docker.sh

#!/bin/bash

if [ $# -eq 0 ]; then
  echo "Usage: $0 <command>"
  echo "  where <command> is one of: build, run"
  exit 1
fi

is_valid_ip() {
  local ip=$1
  local valid_ip_regex="^([0-9]{1,3}\.){3}[0-9]{1,3}$"

  if [[ $ip =~ $valid_ip_regex ]]; then
    # Check if each octet is between 0 and 255
    IFS='.' read -r -a octets <<< "$ip"
    for octet in "${octets[@]}"; do
      if (( octet < 0 || octet > 255 )); then
        return 1
      fi
    done
    return 0
  else
    return 1
  fi
}

build() {
  cd docker || { echo "Could not find docker directory"; exit 1; }
  build_args=()
  cohda_llc_include_dir=""
  while [[ $# -gt 0 ]]; do
    case $1 in
      --no-cache)
        build_args+=("--no-cache")
        shift
        ;;
      --build-cohda)
        shift
        cohda_llc_include_dir="$1"
        if [ -z "$cohda_llc_include_dir" ]; then
          echo "Missing path to Cohda LLC library"
          exit 1
        fi
        if [ ! -d "$cohda_llc_include_dir" ]; then
          echo "Directory not found: $cohda_llc_include_dir"
          exit 1
        fi
        ;;
      *)
        shift
        ;;
    esac
  done

  if [ -n "$cohda_llc_include_dir" ]; then
    echo "Building with Cohda LLC support"
    echo "Cohda LLC include directory: $cohda_llc_include_dir"
    cp -fr "$cohda_llc_include_dir" cohda
  else
    echo "Building without Cohda LLC support"
  fi

  docker build -t "autoware_v2x" "${build_args[@]}" .
  rm -rf cohda >/dev/null 2>&1
  exit $?
}

if [ "$1" == "build" ]; then
  build "$@"
elif [ "$1" == "run" ]; then
  if [ "$#" -ne 5 ]; then
    echo "Usage: $0 run </path/to/autoware_v2x.param.yaml> <ros_domain_id> <ros_network_interface> <master_ip>"
    exit 1
  fi
  if [ ! -f "$2" ]; then
    echo "File not found: $2"
    exit 1
  fi
  if [ ! -r "$2" ]; then
    echo "File not readable: $2"
    exit 1
  fi
  if [ "${2: -5}" != ".yaml" ]; then
    echo "File is not a .yaml file: $2"
    exit 1
  fi
  if [ ! -s "$2" ]; then
    echo "File is empty: $2"
    exit 1
  fi

  hostname_ip=$(ifconfig "$4" | grep 'inet ' | awk '{print $2}')
  if [ -z "$hostname_ip" ]; then
    echo "Couldn't find ip address for interface: $4"
    exit 1
  fi
  if ! is_valid_ip "$5"; then
    echo "Invalid ROS master ip address: $5"
    exit 1
  fi

  if ! docker image inspect "autoware_v2x" &> /dev/null; then
    echo "Docker image not found. Do you want to build it now? [y/N]"
    read -r response
    if [[ "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
      build
    else
      exit 1
    fi
  fi

  cp -f docker/.env.example docker/.env
  sed -i "s/ROS_DOMAIN_ID=.*/ROS_DOMAIN_ID=$3/" docker/.env
  sed -i "s/ROS_HOSTNAME=.*/ROS_HOSTNAME=$hostname_ip/" docker/.env
  sed -i "s/ROS_MASTER_URI=.*/ROS_MASTER_URI=http:\/\/$5:11311/" docker/.env

  PARAM_FILE=$(realpath "$2")
  MOUNT_OPTIONS="type=bind,source=$PARAM_FILE,target=/v2x/install/autoware_v2x/share/autoware_v2x/config/autoware_v2x.param.yaml"

  docker run -d --rm \
    --mount "${MOUNT_OPTIONS}" \
    --privileged \
    --name autoware_v2x \
    --network host \
    --env-file "docker/.env" \
    autoware_v2x

  rm -f docker/.env

  exit $?
else
  echo "Usage: $0 <command>"
  echo "  where <command> is one of: build, run"
  exit 1
fi