From 4e7f539d0739058697a73c2546d3065fb8682e70 Mon Sep 17 00:00:00 2001
From: oguzkaganozt <oguzkaganozt@gmail.com>
Date: Fri, 14 Jun 2024 15:35:56 +0300
Subject: [PATCH] feat(docker): fix CUDA compile on devel image and improve
 run.sh (#4849)

* modular containers PR phase1

Signed-off-by: Oguz <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

* add download artifacts to devel and runtime image

Signed-off-by: Oguz <oguzkaganozt@gmail.com>

* Update docker/build.sh

Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* style(pre-commit): autofix

* build from temp source directory and remove dangling images

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>

* Revert "build from temp source directory and remove dangling images"

This reverts commit c66a1ddf482d44ad8e05d38185a9d57038ab080f.

* build containers from temp source and remove dangling images

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

* add vcs pull to update

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: Oguz <oguzkaganozt@gmail.com>
Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
---
 .gitignore                       |  3 ++
 ansible/playbooks/openadkit.yaml |  4 +-
 docker/Dockerfile                |  4 +-
 docker/build.sh                  | 27 +++++++++++
 docker/docker-bake.hcl           |  9 +++-
 docker/run.sh                    | 81 ++++++++++++++++++++------------
 6 files changed, 92 insertions(+), 36 deletions(-)

diff --git a/.gitignore b/.gitignore
index 024b426a3b1..1ceb054951d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,6 @@ capture/
 
 # Node.js
 node_modules/
+
+# Docker build
+docker/src
diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml
index f343d9cef55..46a8757229f 100644
--- a/ansible/playbooks/openadkit.yaml
+++ b/ansible/playbooks/openadkit.yaml
@@ -24,6 +24,8 @@
       when: module == 'base'
     - role: autoware.dev_env.kisak_mesa
       when: module == 'base'
+    - role: autoware.dev_env.pacmod
+      when: module == 'base'
     - role: autoware.dev_env.build_tools
       when: module == 'all' and install_devel=='y'
 
@@ -34,8 +36,6 @@
       when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
     - role: autoware.dev_env.tensorrt
       when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
-    - role: autoware.dev_env.pacmod
-      when: module == 'planning-control' or module == 'perception-localization' or module == 'all'
 
     # Development environment
     - role: autoware.dev_env.dev_tools
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8ada18b521e..646a894f711 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -72,9 +72,7 @@ ENV CCACHE_DIR="/root/.ccache"
 RUN --mount=type=ssh \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
   && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
-  && find / -name 'libcu*.a' -delete \
-  && find / -name 'libnv*.a' -delete
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # Install rosdep dependencies
 COPY --from=src-imported /rosdep-all-depend-packages.txt /tmp/rosdep-all-depend-packages.txt
diff --git a/docker/build.sh b/docker/build.sh
index 3d0a417c952..5c2d3e634ee 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -97,6 +97,19 @@ load_env() {
     fi
 }
 
+# Clone repositories
+clone_repositories() {
+    cd "$WORKSPACE_ROOT"
+    if [ ! -d "docker/src" ]; then
+        mkdir -p docker/src
+        vcs import docker/src <autoware.repos
+    else
+        echo "Source directory already exists. Updating repositories..."
+        vcs import docker/src <autoware.repos
+        vcs pull docker/src
+    fi
+}
+
 # Build images
 build_images() {
     # https://github.com/docker/buildx/issues/484
@@ -119,6 +132,7 @@ build_images() {
         --set "*.args.BASE_IMAGE=$base_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
+        --set "base.tags=ghcr.io/autowarefoundation/autoware:latest-base" \
         --set "devel.tags=ghcr.io/autowarefoundation/autoware:latest-devel$image_name_suffix" \
         --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware:latest-prebuilt$image_name_suffix" \
         --set "runtime.tags=ghcr.io/autowarefoundation/autoware:latest-runtime$image_name_suffix" \
@@ -126,6 +140,16 @@ build_images() {
     set +x
 }
 
+# Remove temporary source directory
+remove_tmp_src() {
+    rm -rf "$WORKSPACE_ROOT/docker/src"
+}
+
+# Remove dangling images
+remove_dangling_images() {
+    docker image prune -f
+}
+
 # Main script execution
 parse_arguments "$@"
 set_cuda_options
@@ -133,4 +157,7 @@ set_build_options
 set_platform
 set_arch_lib_dir
 load_env
+clone_repositories
 build_images
+remove_tmp_src
+remove_dangling_images
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index 893edd69e1c..95aa124fb4b 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -1,12 +1,19 @@
 group "default" {
-  targets = ["prebuilt", "devel", "runtime"]
+  targets = ["base", "prebuilt", "devel", "runtime"]
 }
 
 // For docker/metadata-action
+target "docker-metadata-action-base" {}
 target "docker-metadata-action-prebuilt" {}
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-runtime" {}
 
+target "base" {
+  inherits = ["docker-metadata-action-base"]
+  dockerfile = "docker/Dockerfile"
+  target = "base"
+}
+
 target "prebuilt" {
   inherits = ["docker-metadata-action-prebuilt"]
   dockerfile = "docker/Dockerfile"
diff --git a/docker/run.sh b/docker/run.sh
index ef6cbf1038a..17be654d8cc 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -6,7 +6,7 @@ set -e
 # Define terminal colors
 RED='\033[0;31m'
 GREEN='\033[0;32m'
-# BLUE='\033[0;34m'
+BLUE='\033[0;34m'
 NC='\033[0m' # No Color
 
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
@@ -29,17 +29,17 @@ DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=/a
 # Function to print help message
 print_help() {
     echo -e "\n------------------------------------------------------------"
-    echo -e "${RED}Note:${NC} The --map-path option is mandatory if not custom launch command given. Please provide exact path to the map files."
+    echo -e "${RED}Note:${NC} The --map-path option is mandatory for the runtime. For development environment with shell access, use --devel option."
     echo -e "      Default launch command: ${GREEN}${DEFAULT_LAUNCH_CMD}${NC}"
     echo -e "------------------------------------------------------------"
     echo -e "${RED}Usage:${NC} run.sh [OPTIONS] [LAUNCH_CMD](optional)"
     echo -e "Options:"
     echo -e "  ${GREEN}--help/-h${NC}       Display this help message"
-    echo -e "  ${GREEN}--map-path${NC}      Specify to mount map files into /autoware_map (mandatory if no custom launch command is provided)"
+    echo -e "  ${GREEN}--map-path${NC}      Specify to mount map files into /autoware_map (mandatory for runtime)"
+    echo -e "  ${GREEN}--devel${NC}         Launch the latest Autoware development environment with shell access"
+    echo -e "  ${GREEN}--workspace${NC}     (--devel only)Specify the directory to mount into /workspace, by default it uses current directory (pwd)"
     echo -e "  ${GREEN}--no-nvidia${NC}     Disable NVIDIA GPU support"
-    echo -e "  ${GREEN}--devel${NC}         Use the latest development version of Autoware"
     echo -e "  ${GREEN}--headless${NC}      Run Autoware in headless mode (default: false)"
-    echo -e "  ${GREEN}--workspace${NC}     Specify to mount the workspace into /workspace"
     echo ""
 }
 
@@ -87,37 +87,48 @@ parse_arguments() {
     done
 }
 
-# Set image and workspace variables
+# Set the docker image and workspace variables
 set_variables() {
-    # Check if map path is provided for default launch command
-    if [ "$MAP_PATH" == "" ] && [ "$LAUNCH_CMD" == "" ]; then
-        print_help
-        exit 1
-    fi
+    if [ "$option_devel" = "true" ]; then
+        # Set image based on option
+        IMAGE="ghcr.io/autowarefoundation/autoware:latest-devel"
 
-    # Mount map path if provided
-    MAP="-v ${MAP_PATH}:/autoware_map:ro"
+        # Set workspace path, if not provided use the current directory
+        if [ "$WORKSPACE_PATH" = "" ]; then
+            WORKSPACE_PATH=$(pwd)
+        fi
+        WORKSPACE="-v ${WORKSPACE_PATH}:/workspace"
 
-    # Set workspace path if provided and login with local user
-    if [ "$WORKSPACE_PATH" != "" ]; then
+        # Set user ID and group ID to match the local user
         USER_ID="-e LOCAL_UID=$(id -u) -e LOCAL_GID=$(id -g) -e LOCAL_USER=$(id -un) -e LOCAL_GROUP=$(id -gn)"
-        WORKSPACE="-v ${WORKSPACE_PATH}:/workspace"
-    fi
 
-    # Set default launch command if not provided
-    if [ "$LAUNCH_CMD" == "" ]; then
-        if [ "$WORKSPACE_PATH" != "" ]; then
-            LAUNCH_CMD="/bin/bash"
-        else
-            LAUNCH_CMD=${DEFAULT_LAUNCH_CMD}
+        # Set map path
+        if [ "$MAP_PATH" != "" ]; then
+            MAP="-v ${MAP_PATH}:/autoware_map:ro"
         fi
-    fi
 
-    # Set image based on option
-    if [ "$option_devel" == "true" ]; then
-        IMAGE="ghcr.io/autowarefoundation/autoware:latest-devel"
+        # Set launch command
+        if [ "$LAUNCH_CMD" = "" ]; then
+            LAUNCH_CMD="/bin/bash"
+        fi
     else
+        # Set image based on option
         IMAGE="ghcr.io/autowarefoundation/autoware:latest-runtime"
+
+        # Set map path
+        if [ "$MAP_PATH" = "" ]; then
+            echo -e "\n------------------------------------------------------------"
+            echo -e "${RED}Note:${NC} The --map-path option is mandatory for the runtime. For development environment with shell access, use --devel option."
+            echo -e "------------------------------------------------------------"
+            exit 1
+        else
+            MAP="-v ${MAP_PATH}:/autoware_map:ro"
+        fi
+
+        # Set default launch command if not provided
+        if [ "$LAUNCH_CMD" = "" ]; then
+            LAUNCH_CMD=${DEFAULT_LAUNCH_CMD}
+        fi
     fi
 }
 
@@ -148,10 +159,20 @@ main() {
     set_gpu_flag
     set_x_display
 
-    echo -e "${GREEN}\n-----------------------LAUNCHING CONTAINER-----------------------"
+    if [ "$option_devel" = "true" ]; then
+        echo -e "${GREEN}-----------------------------------------------------------------${NC}"
+        echo -e "${BLUE}Launching Autoware development environment${NC}"
+    else
+        echo -e "${GREEN}-----------------------------------------------------------------${NC}"
+        echo -e "${GREEN}Launching Autoware${NC}"
+    fi
     echo -e "${GREEN}IMAGE:${NC} ${IMAGE}"
-    echo -e "${GREEN}MAP PATH(mounted):${NC} ${MAP_PATH}:/autoware_map"
-    echo -e "${GREEN}WORKSPACE(mounted):${NC} ${WORKSPACE_PATH}:/workspace"
+    if [ "$option_devel" = "true" ]; then
+        echo -e "${GREEN}WORKSPACE PATH(mounted):${NC} ${WORKSPACE_PATH}:/workspace"
+    fi
+    if [ "$MAP_PATH" != "" ]; then
+        echo -e "${GREEN}MAP PATH(mounted):${NC} ${MAP_PATH}:/autoware_map"
+    fi
     echo -e "${GREEN}LAUNCH CMD:${NC} ${LAUNCH_CMD}"
     echo -e "${GREEN}-----------------------------------------------------------------${NC}"