intial version of amp-cli

Autonomous-Motorsports-Purdue · Feb 28, 2022 · 64ef3a0 · 64ef3a0
1 parent fbe8c64
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diff --git a/.dockerignore b/.dockerignore
@@ -1,10 +1,24 @@
+# ROS build directories
+build/
+devel/
+
+# AMP-CLI files
 AMP_CLI.egg-info/
 amp_cli.py
-docker/
-.dockerignore
+setup.py
+__pycache__/
+
+# Git files
 .git/
 .github/
 .gitignore
-__pycache__/
+.gitmodules
 README.md
-setup.py
+
+# Catkin ignore files
+disable_zed.sh
+enable_zed.sh
+
+# Docker
+docker/
+.dockerignore
diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,10 @@
+# ROS build directories
 build/
 devel/
+
+# AMP-CLI files
 __pycache__/
 AMP_CLI.egg-info/
+
+# Catkin ignore files
 CATKIN_IGNORE
diff --git a/README.md b/README.md
@@ -19,17 +19,8 @@ slam\_mode\_goal is intended to put out high-level, ideal cart commands that are
 Takes MoveBaseGoal and converts them to cmd_vel to the simulated kart
 
 # Running 
-* Show available options help
+* To build the amp-cli tool, run:
 ```
-. amd64-docker.sh 0
-```
-
-To build the docker image, have a second argument behind the number.
-* Run intel graphics docker
-```
-. amd64-docker.sh 1
-```
-* Run nvidia graphics docker
-```
-. amd64-docker.sh 2
+pip install .
 ```
+* Run `amp-cli` to view the available options.
diff --git a/amp_cli.py b/amp_cli.py
@@ -10,67 +10,58 @@ def cli():
     """This is the official AMP Software Sub-Team CLI Tool that helps you 
     develop on AMP_ASSv2 using docker containers in your current environment.
 
-    In order to run it, you must be in the root directory of the AMP_ASSv2 repo
-    in order for docker files to build properly.
+    In order to run some of the functions, you must be in the root directory 
+    of the AMP_ASSv2 repo. If there are any features you would like to see,
+    or bugs that need to be fixed, feel free to open an issue or PR!
     """
     pass
 
 
 @cli.command()
-@click.option('-b', '--build', is_flag=True)
+@click.option('-b', '--build', is_flag=True,
+              help='Build the frame container, if not up-to-date.')
 @click.option('--display', default='mesa',
-              type=click.Choice(['mesa', 'nvidia'], case_sensitive=False))
+              type=click.Choice(['mesa', 'nvidia'], case_sensitive=False),
+              help='Choose display driver option.')
 def devel(build: bool, display: str):
     """Develop with current directory mounted on the container.
     """
-    print(display)
-    click.echo('Successfully exited the container')
-
-
-@cli.command()
-@click.option('-b', '--build', is_flag=True,
-              help='Build a new container.')
-@click.option('--display', default='mesa', show_default=True,
-              type=click.Choice(['mesa', 'nvidia'], case_sensitive=False),
-              help='Choose display option.')
-def scratch(build: bool, display: str):
-    """Develop on a fully isolated container.
-    """
     # Initialize docker client environment
     client = docker.from_env()
     cwd = os.getcwd()
+    tag = 'amp-devel:frame-desktop'
 
     # Make sure current directory is AMP_ASSv2
     if cwd.split('/')[-1] != 'AMP_ASSv2':
         raise click.ClickException(click.style(
-            'AMP CLI only works inside root directory of the AMP_ASSv2 local repository', fg='red'))
+            'Devel only works when executed from the root directory of the AMP_ASSv2 local repo.', fg='red'))
 
-    tag = f'amp-ass:{display}'
-    dockerfile = cwd + f'/docker/{display}.Dockerfile'
-
-    # Build container
     if build:
         click.echo('Building containers...')
-        click.echo('Step 1/2: Building amp-base:default')
+
+        click.echo('Step 1/2: Building amp-devel:noetic-desktop.')
         try:
             _ = client.images.build(
-                path=cwd, tag='amp-base:default',
-                dockerfile=(cwd+'/docker/base.Dockerfile'))
+                path=cwd, tag='amp-devel:noetic-desktop',
+                dockerfile=(cwd+'/docker/desktop.Dockerfile'))
             click.secho(
-                f' ---> Finished building amp-base:default', fg='yellow')
+                ' ---> Finished building amp-devel:noetic-desktop.', fg='yellow')
         except Exception as exception:
             raise click.ClickException(exception)
 
-        click.echo(f'Step 2/2: Building {tag}')
+        click.echo(f'Step 2/2: Building {tag}.')
         try:
             _ = client.images.build(
-                path=cwd, tag=tag, dockerfile=dockerfile)
-            click.secho(f' ---> Finished building {tag}', fg='yellow')
+                path=cwd, tag=tag,
+                dockerfile=(cwd+'/docker/frame.Dockerfile'))
+            click.secho(
+                f' ---> Finished building {tag}.', fg='yellow')
         except Exception as exception:
             raise click.ClickException(exception)
 
     try:
         # Run the contianer
+        click.echo(f'Running {tag}...')
         if display == 'mesa':
             container = client.containers.run(
                 tag, stdin_open=True, tty=True, auto_remove=True,
@@ -84,15 +75,89 @@ def scratch(build: bool, display: str):
                 volumes={
                     '/tmp/.X11-unix': {
                         'bind': '/tmp/.X11-unix',
-                        'mode': 'rw'
-                    }
+                        'mode': 'rw',
+                    },
+                    cwd: {
+                        'bind': '/amp_ws',
+                        'mode': 'rw',
+                    },
                 },
                 privileged=True,
                 detach=True)
+        # TODO: NVidia settings
         else:
+            raise click.ClickException('NVidia config WIP')
+        # Attach to the container
+        click.echo('Use [<Ctrl> + D] to stop and exit the container.')
+        click.secho(
+            f'Entering container {container.name}:{container.short_id}.', fg='blue')
+        subprocess.run(['docker', 'attach', container.id])
+        click.secho('Successfully exited and stopped container.', fg='green')
+    except Exception as exception:
+        raise click.ClickException(exception)
+
+
+@cli.command()
+@click.option('-b', '--build', is_flag=True,
+              help='Build the corresponding containers.')
+@click.option('--display', default='mesa', show_default=True,
+              type=click.Choice(['mesa', 'nvidia'], case_sensitive=False),
+              help='Choose display driver option.')
+def scratch(build: bool, display: str):
+    """Develop on a fully isolated container.
+    """
+    # Initialize docker client environment
+    client = docker.from_env()
+    cwd = os.getcwd()
+
+    tag = f'amp-devel:{display}-build'
+    dockerfile = cwd + f'/docker/{display}.Dockerfile'
+
+    # Build container
+    if build:
+        # Make sure current directory is AMP_ASSv2
+        if cwd.split('/')[-1] != 'AMP_ASSv2':
+            raise click.ClickException(click.style(
+                'Build only works inside root directory of the AMP_ASSv2 local repository.', fg='red'))
+
+        click.echo('Building containers...')
+
+        click.echo('Step 1/3: Building amp-devel:noetic-desktop.')
+        try:
+            _ = client.images.build(
+                path=cwd, tag='amp-devel:noetic-desktop',
+                dockerfile=(cwd+'/docker/desktop.Dockerfile'))
+            click.secho(
+                ' ---> Finished building amp-devel:noetic-desktop.', fg='yellow')
+        except Exception as exception:
+            raise click.ClickException(exception)
+
+        click.echo('Step 2/3: Building amp-devel:frame-desktop.')
+        try:
+            _ = client.images.build(
+                path=cwd, tag='amp-devel:frame-desktop',
+                dockerfile=(cwd+'/docker/frame.Dockerfile'))
+            click.secho(
+                ' ---> Finished building amp-devel:frame-desktop.', fg='yellow')
+        except Exception as exception:
+            raise click.ClickException(exception)
+
+        click.echo(f'Step 3/3: Building {tag}.')
+        try:
+            _ = client.images.build(
+                path=cwd, tag=tag, dockerfile=dockerfile)
+            click.secho(f' ---> Finished building {tag}.', fg='yellow')
+        except Exception as exception:
+            raise click.ClickException(exception)
+
+    try:
+        # Run the contianer
+        click.echo(f'Running {tag}...')
+        if display == 'mesa':
             container = client.containers.run(
                 tag, stdin_open=True, tty=True, auto_remove=True,
                 network_mode='host',
+                name='amp-assv2-scratch',
                 environment={
                     'DISPLAY': os.getenv('DISPLAY'),
                     'QT_X11_NO_MITSHM': 1,
@@ -101,16 +166,20 @@ def scratch(build: bool, display: str):
                 volumes={
                     '/tmp/.X11-unix': {
                         'bind': '/tmp/.X11-unix',
-                        'mode': 'rw'
-                    }
+                        'mode': 'rw',
+                    },
                 },
                 privileged=True,
                 detach=True)
-        click.secho(
-            f'Entering container {container.name}:{container.short_id}', fg='blue')
-
+        # TODO: NVidia settings
+        else:
+            raise click.ClickException('NVidia config WIP')
         # Attach to the container
+        click.echo('Use [<Ctrl> + D] to stop and exit the container.')
+        click.secho(
+            f'Entering container {container.name}:{container.short_id}.', fg='blue')
         subprocess.run(['docker', 'attach', container.id])
-        click.secho('Successfully exited and stopped container', fg='green')
+        click.secho('Successfully exited and stopped container.', fg='green')
+
     except Exception as exception:
         raise click.ClickException(exception)
diff --git a/docker/base.Dockerfile b/docker/base.Dockerfile
diff --git a/docker/desktop.Dockerfile b/docker/desktop.Dockerfile
@@ -0,0 +1,5 @@
+FROM ros:noetic-ros-base
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-desktop \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/docker/frame.Dockerfile b/docker/frame.Dockerfile
@@ -0,0 +1,18 @@
+FROM amp-devel:noetic-desktop
+SHELL ["/bin/bash", "-c"]
+WORKDIR /amp_ws
+
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    tmux \
+    curl \
+    wget \
+    vim \
+    libgl1-mesa-glx \
+    libgl1-mesa-dri \
+    mesa-utils \
+    unzip \ 
+    && rm -rf /var/lib/apt/list/* \
+    && rosdep update
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/docker/mesa.Dockerfile b/docker/mesa.Dockerfile
@@ -1,9 +1,14 @@
-FROM amp-base:default
+FROM amp-devel:frame-desktop
 SHELL ["/bin/bash", "-c"]
 WORKDIR /amp_ws
 
-COPY . .
+COPY src ./src
+COPY .catkin_workspace .
+
 RUN . /opt/ros/noetic/setup.bash && \
     rosdep install --from-paths src -r -y && \
-    catkin_make && echo "source /amp_ws/devel/setup.bash" >> ~/.bashrc
+    catkin_make
+RUN echo "source /amp_ws/devel/setup.bash" >> ~/.bashrc
 
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+exec "$@"
diff --git a/setup.py b/setup.py
@@ -7,8 +7,6 @@
     install_requires=[
         'click',
         'docker',
-        'os',
-        'subprocess',
     ],
     entry_points={
         'console_scripts': [