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Merge pull request #15 from InnopolisAero/pr-improve-docker-usage
improve run scripts and instruction
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,126 @@ | ||
| #!/bin/bash | ||
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| print_help() { | ||
| echo "Wrapper under docker API for Innopolis VTOL Dynamics simulator. | ||
| It encapsulates all necessary docker flags for working with the package and properly handles image versions. | ||
| https://github.com/InnopolisAero/innopolis_vtol_dynamics | ||
| usage: docker.sh [build | pull | push | hitl_inno_vtol | interactive | kill | help] | ||
| Commands: | ||
| build Build docker image. | ||
| pull Pull docker image. | ||
| push Push docker image. | ||
| hitl_inno_vtol Run dynamics simulator in HITL mode for inno_vtol airframe | ||
| hitl_flight_goggles Run dynamics simulator in HITL mode for flight_goggles airframe | ||
| sitl_inno_vtol Run dynamics simulator in SITL mode for inno_vtol airframe | ||
| sitl_flight_goggles Run dynamics simulator in SITL mode for flight_goggles airframe | ||
| interactive Run container in interactive mode. | ||
| test Run tests. | ||
| kill Kill all containers. | ||
| help Print this message and exit" | ||
| } | ||
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| setup_config() { | ||
| TAG_NAME=v0.3.1 | ||
| DOCKERHUB_REPOSITOTY=ponomarevda/uavcan_hitl_dynamics_simulator | ||
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| if uname -m | grep -q 'aarch64'; then | ||
| TAG_NAME="$TAG_NAME""arm64" | ||
| elif uname -m | grep -q 'x86_64'; then | ||
| TAG_NAME="$TAG_NAME""amd64" | ||
| else | ||
| echo "unknown architecture" | ||
| exit | ||
| fi | ||
| DOCKER_CONTAINER_NAME=$DOCKERHUB_REPOSITOTY:$TAG_NAME | ||
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| source ./uavcan_tools/get_sniffer_symlink.sh | ||
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| DOCKER_FLAGS="--privileged -v $DEV_PATH_SYMLINK:$DEV_PATH_SYMLINK \ | ||
| --net=host \ | ||
| -e DEV_PATH_SYMLINK=$DEV_PATH_SYMLINK \ | ||
| -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \ | ||
| -e DISPLAY=$DISPLAY \ | ||
| -e QT_X11_NO_MITSHM=1)" | ||
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| echo "TAG_NAME is" $TAG_NAME | ||
| echo "DOCKER_CONTAINER_NAME is" $DOCKER_CONTAINER_NAME | ||
| echo "DEV_PATH_SYMLINK is" $DEV_PATH_SYMLINK | ||
| } | ||
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| build_docker_image() { | ||
| setup_config | ||
| docker build -t $DOCKER_CONTAINER_NAME .. | ||
| } | ||
|
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| pull_docker_image() { | ||
| setup_config | ||
| docker pull $DOCKER_CONTAINER_NAME | ||
| } | ||
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| push_docker_image() { | ||
| setup_config | ||
| docker push $DOCKER_CONTAINER_NAME | ||
| } | ||
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| hitl_inno_vtol() { | ||
| setup_config | ||
| docker container run --rm $DOCKER_FLAGS $DOCKER_CONTAINER_NAME ./scripts/run_sim.sh hitl_inno_vtol | ||
| } | ||
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| hitl_flight_goggles() { | ||
| setup_config | ||
| docker container run --rm $DOCKER_FLAGS $DOCKER_CONTAINER_NAME ./scripts/run_sim.sh hitl_flight_goggles | ||
| } | ||
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| sitl_inno_vtol() { | ||
| setup_config | ||
| docker container run --rm $DOCKER_FLAGS $DOCKER_CONTAINER_NAME ./scripts/run_sim.sh sitl_inno_vtol | ||
| } | ||
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| sitl_flight_goggles() { | ||
| setup_config | ||
| docker container run --rm $DOCKER_FLAGS $DOCKER_CONTAINER_NAME ./scripts/run_sim.sh sitl_flight_goggles | ||
| } | ||
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| run_interactive() { | ||
| setup_config | ||
| xhost +local:docker | ||
| docker container run --rm -it $DOCKER_FLAGS $DOCKER_CONTAINER_NAME /bin/bash | ||
| } | ||
|
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| kill_all_containers() { | ||
| docker kill $(docker ps -q) | ||
| } | ||
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| test() { | ||
| setup_config | ||
| docker container run --rm $DOCKER_FLAGS $DOCKER_CONTAINER_NAME ./uav_dynamics/inno_vtol_dynamics/catkin_test.sh --docker | ||
| } | ||
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| cd "$(dirname "$0")" | ||
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| if [ "$1" = "build" ]; then | ||
| build_docker_image | ||
| elif [ "$1" = "pull" ]; then | ||
| pull_docker_image | ||
| elif [ "$1" = "push" ]; then | ||
| push_docker_image | ||
| elif [ "$1" = "hitl_inno_vtol" ]; then | ||
| hitl_inno_vtol | ||
| elif [ "$1" = "hitl_flight_goggles" ]; then | ||
| hitl_flight_goggles | ||
| elif [ "$1" = "sitl_inno_vtol" ]; then | ||
| sitl_inno_vtol | ||
| elif [ "$1" = "sitl_flight_goggles" ]; then | ||
| sitl_flight_goggles | ||
| elif [ "$1" = "interactive" ]; then | ||
| run_interactive | ||
| elif [ "$1" = "test" ]; then | ||
| test | ||
| elif [ "$1" = "kill" ]; then | ||
| kill_all_containers | ||
| else | ||
| print_help | ||
| fi |
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