fix docker.sh dv (#84)

ZilantRobotics · Dec 4, 2024 · 4cf939c · 4cf939c
1 parent 345d6e6
commit 4cf939c
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Showing 2 changed files with 12 additions and 9 deletions.
diff --git 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
@@ -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