wvu_srcp2_final

#! /usr/bin/env bash
# IMAGE TAG MODIFIED FROM ORIGINAL VERSION 
#
# Space Robotics Challenge, Phase 2
# Copyright (c) 2019-2021, NASA-JSC. All Rights Reserved
# Unauthorized Distribution Strictly Prohibited
#

# move to this directory
_this_dir="$( cd "$(dirname "$0")" ; pwd -P )"
pushd `pwd` > /dev/null 2>&1
cd $_this_dir

docker login

# Source helper scripts
source "srcp2_setup.bash"
source "gpu_and_x.bash"

log_dir="$(cd ~; pwd)/.srcp2"
image_tag="wvu-competitor:latest"
container_name="srcp2-final"

# simulation params
run_endless="false"
run_gui="true"
sim_seed="42"
use_noise="true"
base_model_path=""

# robot team config
config_file="" # use default

# developer
dev_command=""
host_gazebo_path=$(cd ~; pwd)/.gazebo
host_ros_path=$(cd ~; pwd)/.ros

# container constraints
use_local="false"
cpus=3
mem="4g"

# XServer
xsock="/tmp/.X11-unix"
xauth="/tmp/.docker.xauth"

# Main SIM Ros Master Network Name
simalias_name="simmaster"
srcp2net_name="srcp2net"

function help(){
    echo -e "${B}Summary:${rs}

    This script manages the docker containers necessary to run the Space 
    Robotics Simulation (Final). It starts the Docker containers, and 
    configures the host correctly for XServer forwarding.
    
    Note that all short-form options are case-sensitive

${B}General Options:${rs}
    
    ${B}-h | --help${rs}
        Show this message and quit

    ${B}-C | --config-file${rs}
        Absolute path (on host) to configuration YAML file. At minimum, this
        file must contain the following fields:
            ${b}team:${rs}
                ${b}scouts:     ${rs}<integer-number-of-scouts>
                ${b}excavators: ${rs}<integer-number-of-excavators>
                ${b}haulers:    ${rs}<integer-number-of-haulers>

        Other debug options are available, but these will be overriden at
        scoring runtime. These are also subject to change without warning.
        See the wiki for valid configuration file fields 

    ${B}-s | --strict${rs}
        Interpret the configuration strictly, according to the scoring rules
        This will ignore all non-competitor configuration settings

    ${B}-l | --log${rs}
        Set the log directory path. Several logfiles are created as part of launching
        the simulation, they live here. Defaults to ${b}$log_dir${rs}.
    
    ${B}-n | --no-gui${rs}
        Run the the simulation in a headless mode, without the Gazebo GUI

 
${B}Dev and Testing Options${rs}
    These are container commands and configuration that are used by
    developers and testers. Competitors ${B}may${rs} use these for debugging, but 
    will ${B}not${rs} be able to set them at scoring runtime.

    ${B}-d | --dev${rs}
        Use this to pass the appropriate build/test/run argument.
        Valid arguments are:
            ${b}build${rs}   -- build the codebase (and the deployment install)
            ${b}clean${rs}   -- same as 'build', but force a clean build
            ${b}install${rs} -- build the install version for competitor deployment
            ${b}test${rs}    -- run all unit and integration tests
            ${b}run${rs}     -- run the sim (same as running without --dev) 

        Example: ${b}run_srcp2_final --dev build${rs}

        ${y}Warning:${rs} Running this as a competitor is undefined and will
        throw docker permission errors.

    ${B}-L | --local-docker${rs}
        Use the local versions of the docker images (if they exist). This overrides
        the default behaviour, which is to search for updates each time this
        script is run.

   ${B}-i | --interactive${rs}
        Simply launch as normal, but override all runtime args with
        interactive BASH shell

   ${B}-c | --cpus${rs}
        Set number of CPUs available to this container. Default is ${cpus}

   ${B}-m | --mem${rs}
        Set GB of RAM available to this container. Default is ${mem}
        Throttling this may result in undefined behavior

   ${B}-D | --detach${rs}
        Detach Option for Docker Run. 


${B}Copyright${rs}
    
    Space Robotics Challange, Phase 2
    Copyright (c) 2019, 2020, 2021, NASA-JSC. All Rights Reserved
    Unauthorized Distribution Strictly Prohibited
"
}

# ______________________________________________________________________________________________________________________
echo_header
echo -e "${B}From host system:${rs}\n"

for arg in "$@"; do
  shift
  case "$arg" in
    "--help")         set -- "$@" "-h" ;;
    "--config-file")  set -- "$@" "-C" ;;
    "--strict")       set -- "$@" "-s" ;; 
    "--log")          set -- "$@" "-l" ;;
    "--no-gui")       set -- "$@" "-n" ;;
    #
    "--dev")          set -- "$@" "-d" ;;
    "--local-docker") set -- "$@" "-L" ;;
    "--interactive")  set -- "$@" "-i" ;;
    #
    "--cpus")         set -- "$@" "-c";;
    "--mem")          set -- "$@" "-m";;
    "--detach")       set -- "$@" "-D";;
    *) set -- "$@" "$arg"
  esac
done

OPTIND=1
while getopts hC:sl:nd:Lic:m:D arg; do
    case $arg in

        h)
            help
            exit 0
            ;;
        d)
            image_tag="scheducation/srcp2_devel:final_developer"
            dev_command=$OPTARG
            ;;
        l)
            log_dir=$OPTARG
            ;;
        L)
            use_local="true"
            ;;
        C)
            config_file=$OPTARG
            ;;
        s)
            strict="true"
            ;;
        n)
            run_gui="false"
            ;;
        L)
            use_local="true"
            ;;
        i)
            interactive="-it"
            override_command="/bin/bash"
            ;;
        c)
            cpus=$OPTARG
            ;;
        m)
            mem="${OPTARG}g"
            ;;
        D)
            detach_option="-d"
            ;;


        *)
            echo -e "$echo_error input option '$arg' is not supported"
            quit_with_popd 1
            ;;
    esac
done

if [ -z $config_file ]; then
    echo -e "$echo_warn no config file set, using default"
    config_file="<container-default>"
    config_volume=""
    config_env="--env SRCP2_CONFIG_FILE_PATH=/home/srcp2/config/config_defaults.yaml"
else
    if [ ! -f $config_file ]; then
        echo -e "$echo_error unable to find config file ${b}$config_file${rs} on host"
        exit 1
    fi
    config_volume="--volume $config_file:/home/srcp2/config/config_user.yaml"
    config_env="--env SRCP2_CONFIG_FILE_PATH=/home/srcp2/config/config_user.yaml"
    echo -e "$echo_ok found configuration YAML file"
fi

# nvidia checks
if ! nvidia_host_check; then
    echo -e "$echo_error Nvidia check fails"
    exit 1
fi
echo -e "$echo_ok Checking Nvidia complete"

# x-server
if [[ "$run_gui" == "true" ]]; then
    echo -e "$echo_ok Running with graphical GUI"
else
    echo -e "$echo_ok Running headless, no GUI will display"
fi
if ! x_host_setup; then
    echo -e "$echo_error Host X-Server setup failed"
    exit 1
fi
echo -e "$echo_ok XServer ok"

# logging setup
if [ -d $log_dir ]; then
    if ! rm -rf $log_dir; then
        echo -e "$echo_error Unable to remove old log dir at ${b}$log_dir${rs}"
        exit 1
    fi
fi
if ! mkdir -p $log_dir; then
    echo -e "$echo_error unable to set up log directory ${b}$log_dir${rs}"
    exit 1
fi
echo -e "$echo_ok logging setup complete"

# update docker images
if [[ "$use_local" == "false" ]]; then
    if ! docker pull $image_tag; then
        echo -e "$echo_error Docker pull failed"
        exit 1
    fi
    echo -e "$echo_ok image update complete"
else
    echo -e "$echo_warn Using local versions of the docker images, will ${B}not${rs} check Dockerhub for updates"
fi

# mount src ros-workspace? (dev only)
src_volumes=""
cmp_volumes=""

base_model_path="/home/srcp2/ros_workspace/install/share/srcp2_models_final/" # this is the path for competitors (default)
#
if [[ "$image_tag" == *"_dev"* ]]; then

    src_host_path=$(cd ../../ros_workspace && pwd)
    cmp_host_path=$(cd ../../cmp_workspace && pwd)
    
    if [[ ! -d $src_host_path ]]; then
        echo -e "$echo_error This machine does not have access to sim source code. ${r}Cannot run as developer!${rs} Nice try"
        exit 1
    fi

    if [[ ! -d $cmp_host_path ]]; then
        echo -e "$echo_error This machine does not have access to cmp source code. ${r}Cannot run as developer!${rs} Nice try"
        exit 1
    fi

    src_volumes="--volume=${src_host_path}:/home/srcp2/ros_workspace:rw"
    cmp_volumes="--volume=${cmp_host_path}:/home/srcp2/cmp_workspace:rw"
    base_model_path="/home/srcp2/ros_workspace/src/srcp2_models_final/"
fi

# Display run state information to user (dev and comp)
echo
echo -e "$echo_info running image:  ${b}$image_tag${rs}"
echo -e "$echo_info container name: ${b}$container_name${rs}"
echo -e "$echo_info runtime logs:   ${b}$log_dir${rs}"
echo -e "$echo_info gazebo logs:    ${b}$host_gazebo_path${rs}"
echo -e "$echo_info ros logs:       ${b}$host_ros_path${rs}"
echo -e "$echo_info config file:    ${b}$config_file${rs}"

if [ -z $interactive ]; then
    echo
    echo -e "$echo_info Simulation container started. Gazebo startup typically takes a few seconds"
    echo -e "$echo_info run ${b}docker kill $container_name${rs} to stop, or await sim timeout"
else
    echo
    echo -e "$echo_info Running in interactive mode. Starting a BASH shell..."
fi

echo
echo -e "$echo_info Confirming Network Setup: ${b} Network Setup${rs}..."
if ! docker network ls | grep -q "$srcp2net_name"; then
    echo -e "$echo_info Setting up as ${b} Bridge $srcp2net_name${rs}"
    docker network create --driver=bridge $srcp2net_name
    echo 
else
    echo -e "$echo_info Existing network found: ${b}$srcp2net_name${rs}"
fi
echo -e "$echo_info Network Setup is now ${b} ready as $srcp2net_name${rs}..."
echo

echo  -e "${B}Cleaning up the .. Host Gazebo Paging Trash before we start it.${rs}"  
rm -rf ${HOME}/.gazebo/paging/

echo -e "${B}________________________________________________________________________________________________________________________${rs}"
echo -e "${B}From Container:${rs}"
echo
docker run --rm $detach_option $interactive \
    \
    --name $container_name \
    --env=TERM="xterm-256color" \
    --tty \
    --user 1001:1001 \
    $interactive \
    \
    --env="DISPLAY"=$DISPLAY \
    --volume="/etc/group:/etc/group:ro"   \
    --volume="/etc/passwd:/etc/passwd:ro" \
    --volume="/etc/shadow:/etc/shadow:ro" \
    \
    --env=XAUTHORITY=$xauth \
    --volume=$xsock:$xsock:rw \
    --volume=$xauth:$xauth:rw \
    --volume=/dev/log:/dev/log:rw \
    \
    --gpus=all \
    --device=/dev/dri:/dev/dri \
    \
    --privileged \
    --network $srcp2net_name \
    --network-alias $simalias_name \
    \
    --env=ROS_MASTER_URI="http://${simalias_name}:11311" \
    --env=SRCP2_RUN_PACKAGE="srcp2_launch" \
    --env=SRCP2_LAUNCH_FILE="final.launch" \
    $config_volume \
    $config_env \
    \
    $src_volumes \
    $cmp_volumes \
    --env SRCP2_DEV_OPTIONS=$dev_command \
    \
    --volume $host_ros_path:"/home/srcp2/.ros":rw \
    --volume $host_gazebo_path:"/home/srcp2/.gazebo":rw \
    --volume $log_dir:"/home/srcp2/logs":rw \
    \
    --cpus=$cpus \
    --memory=$mem \
    --memory-swap="5.0g" \
    \
    --env=ROS_HOME="/home/srcp2" \
    --env=ROSCONSOLE_STDOUT_LINE_BUFFERED="1" \
    \
    --env GAZEBO_MODEL_DATABASE_URI="" \
    --env GAZEBO_MODEL_PATH=\
"${base_model_path}":\
"${base_model_path}terrains"\
    \
    --env GAZEBO_RESOURCE_PATH=\
"${base_model_path}":\
"${base_model_path}terrains":\
"${base_model_path}terrains/lunar_heightmap/textures":\
"/home/srcp2/.gazebo"\
    \
    $image_tag $override_command
exit $?
#"~/.gazebo"\