#!/usr/bin/env bash

###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################


DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"

if [ -e "$DIR/../../scripts/apollo_base.sh" ]; then
    # run from source
    APOLLO_ROOT_DIR=$(cd "${DIR}/../.." && pwd)
else
    # run from script only
    APOLLO_ROOT_DIR=~
fi

source $APOLLO_ROOT_DIR/scripts/apollo_base.sh

export APOLLO_ROOT_DIR

if [ ! -e "${APOLLO_ROOT_DIR}/data/log" ]; then
    mkdir -p "${APOLLO_ROOT_DIR}/data/log"
fi
if [ ! -e "${APOLLO_ROOT_DIR}/data/bag" ]; then
    mkdir -p "${APOLLO_ROOT_DIR}/data/bag"
fi
if [ ! -e "${APOLLO_ROOT_DIR}/data/core" ]; then
    mkdir -p "${APOLLO_ROOT_DIR}/data/core"
fi

if [ ! -e /apollo ]; then
    sudo ln -sf ${APOLLO_ROOT_DIR} /apollo
fi
echo "/apollo/data/core/core_%e.%p" | sudo tee /proc/sys/kernel/core_pattern
echo "APOLLO_ROOT_DIR=$APOLLO_ROOT_DIR"

VERSION=release-20170810_2158
if [[ $# == 1 ]];then
    VERSION=$1
fi
if [ -z "${DOCKER_REPO}" ]; then
    DOCKER_REPO=apolloauto/internal
fi
IMG=${DOCKER_REPO}:$VERSION


function find_device() {
    # ${1} = device pattern
    local device_list=$(find /dev -name "${1}")
    if [ -z "${device_list}" ]; then
        warning "Failed to find device with pattern \"${1}\" ..."
    else
        local devices=""
        for device in $(find /dev -name "${1}"); do
            ok "Found device: ${device}."
            devices="${devices} --device ${device}:${device}"
        done
        echo "${devices}"
    fi
}

function main() {
    #FIX ME: remove login when open source.
    docker login -u autoapollo -p baidu123
    docker pull "$IMG"

    docker ps -a --format "{{.Names}}" | grep 'apollo_release' 1>/dev/null
    if [ $? == 0 ]; then
        docker stop apollo_release 1>/dev/null
        docker rm -f apollo_release 1>/dev/null
    fi

    # setup CAN device
    if [ ! -e /dev/can0 ]; then
        sudo mknod --mode=a+rw /dev/can0 c 52 0
    fi

    local devices=""
    devices="${devices} $(find_device ttyUSB*)"
    devices="${devices} $(find_device ttyS*)"
    devices="${devices} $(find_device can*)"
    devices="${devices} $(find_device ram*)"
    devices="${devices} $(find_device loop*)"
    devices="${devices} $(find_device nvidia*)"
    local display=""
    if [[ -z ${DISPLAY} ]];then
        display=":0"
    else
        display="${DISPLAY}"
    fi
    USER_ID=$(id -u)
    GRP=$(id -g -n)
    GRP_ID=$(id -g)
    LOCAL_HOST=`hostname`
    DOCKER_HOME="/home/$USER"
    if [ "$USER" == "root" ];then
        DOCKER_HOME="/root"
    fi
    if [ ! -d "$HOME/.cache" ];then
        mkdir "$HOME/.cache"
    fi
    docker run -it \
        -d --privileged \
        --name apollo_release \
        --net host \
        -v /media:/media \
        -v ${APOLLO_ROOT_DIR}/data:/apollo/data \
        -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
        -v /etc/localtime:/etc/localtime:ro \
        -v $HOME/.cache:${DOCKER_HOME}/.cache \
        -w /apollo \
        -e DISPLAY=${display} \
        -e RELEASE_DOCKER=1 \
        -e DOCKER_USER=$USER \
        -e USER=$USER \
        -e DOCKER_USER_ID=$USER_ID \
        -e DOCKER_GRP=$GRP \
        -e DOCKER_GRP_ID=$GRP_ID \
        -e PYTHONPATH=/apollo/lib:/apollo/ros/lib/python2.7/dist-packages \
        ${devices} \
        --add-host in_release_docker:127.0.0.1 \
        --add-host ${LOCAL_HOST}:127.0.0.1 \
        --hostname in_release_docker \
        --shm-size 512M \
        $IMG
    if [ "${USER}" != "root" ]; then
        docker exec apollo_release bash -c "/apollo/scripts/docker_adduser.sh"
        docker exec apollo_release bash -c "chown -R ${USER}:${GRP} /apollo"
    fi
    docker exec -u ${USER} -it apollo_release "/apollo/scripts/hmi.sh"
}

main