $JOY --x11 --git --volume "$HOME":/root/HOST";;
    r) # With internal graphics card (without nvidia) and with RDP. 
      # The default user in container is 'docker' due to RDP constraints (custom host port can be set via the -p option)
      # shellcheck disable=SC2116
      ROCKER_ARGS="--devices /dev/dri $JOY --x11 --git --port "$HOST_RDP_PORT":3389 --volume "$HOME":/home/docker/HOST";;
    s) # Build cloudsim image
      ROCKER_ARGS="--nvidia --novnc --turbovnc --user --user-override-name=developer";;
    t) # Build test image for Continuous Integration 
      echo "Building CI image"
      ROCKER_ARGS="--dev-helpers --nvidia";;
    x) # Build VRX Competition base image
      echo "Building VRX Competition server base image"
      ROCKER_ARGS="--dev-helpers --devices $JOY --nvidia --x11 --user --user-override-name=developer";;
    h) # print this help message and exit
      Help
      exit;; 
    p) # Override host RDP port
      HOST_RDP_PORT=$OPTARG;;
    :) #handle missing arguments
      echo "Error: Option -$OPTARG requires an argument." >&2
      exit 1;;  
    \?) # handle unrecognized options
      echo "Invalid option: -$OPTARG" >&2
      exit 1;;
  esac
done

IMG_NAME=${@:$OPTIND:1}

# Replace `:` with `_` to comply with docker container naming
# And append `_runtime`
CONTAINER_NAME="$(tr ':' '_' <<< "$IMG_NAME")_runtime"
ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"

rocker ${CUDA} ${ROCKER_ARGS} $IMG_NAME