build-docker.sh

#!/bin/bash

# Copyright (c) 2020, 2023  Carnegie Mellon University, IBM Corporation, and others
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.

## termination hook
trap ctrl_c INT QUIT TERM

function ctrl_c() {
    exit
}

source ./cabot-common/build-utils.sh

function help {
    echo "Usage: $0 <option>"
    echo "$0 [<option>] [<targets>]"
    echo ""
    echo "-h                    show this help"
    echo "-n                    no cache option to build docker image"
    echo "-t <time_zone>        set time zone"
    echo "-u <uid>              replace uid"
    echo '-p ["<targets>"]      prebuild images'
    echo "-i                    build images"
    echo "-w                    build workspace"
    echo "-c                    camera target (default=\"realsense framos\", set \"realsense\" for RealSense, and \"framos\" for FRAMOS camera)"
    echo "-o                    build host ws"

    if [[ ${#dcfiles[@]} -gt 0 ]]; then
	echo "Available services:"
	show_available_services dcfiles
    fi
}

pwd=$(pwd)
scriptdir=$(dirname $0)
cd $scriptdir
scriptdir=$(pwd)
prefix=$(basename $scriptdir)
build_dir=$scriptdir/cabot-common/docker

option="--progress=auto"
time_zone=$(cat /etc/timezone)
uid=$UID
prebuild=0
build_image=0
build_workspace=0
build_host_ws=0
camera_targets="realsense framos"

export DOCKER_BUILDKIT=1
export COMPOSE_DOCKER_CLI_BUILD=1

prebuild_target="navigation drivers people"
targets=()
debug=false
while [[ $# -gt 0 ]]; do
    case "$1" in
	-h)
	    help
	    exit
	    ;;
        -n)
            option="$option --no-cache"
            ;;
        -t)
            time_zone=$2
	    shift
            ;;
	-u)
            uid=$2
	    shift
            ;;
	-p)
            prebuild=1
	    if [[ $# -gt 1 ]] && [[ $2 != -* ]]; then
		prebuild_target=$2
		shift
	    fi
	    ;;
	-i)
            build_image=1
            ;;
        -w)
            build_workspace=1
            ;;
    -c)
        camera_targets=$2
        shift
        ;;
	-d)
	    debug=true
	    ;;
	-o)
	    build_host_ws=1
	    ;;
	--)
	    ;;
	*)
	    targets+=($1)
	    ;;
    esac
    shift
done

if $debug; then
    echo "prebuild : $prebuild, $prebuild_target"
    echo "build    : $build_image, ${targets[@]}"
    echo "workspace: $build_workspace, ${targets[@]}"
    echo "option   : $option"
    echo "time_zone: $time_zone"
    echo "uid      : $uid"
fi

if [[ $prebuild -eq 1 ]]; then
    for target in $prebuild_target; do
	blue "# Prebuild $target"
	if [ $target = "people" ]; then
        ./cabot-$target/build-docker.sh -P $prefix -t $time_zone -u $uid -o "$option" -c "$camera_targets"
    else
        ./cabot-$target/build-docker.sh -P $prefix -t $time_zone -u $uid -o "$option"
    fi
	if [ $? -ne 0 ]; then exit 1; fi
    done
fi

readarray -t dcfiles < <(ls docker-compose* | grep -v jetson_mate | grep -v vs)

arch=$(uname -m)
if [ $arch != "x86_64" ] && [ $arch != "aarch64" ]; then
    red "Unknown architecture: $arch"
    exit 1
fi

if [[ $build_image -eq 1 ]]; then
    build_image dcfiles targets option time_zone uid prefix arch camera_targets
    if [ $? != 0 ]; then exit 1; fi
fi

if [[ $build_workspace -eq 1 ]]; then
    build_workspace dcfiles targets arch debug
    if [ $? != 0 ]; then exit 1; fi
fi

if [[ $build_host_ws -eq 1 ]]; then
    cd $scriptdir/host_ws
    source /opt/ros/$ROS_DISTRO/setup.bash

    blue "build host_ws"
    if $debug; then
	blue "colcon build --symlink-install"
	colcon build --symlink-install
    else
	blue "colcon build"
	colcon build
    fi
    if [ $? != 0 ]; then exit 1; fi
fi

if [[ $prebuild -eq 0 ]] && [[ $build_image -eq 0 ]] && [[ $build_workspace -eq 0 ]] && [[ $build_host_ws -eq 0 ]]; then
    help
fi