81 lines
4.2 KiB
Bash
Executable File
81 lines
4.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Assemble the build context (pull unitree_sdk2 + CycloneDDS from this robot) and
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# build the self-contained image. Run ON the robot (aarch64).
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# ./docker/build_image.sh
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set -euo pipefail
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HERE="$(cd "$(dirname "$0")" && pwd)" # .../DFX_inspire_service/docker
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REPO="$(dirname "$HERE")" # .../DFX_inspire_service
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SDK="${UNITREE_SDK2_DIR:-$HOME/unitree_sdk2}"
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CTX="$HERE/.ctx"
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IMG="${IMG:-inspire-hand:latest}"
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[ -f "$SDK/lib/aarch64/libunitree_sdk2.a" ] || { echo "ERROR: unitree_sdk2 not at $SDK"; exit 1; }
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echo ">> assembling build context in $CTX"
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rm -rf "$CTX"
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mkdir -p "$CTX/deps/usr_local_include" "$CTX/deps/usr_local_lib" "$CTX/deps/unitree_sdk2" "$CTX/app"
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# unitree_sdk2 headers + static lib
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cp -r "$SDK/include" "$CTX/deps/unitree_sdk2/"
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cp -r "$SDK/lib" "$CTX/deps/unitree_sdk2/"
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# CycloneDDS headers: C (dds, ddsc), C++ (ddscxx) and iceoryx
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for d in dds ddsc ddscxx iceoryx; do cp -r "/usr/local/include/$d" "$CTX/deps/usr_local_include/"; done
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# The IDL headers (idl/, idlc/) are needed ONLY by the python binding: pip building
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# cyclonedds compiles a _idlpy extension against idl/retcode.h, and `make install` of the
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# C++ side does not put them in /usr/local/include. Without them the image build dies at
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# idlpy/src/context.h:17: fatal error: idl/retcode.h: No such file or directory
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# CYCLONEDDS_SRC points at the checkout whose install/ prefix has them (0.10.5 here).
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CDDS_SRC="${CYCLONEDDS_SRC:-$HOME/cyclonedds}"
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for d in idl idlc; do
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if [ -d "/usr/local/include/$d" ]; then cp -r "/usr/local/include/$d" "$CTX/deps/usr_local_include/"
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elif [ -d "$CDDS_SRC/install/include/$d" ]; then cp -r "$CDDS_SRC/install/include/$d" "$CTX/deps/usr_local_include/"
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fi
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done
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# CycloneDDS shared runtime libs
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cp -P /usr/local/lib/libddsc* /usr/local/lib/libddscxx* \
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/usr/local/lib/libcyclonedds* /usr/local/lib/libdds_security_* \
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"$CTX/deps/usr_local_lib/" 2>/dev/null || true
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# The app, with web/ split into its own context dir. The Dockerfile copies web/ AFTER the
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# C++ build, so editing the dashboard rebuilds in seconds instead of recompiling every
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# binary — and the dashboard is what changes most often.
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rsync -a --exclude 'build/' --exclude 'docker/.ctx/' --exclude 'web/' "$REPO/" "$CTX/app/"
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rsync -a "$REPO/web/" "$CTX/app_web/"
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cp "$HERE/Dockerfile" "$CTX/Dockerfile"
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# ---- recorder for the dashboard's Record/Replay panel ---------------------------------
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# The panel runs g1_record_replay.py as a CHILD PROCESS, so the script and a python that
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# can import unitree_sdk2py both have to be inside the image. Both dirs are always created
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# (empty is fine) because the Dockerfile COPYs them unconditionally — with an empty one the
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# image still builds and the panel simply reports "recorder not found".
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# Both live IN this project (recorder/ and vendor/), so a clean checkout builds a complete
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# image with no environment set and nothing fetched from elsewhere on the machine. The env
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# vars remain as overrides for anyone pointing at their own working copy.
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REC="${RECORDER_SRC:-$REPO/recorder}"
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SDKPY="${UNITREE_SDK2PY_DIR:-$REPO/vendor/unitree_sdk2_python}"
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mkdir -p "$CTX/deps/recorder/seed" "$CTX/deps/unitree_sdk2_python"
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if [ -f "$REC/g1_record_replay.py" ] && [ -f "$SDKPY/setup.py" ]; then
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cp "$REC/g1_record_replay.py" "$CTX/deps/recorder/"
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# The home pose is seeded rather than shipped in DataG1/, because run.sh bind-mounts
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# DataG1 over the top and would hide anything baked there.
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for h in "$REC/arm_home.jsonl" "$REC/DataG1/arm_home.jsonl"; do
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[ -f "$h" ] && { cp "$h" "$CTX/deps/recorder/seed/"; break; }
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done
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rsync -a --exclude '.git/' --exclude '*.egg-info/' "$SDKPY/" "$CTX/deps/unitree_sdk2_python/"
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echo ">> recorder included: $REC + unitree_sdk2py: $SDKPY"
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else
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echo ">> NOTE: record/replay panel will be DISABLED in this image."
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[ -f "$REC/g1_record_replay.py" ] || echo " missing $REC/g1_record_replay.py (set RECORDER_SRC)"
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[ -f "$SDKPY/setup.py" ] || echo " missing $SDKPY/setup.py (set UNITREE_SDK2PY_DIR)"
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fi
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echo ">> docker build -t $IMG (this compiles the binaries in-image; takes a few min)"
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cd "$CTX"
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docker build -t "$IMG" .
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rm -rf "$CTX"
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echo ">> done: $IMG"
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echo " run with: $REPO/docker/run.sh"
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