Dockerize original template

.env

@@ -0,0 +1,16 @@
+# .env
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+AVAILABLE_CORES=$(($(nproc) - 1))
+
+DOCKER_USER=todo-docker-user
+IMAGE_NAME=todo-image-name
+IMAGE_TAG=latest
+
+CONTAINER_NAME=${IMAGE_NAME}
+CONTAINER_HOME_FOLDER=/root
+CODE_FOLDER=${IMAGE_NAME}
+
+HOST_UID=$(id -u)
+HOST_GID=$(id -g)
+HOSTNAME=${HOSTNAME}

.gitignore

@@ -216,7 +216,7 @@ celerybeat.pid
 *.sage.py
 
 # Environments
-.env
+# .env
 .venv
 env/
 venv/

README.md

@@ -1,6 +1,10 @@
-# New Repository
+# New Docker Repository
 
-[![pre-commit](https://github.com/Tom-Notch/New-Repository/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/Tom-Notch/New-Repository/actions/workflows/pre-commit.yml)
+[![pre-commit](https://github.com/Tom-Notch/New-Docker-Repository-Template/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/Tom-Notch/New-Docker-Repository-Template/actions/workflows/pre-commit.yml)
+
+## Dependencies
+
+- [Docker](https://docs.docker.com/get-docker/)
 
 ## Usage Guidelines
 
@@ -10,6 +14,20 @@
 
 1. Modify/add GitHub workflow status badges in [README.md](README.md)
 
+1. Modify **DOCKER_USER**, **IMAGE_NAME** in [.env](.env)
+
+1. Modify the service name from **default** to your service name in [docker-compose.yml](docker-compose.yml)
+
+1. Update [Dockerfile](docker/latest/Dockerfile)
+
+1. [build.sh](scripts/build.sh) to build and test the image locally in your machine's architecture
+
+1. [push.sh](scripts/push.sh) to push the multi-arch image to the registry
+
 ## Developer Quick Start
 
 - Run [scripts/dev-setup.sh](scripts/dev-setup.sh) to setup the development environment
+
+## Note
+
+- This template currently only supports docker image for amd64 and arm64, if you want to support other architectures, please modify the [build.sh](scripts/build.sh) script and [docker-compose.yml](docker-compose.yml) accordingly

docker-compose.yml

@@ -0,0 +1,41 @@
+version: "3"
+
+services:
+    default:
+        build:
+            dockerfile: ./docker/${IMAGE_TAG}/Dockerfile
+            x-bake:
+                contexts:
+                    home-folder-config: ./docker/build-context/home-folder-config
+                platforms:
+                    - linux/amd64 # for PC
+                    - linux/arm64 # for arm64 platforms
+            privileged: true
+            tags:
+                - ${DOCKER_USER}/${IMAGE_NAME}:${IMAGE_TAG}
+        image: ${DOCKER_USER}/${IMAGE_NAME}:${IMAGE_TAG}
+        pull_policy: missing
+        container_name: ${CONTAINER_NAME}
+        privileged: true
+        hostname: ${HOSTNAME}
+        network_mode: host
+        ipc: host
+        pid: host
+        ulimits:
+            core: -1
+        group_add:
+            - video
+            - audio
+        environment: # -e
+            DISPLAY: ${DISPLAY}
+            QT_X11_NO_MITSHM: 1
+            XAUTHORITY: ${XAUTH}
+        volumes: # -v
+            - /var/lib/systemd/coredump/:/cores
+            - /tmp/.X11-unix/:/tmp/.X11-unix/:rw
+            - ${XAUTH}:${XAUTH}
+            - .:${CONTAINER_HOME_FOLDER}/${CODE_FOLDER}
+        working_dir: ${CONTAINER_HOME_FOLDER}/${CODE_FOLDER}
+        stdin_open: true # for -it
+        tty: true # for -it
+        # command: /bin/zsh

docker/build-context/home-folder-config/.screenrc

@@ -0,0 +1 @@
+termcapinfo xterm* ti@:te@

docker/build-context/home-folder-config/.tmux.conf

@@ -0,0 +1 @@
+set -g mouse on

docker/build-context/home-folder-config/entrypoint.sh

@@ -0,0 +1,18 @@
+#!/bin/sh
+set -e
+
+# Check if the HOST_UID and HOST_GID are specified
+if [ -n "${HOST_UID+x}" ] && [ -n "${HOST_GID+x}" ]; then
+	# Change 'myuser' UID and GID to match the host user's UID and GID
+	sudo usermod -u "$HOST_UID" "$(whoami)"
+	sudo groupmod -g "$HOST_GID" "$(whoami)"
+	# Ensure ownership of home directory is reset to 'myuser' after UID and GID change
+	chown -R "$(whoami)":"$(whoami)" /home/"$(whoami)"
+fi
+
+# Switch to 'myuser'
+su -c "$(whoami)"
+
+# Run the main command with exec to replace the current process (bash) with the given command
+# This is important because of how signals are handled (https://hynek.me/articles/docker-signals/)
+exec "$@"

docker/build-context/home-folder-config/fixuid-config.yml

@@ -0,0 +1,8 @@
+---
+user: camera-driver
+group: camera-driver
+paths:
+    - /home/camera-driver/.oh-my-zsh
+    - /home/camera-driver/.zshrc
+    - /home/camera-driver/.bashrc
+    - /tmp

docker/latest/Dockerfile

@@ -0,0 +1,82 @@
+# Do not add --platform=linux/blabla since this is intended for multiplatform builds
+FROM tomnotch/bipvrobotics-base-image:latest
+ENV HOME_FOLDER=/root
+WORKDIR $HOME_FOLDER/
+
+# Fix apt install stuck problem
+ENV DEBIAN_FRONTEND=noninteractive
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
+# update all obsolete packages to latest, install sudo, and cleanup
+RUN apt update -o Acquire::Check-Valid-Until=false -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngradeToInsecureRepositories=true && \
+    apt full-upgrade -y && \
+    apt install -y sudo ca-certificates && \
+    apt autoremove -y && \
+    apt autoclean -y
+
+# # Add a new group and user
+# RUN addgroup --gid 1000 $USER && \
+#     adduser --uid 1000 --ingroup $USER --home $HOME_FOLDER --shell /bin/zsh --disabled-password --gecos "" $USER && \
+#     echo "$USER ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# # Fix UID/GID when mounting from host using this: https://github.com/boxboat/fixuid
+# RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
+#     chown root:root /usr/local/bin/fixuid && \
+#     chmod 4755 /usr/local/bin/fixuid && \
+#     mkdir -p /etc/fixuid
+
+# # Switch to the new user
+# USER $USER:$USER
+
+#! Install OpenCV 4.2.0 with QUIRC support from source
+ENV OPENCV_VERSION=4.2.0
+RUN pip3 uninstall -y opencv && \
+    apt install -y --no-install-recommends libavcodec-dev libavformat-dev libswscale-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libgtk-3-dev libpng-dev libjpeg-dev && \
+    git clone --depth 1 --recursive https://github.com/opencv/opencv.git $HOME_FOLDER/opencv -b $OPENCV_VERSION && \
+    #  follow the error information，replace all the “ipcp-unit-growth” with “ipa-cp-unit-growth” in 3rdparty/carotene/CMakeLists.txt and 3rdparty/carotene/hal/CMakeLists.txt
+    perl -pi -e 's/ipcp-unit-growth/ipa-cp-unit-growth/g' $HOME_FOLDER/opencv/3rdparty/carotene/CMakeLists.txt $HOME_FOLDER/opencv/3rdparty/carotene/hal/CMakeLists.txt && \
+    git clone --depth 1 --recursive https://github.com/opencv/opencv_contrib.git $HOME_FOLDER/opencv_contrib -b $OPENCV_VERSION && \
+    mkdir -p $HOME_FOLDER/opencv/build && \
+    cd $HOME_FOLDER/opencv/build && \
+    cmake \
+    -D CMAKE_CXX_STANDARD=20 \
+    -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
+    -D OPENCV_GENERATE_PKGCONFIG=ON \
+    -D BUILD_opencv_python3=ON \
+    -D OPENCV_PYTHON3_INSTALL_PATH=/usr/local/lib/python3.8/dist-packages \
+    # -D OPENCV_ENABLE_NONFREE=ON \
+    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
+    # -D WITH_LAPACK=ON \
+    -D WITH_GTK=ON \
+    -D WITH_TBB=ON \
+    # -D WITH_QUIRC=ON \
+    -D WITH_GSTREAMER=ON \
+    -D WITH_V4L=ON \
+    # -D WITH_OPENGL=ON \
+    -D BUILD_TESTS=OFF \
+    -D BUILD_PERF_TESTS=OFF \
+    -D BUILD_EXAMPLES=OFF \
+    -D CMAKE_BUILD_TYPE=RELEASE \
+    -D CMAKE_INSTALL_PREFIX=/usr/local .. && \
+    make install -j$(($(nproc)-1)) && \
+    echo "export OpenCV_DIR=/usr/local/lib/cmake/opencv4/" >> ${HOME_FOLDER}/.zshrc && \
+    echo "export OpenCV_DIR=/usr/local/lib/cmake/opencv4/" >> ${HOME_FOLDER}/.bashrc && \
+    rm -rf $HOME_FOLDER/opencv && \
+    rm -rf $HOME_FOLDER/opencv_contrib
+
+# end of sudo apt installs
+RUN apt full-upgrade -y && \
+    apt autoremove -y && \
+    apt autoclean -y && \
+    apt clean -y && \
+    rm -rf /var/lib/apt/lists/*
+
+# Set the default shell to zsh
+SHELL [ "/bin/zsh", "-c" ]
+
+# # move fixuid config
+# RUN mv $HOME_FOLDER/fixuid-config.yml /etc/fixuid/config.yml
+
+# Entrypoint command
+# ENTRYPOINT [ "/bin/sh" , "-c", "fixuid; /bin/zsh" ]
+ENTRYPOINT [ "/bin/zsh" ]

scripts/build.sh

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+#
+# Created on Wed Sep 04 2024 18:04:23
+# Author: Mukai (Tom Notch) Yu
+# Email: [email protected]
+# Affiliation: Carnegie Mellon University, Robotics Institute
+#
+# Copyright Ⓒ 2024 Mukai (Tom Notch) Yu
+#
+
+. "$(dirname "$0")"/variables.sh
+
+# Determine the local platform
+if [[ "$(uname -m)" == "x86_64" ]]; then
+	LOCAL_PLATFORM="linux/amd64"
+elif [[ "$(uname -m)" == "arm64" ]]; then
+	LOCAL_PLATFORM="linux/arm64"
+else
+	echo "Unsupported local platform: $(uname -m)"
+	exit 1
+fi
+
+# Desired builder name
+BUILDER_NAME="multi-platform"
+
+# Check if the builder already exists
+if ! docker buildx ls | grep -q "^${BUILDER_NAME} "; then
+	echo "Creating Docker Buildx builder '${BUILDER_NAME}'..."
+	docker buildx create \
+		--name "${BUILDER_NAME}" \
+		--use --platform linux/amd64,linux/arm64 \
+		--driver docker-container
+else
+	echo "Docker Buildx builder '${BUILDER_NAME}' already exists."
+fi
+
+# Build the Docker image for only the local platform, push.sh will push multi-platform version
+docker buildx bake --file "$(dirname "$0")"/../docker-compose.yml --load --set "*.platform=$LOCAL_PLATFORM"

scripts/kill.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+#
+# Created on Wed Sep 04 2024 18:04:42
+# Author: Mukai (Tom Notch) Yu
+# Email: [email protected]
+# Affiliation: Carnegie Mellon University, Robotics Institute
+#
+# Copyright Ⓒ 2024 Mukai (Tom Notch) Yu
+#
+
+. "$(dirname "$0")"/variables.sh
+
+docker exec --privileged -it "$CONTAINER_NAME" pkill -f zsh
+
+docker rm -f "$CONTAINER_NAME"

scripts/kill_all_container.sh

@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+#
+# Created on Wed Sep 04 2024 18:04:36
+# Author: Mukai (Tom Notch) Yu
+# Email: [email protected]
+# Affiliation: Carnegie Mellon University, Robotics Institute
+#
+# Copyright Ⓒ 2024 Mukai (Tom Notch) Yu
+#
+
+. "$(dirname "$0")"/variables.sh
+
+echo "Removing all containers"
+
+for id in $(docker ps -aq); do
+	echo "Removing container $id"
+	docker rm -f "$id"
+done
+
+echo "Done"

scripts/pull.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+#
+# Created on Wed Sep 04 2024 18:04:49
+# Author: Mukai (Tom Notch) Yu
+# Email: [email protected]
+# Affiliation: Carnegie Mellon University, Robotics Institute
+#
+# Copyright Ⓒ 2024 Mukai (Tom Notch) Yu
+#
+
+. "$(dirname "$0")"/variables.sh
+
+docker pull "$DOCKER_USER"/"$IMAGE_NAME":"$IMAGE_TAG"

scripts/push.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+#
+# Created on Wed Sep 04 2024 18:04:56
+# Author: Mukai (Tom Notch) Yu
+# Email: [email protected]
+# Affiliation: Carnegie Mellon University, Robotics Institute
+#
+# Copyright Ⓒ 2024 Mukai (Tom Notch) Yu
+#
+
+. "$(dirname "$0")"/variables.sh
+
+# docker push "$DOCKER_USER"/"$IMAGE_NAME":"$IMAGE_TAG"
+
+docker buildx bake --file "$(dirname "$0")"/../docker-compose.yml --push

scripts/run.sh

@@ -0,0 +1,52 @@
+#!/usr/bin/env bash
+#
+# Created on Wed Sep 04 2024 18:05:06
+# Author: Mukai (Tom Notch) Yu
+# Email: [email protected]
+# Affiliation: Carnegie Mellon University, Robotics Institute
+#
+# Copyright Ⓒ 2024 Mukai (Tom Notch) Yu
+#
+
+. "$(dirname "$0")"/variables.sh
+
+xhost +local:*
+
+if [ ! -f "$XAUTH" ]; then
+	touch "$XAUTH"
+	xauth_list=$(xauth nlist "$DISPLAY" | sed -e 's/^..../ffff/')
+	if [ -n "$xauth_list" ]; then
+		echo "$xauth_list" | xauth -f "$XAUTH" nmerge -
+	fi
+	chmod a+r "$XAUTH"
+fi
+
+if [ "$(docker ps -a -q -f name="$CONTAINER_NAME")" ]; then
+	echo "A container with name ""$CONTAINER_NAME"" is running, force removing it"
+	docker rm -f "$CONTAINER_NAME"
+	echo "Done"
+fi
+
+docker run \
+	--name "$CONTAINER_NAME" \
+	--hostname "$(hostname)" \
+	--privileged \
+	--cpus "$AVAILABLE_CORES" \
+	--network host \
+	--ipc host \
+	--pid host \
+	--ulimit core=-1 \
+	--group-add audio \
+	--group-add video \
+	--volume=":" \
+	-e DISPLAY="$DISPLAY" \
+	-e XAUTHORITY="$XAUTH" \
+	-e QT_X11_NO_MITSHM=1 \
+	-v /var/lib/systemd/coredump/:/cores \
+	-v "$XSOCK":"$XSOCK" \
+	-v "$XAUTH":"$XAUTH" \
+	-v "$HOME"/.Xauthority:"$CONTAINER_HOME_FOLDER"/.Xauthority:rw \
+	-v "$(dirname "$0")"/..:"$CONTAINER_HOME_FOLDER"/"$CODE_FOLDER" \
+	-w "$CONTAINER_HOME_FOLDER"/"$CODE_FOLDER" \
+	--rm \
+	-itd "$DOCKER_USER"/"$IMAGE_NAME":"$IMAGE_TAG"