run

#!/usr/bin/env python3

import subprocess as sp
import os

IMAGE_NAME = "slambook-docker"
UID = os.getuid()

def run_dev_environment():
    docker_args = []
    dockerfile  = 'slambook-docker'

    docker_args.append("-it")
    docker_args.append("--rm")
    docker_args.append("--env=DISPLAY")
    docker_args.append("--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw")
    docker_args.append("--volume=$HOME/.Xauthority:/root/.Xauthority:rw")
    docker_args.append(f"--name {IMAGE_NAME}")
    docker_args.append("--privileged")
    docker_args.append("--network=host")
    docker_args.append("--cap-add=IPC_LOCK")
    docker_args.append("--cap-add=sys_nice")
    docker_args.append(f"--user {UID}:{UID}")
    # Use NVIDIA
    docker_args.append("--gpus=all")

    docker_args.append("-e ROS_HOSTNAME=localhost")
    docker_args.append("-e ROS_MASTER_URI=http://localhost:11311")
    # Mount workspace
    repo_root = sp.check_output('git rev-parse --show-toplevel'.split() ).strip().decode()
    docker_args.append(f"--volume {repo_root}/exercises:/exercises:rw")

    # Join arguments together separated by a space
    docker_args = ' '.join(docker_args)
    docker_command = f"docker run {docker_args} {dockerfile}"

    sp.call("xhost +local:docker", shell=True)
    sp.call(docker_command, shell=True)
    sp.call("xhost -local:docker", shell=True)

def attach_dev_environment():
    command = f"docker exec -it --user {UID}:{UID} {IMAGE_NAME}"
    sp.call(command, shell=True)

def is_running():
    command = f"docker ps | grep {IMAGE_NAME} > /dev/null"
    try:
        sp.check_call(command, shell=True)
    except Exception:
        return False

    return True

def main():
    if not is_running():
        run_dev_environment()
    else:
        attach_dev_environment()

if __name__ == '__main__':
    main()