From 370bc5158131b0bccaa8819d1d52910698ce969a Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Wed, 4 Dec 2024 20:13:04 +0300
Subject: [PATCH] fix docker.sh dv

---
 scripts/docker.sh  | 17 ++++++++++-------
 scripts/run_sim.sh |  4 ++--
 2 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/scripts/docker.sh b/scripts/docker.sh
index 7050079..426c5ab 100755
--- a/scripts/docker.sh
+++ b/scripts/docker.sh
@@ -74,13 +74,16 @@ setup_image_name_and_version() {
     IMAGE_NAME=$DOCKERHUB_REPOSITOTY:$TAG_NAME
 }
 
-setup_mavlink_sitl_config() {
+setup_minimim_required_docker_flags() {
     DOCKER_FLAGS="--net=host"
-    DOCKER_FLAGS="$DOCKER_FLAGS -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1)"
+    DOCKER_FLAGS+=" -v /tmp/.X11-unix:/tmp/.X11-unix:rw"
+    DOCKER_FLAGS+=" -e DISPLAY=$DISPLAY"
+    DOCKER_FLAGS+=" -e QT_X11_NO_MITSHM=1"
+    DOCKER_FLAGS+=" --volume=${REPOSITORY_DIR}/uav_dynamics/uav_hitl_dynamics/config:/catkin_ws/src/uav_hitl_simulator/uav_dynamics/uav_hitl_dynamics/config:ro"
 }
 
 setup_dronecan_hitl_config() {
-    setup_mavlink_sitl_config
+    setup_minimim_required_docker_flags
     if [ -z "$SNIFFER" ]; then
         source ./tools/can/create_slcan.sh --only-find
         DRONECAN_DEV_PATH_SYMLINK=$DEV_PATH
@@ -99,7 +102,7 @@ setup_dronecan_hitl_config() {
 }
 
 setup_cyphal_hitl_config() {
-    setup_mavlink_sitl_config
+    setup_minimim_required_docker_flags
     if [ -z "$SNIFFER" ]; then
         source ./tools/can/create_slcan.sh --only-find
         CYPHAL_DEV_PATH_SYMLINK=$DEV_PATH
@@ -118,7 +121,7 @@ setup_cyphal_hitl_config() {
 }
 
 setup_cyphal_and_dronecan_hitl_config() {
-    setup_mavlink_sitl_config
+    setup_minimim_required_docker_flags
 
     DRONECAN_DEV_PATH_SYMLINK="/dev/serial/by-id/usb-STMicroelectronics_STM32_STLink_0674FF524957778667133858-if02"
     CYPHAL_DEV_PATH_SYMLINK="/dev/serial/by-id/usb-STMicroelectronics_STM32_STLink_066AFF524957778667134207-if02"
@@ -156,7 +159,7 @@ docker_countainer_run_interactive() {
 }
 
 docker_container_run_test() {
-    setup_mavlink_sitl_config
+    setup_minimim_required_docker_flags
     docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./uav_dynamics/uav_hitl_dynamics/catkin_test.sh --docker
 }
 
@@ -191,7 +194,7 @@ docker_container_run_cyphal() {
 
 docker_container_run_mavlink() {
     docker_kill_all_related_containers
-    setup_mavlink_sitl_config
+    setup_minimim_required_docker_flags
     docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh ${vehicle}
 }
 
diff --git a/scripts/run_sim.sh b/scripts/run_sim.sh
index 0cc566e..d78c86c 100755
--- a/scripts/run_sim.sh
+++ b/scripts/run_sim.sh
@@ -66,11 +66,11 @@ setup_cyphal_hitl() {
 
 setup_combined_hitl() {
     if [ ! -z $DRONECAN_DEV_PATH_SYMLINK ]; then
-        echo "Trying to create slcan0 for dronecan..."
+        echo "Trying to create slcan0 for combined HITL: dronecan..."
         $SCRIPT_DIR/tools/can/create_slcan.sh -d $DRONECAN_DEV_PATH_SYMLINK -i slcan0
     fi
     if [ ! -z $CYPHAL_DEV_PATH_SYMLINK ]; then
-        echo "Trying to create slcan1 for cyphal..."
+        echo "Trying to create slcan1 for combined HITL: cyphal..."
         $SCRIPT_DIR/tools/can/create_slcan.sh -d $CYPHAL_DEV_PATH_SYMLINK -i slcan1
         source $SCRIPT_DIR/cyphal_config_slcan1.sh
     fi