launch.sh

#!/bin/bash

# Copyright (c) 2021  IBM Corporation
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
start=`date +%s.%N`

trap ctrl_c INT QUIT TERM

terminating=0
launched=0

function ctrl_c() {
    red "catch the signal"
    user=$1
    terminating=1
    cd $scriptdir
    if [[ ! -z $dccom ]]; then
	while [[ $launched -lt 5 ]]; do
	    snore 1
	    launched=$((launched+1))
	done

	red "$dccom down"
	if [ $verbose -eq 1 ]; then
	    $dccom down
	else
	    $dccom down > /dev/null 2>&1
	fi
    fi
    if [[ ! -z $bag_dccom ]]; then
	red "$bag_dccom down"
	if [ $verbose -eq 1 ]; then
	    $bag_dccom down
	else
	    $bag_dccom down > /dev/null 2>&1
	fi
    fi

    for pid in ${pids[@]}; do
        signal=2
	if [[ "${termpids[*]}" =~ "$pid" ]]; then
            signal=15
        fi
        if [ $verbose -eq 1 ]; then
            echo "killing $0 $pid"
            kill -s $signal $pid
        else
            echo "killing $0 $pid"
            kill -s $signal $pid > /dev/null 2>&1
        fi
    done
    for pid in ${pids[@]}; do
        if [ $verbose -eq 1 ]; then
            while kill -0 $pid; do
                echo "waiting $0 $pid"
                snore 1
            done
        else
            echo "waiting $0 $pid"
            while kill -0 $pid > /dev/null 2>&1; do
                snore 1
            done
        fi
    done
    if [[ $run_test -eq 1 ]]; then
	# not sure but record_system_stat.launch.xml cannot
	# terminate child processes when running with run_test
	pkill -f "python3.*command_logger.py.*"
    fi
    exit $user
}
function err {
    >&2 red "[ERROR] "$@
}
function red {
    echo -en "\033[31m"  ## red
    echo $@
    echo -en "\033[0m"  ## reset color
}
function blue {
    echo -en "\033[36m"  ## blue
    echo $@
    echo -en "\033[0m"  ## reset color
}
function snore()
{
    local IFS
    [[ -n "${_snore_fd:-}" ]] || exec {_snore_fd}<> <(:)
    read ${1:+-t "$1"} -u $_snore_fd || :
}

function help()
{
    echo "Usage:"
    echo "-h          show this help"
    echo "-s          simulation mode"
    echo "-d          do not record"
    echo "-r          record camera"
    echo "-R          record camera into separate rosbag"
    echo "-p <name>   docker compose's project name"
    echo "-n <name>   set log name prefix"
    echo "-v          verbose option"
    echo "-c <name>   config name (default=) docker-compose(-<name>)(-production).yaml will use"
    echo "            if there is no nvidia-smi and config name is not set, automatically set to 'nuc'"
    echo "-3          equivalent to -c rs3"
    echo "-W          disable dmesg logging"
    echo "-S          record screen cast"
    echo "-t          run test"
}


simulation=0
do_not_record=0
record_cam=0
use_nuc=0
nvidia_gpu=0
project_option=
log_prefix=cabot
verbose=0
config_name=
local_map_server=0
debug=0
reset_all_realsence=0
log_dmesg=1
screen_recording=0
run_test=0
separate_log=0

pwd=`pwd`
scriptdir=`dirname $0`
cd $scriptdir
scriptdir=`pwd`
source $scriptdir/.env

if [ -n "$CABOT_LAUNCH_CONFIG_NAME" ]; then
    config_name=$CABOT_LAUNCH_CONFIG_NAME
fi
if [ -n "$CABOT_LAUNCH_DO_NOT_RECORD" ]; then
    do_not_record=$CABOT_LAUNCH_DO_NOT_RECORD
fi
if [ -n "$CABOT_LAUNCH_RECORD_CAMERA" ]; then
    record_cam=$CABOT_LAUNCH_RECORD_CAMERA
fi
if [ -n "$CABOT_LAUNCH_LOG_PREFIX" ]; then
    log_prefix=$CABOT_LAUNCH_LOG_PREFIX
fi

while getopts "hsdrp:n:vc:3DWStHR" arg; do
    case $arg in
        s)
            simulation=1
            ;;
        h)
            help
            exit
            ;;
        d)
            do_not_record=1
            ;;
        r)
            record_cam=1
            ;;
        p)
            project_option="-p $OPTARG"
            ;;
        n)
            log_prefix=$OPTARG
            ;;
        v)
            verbose=1
            ;;
        c)
            config_name=$OPTARG
            ;;
        3)
            config_name=rs3
            ;;
        D)
            debug=1
            ;;
        W)
            log_dmesg=0
            ;;
        S)
            screen_recording=1
            ;;
        t)
            run_test=1
            ;;
        H)
            export CABOT_HEADLESS=1
            ;;
        R)
            record_cam=1
            separate_log=1
            ;;
    esac
done
shift $((OPTIND-1))


## private variables
pids=()
termpids=()

## check nvidia-smi
if [ -z `which nvidia-smi` ]; then
    if [ -z $config_name ]; then
	red "[WARNING] cannot find nvidia-smi, so config_name is changed to 'nuc'"
	config_name=nuc
    fi
else
    nvidia_gpu=1
fi

## check required environment variables
error=0
if [ -z $CABOT_MODEL ]; then
    err "CABOT_MODEL: environment variable should be specified (ex. cabot2-gt1"
    error=1
fi
if [ -z $CABOT_SITE ]; then
    err "CABOT_SITE : environment variable should be specified (ex. cabot_site_cmu_3d"
    error=1
fi

if [ "$config_name" = "rs3" ]; then
    if [ -z $CABOT_REALSENSE_SERIAL_1 ]; then
	err "CABOT_REALSENSE_SERIAL_1: environment variable should be specified"
	error=1
    fi
    if [ -z $CABOT_REALSENSE_SERIAL_2 ]; then
	err "CABOT_REALSENSE_SERIAL_2: environment variable should be specified"
	error=1
    fi
    if [ -z $CABOT_REALSENSE_SERIAL_3 ]; then
	err "CABOT_REALSENSE_SERIAL_3: environment variable should be specified"
	error=1
    fi
    reset_all_realsence=1
fi

if [[ "$config_name" = "nuc" ]]; then
    if [[ -z $CABOT_JETSON_CONFIG ]]; then
	err "CABOT_JETSON_CONFIG: environment variable should be specified to launch people on Jetson"
	error=1
    fi
fi

if [ $error -eq 1 ]; then
   exit 1
fi

log_name=${log_prefix}_`date +%Y-%m-%d-%H-%M-%S`
export ROS_LOG_DIR="/home/developer/.ros/log/${log_name}"
export ROS_LOG_DIR_ROOT="/root/.ros/log/${log_name}"
export CABOT_LOG_NAME=$log_name
host_ros_log=$scriptdir/docker/home/.ros/log
host_ros_log_dir=$host_ros_log/$log_name
mkdir -p $host_ros_log_dir
ln -snf $host_ros_log_dir $host_ros_log/latest
blue "log dir is : $host_ros_log_dir"
mkdir -p $host_ros_log_dir
cp $scriptdir/.env $host_ros_log_dir/env-file
# save vcs log and diff for debugging
vcs log --nested --limit 1 > $host_ros_log_dir/vcs-log.txt &
vcs diff --nested > $host_ros_log_dir/vcs-diff.txt &

## if network interface name for Cyclone DDS is not specified, set autoselect as true
if [ ! -z $CYCLONEDDS_URI ]; then
    if [ ! -z $CYCLONEDDS_NETWORK_INTERFACE_NAME ]; then
        export CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE="false"
    else
        export CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE="true"
    fi
fi

## start logging dmesg after host_ros_log_dir is defined
if [[ $log_dmesg -eq 1 ]]; then
    blue "Logging dmesg"
    dmesg --time-format iso -w > $host_ros_log_dir/dmesg.log &
    termpids+=($!)
    pids+=($!)
fi

## run script to change settings
if [ $simulation -eq 0 ]; then
    if [ $nvidia_gpu -eq 1 ]; then
        blue "change nvidia gpu settings"
        $scriptdir/tools/change_nvidia-smi_settings.sh
    fi
fi

# prepare ROS host_ws
if [[ -e /opt/ros/$ROS_DISTRO/setup.bash ]]; then
    # launch command_logger with the host ROS
    cd $scriptdir/host_ws
    source install/setup.bash
    if [ $verbose -eq 0 ]; then
	ROS_LOG_DIR=$host_ros_log_dir ros2 launch cabot_debug record_system_stat.launch.xml > $host_ros_log_dir/record-system-stat.log  2>&1 &
    else
	ROS_LOG_DIR=$host_ros_log_dir ros2 launch cabot_debug record_system_stat.launch.xml &
    fi
    blue "[$!] launch system stat $( echo "$(date +%s.%N) - $start" | bc -l )"
fi

## launch server
cd $scriptdir
./server-launch.sh -c -p $CABOT_SITE

# launch docker image for bag recording
additional_record_topics=()
if [ $do_not_record -eq 0 ]; then
    bag_dccom="docker compose -f docker-compose-bag.yaml"
    sim_option=""
    if [[ $simulation -eq 1 ]]; then
	# sim_option="-s"
	sim_option=""  # workaround the problem with replay
    fi
    if [[ $record_cam -eq 1 ]]; then
	export CABOT_ROSBAG_RECORD_CAMERA=1
	red "override CABOT_DETECT_VERSION = 2"
	export CABOT_DETECT_VERSION=2
    fi
    if [[ $separate_log -eq 1 ]]; then export CABOT_ROSBAG_SEPARATE_LOG=1; fi
    com="bash -c \"setsid $bag_dccom --ansi never up --no-build --abort-on-container-exit\" > $host_ros_log_dir/docker-compose-bag.log &"
    blue $com
    eval $com
    blue "[$!] recording ROS2 topics $( echo "$(date +%s.%N) - $start" | bc -l )"
else
    blue "do not record ROS2 topics"
fi

if [[ $terminating -eq 1 ]]; then
    exit
fi

## launch docker compose
cd $scriptdir
dcfile=

dcfile=docker-compose
if [ ! -z $config_name ]; then dcfile="${dcfile}-$config_name"; fi
if [ $simulation -eq 0 ]; then dcfile="${dcfile}-production"; fi
if [ $debug -eq 1 ]; then dcfile=docker-compose-debug; fi            # only basic debug
dcfile="${dcfile}.yaml"

if [ ! -e $dcfile ]; then
    err "There is not $dcfile (config_name=$config_name, simulation=$simulation)"
    exit
fi

dccom="docker compose $project_option -f $dcfile $env_option"

if [ $reset_all_realsence -eq 1 ]; then
    # sudo resetsh.sh
    docker compose run --rm people sudo /resetrs.sh $CABOT_REALSENSE_SERIAL_1
    docker compose run --rm people sudo /resetrs.sh $CABOT_REALSENSE_SERIAL_2
    docker compose run --rm people sudo /resetrs.sh $CABOT_REALSENSE_SERIAL_3
fi

if [ $verbose -eq 0 ]; then
    com2="bash -c \"setsid $dccom --ansi never up --no-build --abort-on-container-exit\" > $host_ros_log_dir/docker-compose.log &"
else
    com2="bash -c \"setsid $dccom up --no-build --abort-on-container-exit\" | tee $host_ros_log_dir/docker-compose.log &"
fi
if [ $verbose -eq 1 ]; then
    blue "$com2"
fi

if [[ $terminating -eq 1 ]]; then
    exit
fi

eval $com2
dcpid=($!)
blue "[$dcpid] $dccom up $( echo "$(date +%s.%N) - $start" | bc -l )"

## launch jetson
if [[ ! -z $CABOT_JETSON_CONFIG ]]; then
    : "${CABOT_JETSON_USER:=cabot}"
    : "${CABOT_CAMERA_RGB_FPS:=30}"
    : "${CABOT_CAMERA_DEPTH_FPS:=15}"
    : "${CABOT_CAMERA_RESOLUTION:=640}"
    : "${CABOT_DETECT_VERSION:=3}"
    : "${CABOT_DETECT_PEOPLE_CONF_THRES:-0.6}"

    serial_nums=
    if [ ! -z $CABOT_CAMERA_NAME_1 ] && [ ! -z $CABOT_REALSENSE_SERIAL_1 ]; then
        serial_nums="$serial_nums $CABOT_CAMERA_NAME_1:$CABOT_REALSENSE_SERIAL_1"
    fi
    if [ ! -z $CABOT_CAMERA_NAME_2 ] && [ ! -z $CABOT_REALSENSE_SERIAL_2 ]; then
        serial_nums="$serial_nums $CABOT_CAMERA_NAME_2:$CABOT_REALSENSE_SERIAL_2"
    fi
    if [ ! -z $CABOT_CAMERA_NAME_3 ] && [ ! -z $CABOT_REALSENSE_SERIAL_3 ]; then
        serial_nums="$serial_nums $CABOT_CAMERA_NAME_3:$CABOT_REALSENSE_SERIAL_3"
    fi

    simopt=
    if [ $simulation -eq 1 ]; then simopt="-s"; fi

    export CABOT_DETECT_PEOPLE_CONF_THRES
    export CABOT_DETECT_PEOPLE_FPS
    if [ $verbose -eq 1 ]; then
        com="./jetson-launch.sh -v -u $CABOT_JETSON_USER -c \"$CABOT_JETSON_CONFIG\" -S \"$serial_nums\" -f $CABOT_CAMERA_RGB_FPS -p $CABOT_CAMERA_DEPTH_FPS -r $CABOT_CAMERA_RESOLUTION -o $CABOT_DETECT_VERSION $simopt &"
    else
        com="./jetson-launch.sh -v -u $CABOT_JETSON_USER -c \"$CABOT_JETSON_CONFIG\" -S \"$serial_nums\" -f $CABOT_CAMERA_RGB_FPS -p $CABOT_CAMERA_DEPTH_FPS -r $CABOT_CAMERA_RESOLUTION -o $CABOT_DETECT_VERSION $simopt > $host_ros_log_dir/jetson-launch.log &"
    fi

    if [ $verbose -eq 1 ]; then
        blue "$com"
    fi
    eval $com
    termpids+=($!)
    pids+=($!)
    blue "[$!] launch jetson $( echo "$(date +%s.%N) - $start" | bc -l )"
fi

if [[ $screen_recording -eq 1 ]]; then
    blue "Recording screen"
    $scriptdir/record_screen.sh -d $host_ros_log_dir > /dev/null 2>&1 &
    termpids+=($!)
    pids+=($!)
fi

while [[ $launched -lt 5 ]]; do
    snore 1
    launched=$((launched+1))
done

blue "All launched: $( echo "$(date +%s.%N) - $start" | bc -l )"

env_option=
if [[ $run_test -eq 1 ]]; then
    blue "Running test"
    docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh
    pids+=($!)
    runtest_pid=$!
    snore 3
fi


while [ 1 -eq 1 ];
do
    # check if any of container got Exit status
    if [[ $terminating -eq 0 ]] && [[ `$dccom ps | grep Exit | wc -l` -gt 0 ]]; then
	red "docker compose may have some issues. Check errors in the log or run with '-v' option."
	ctrl_c 1
	exit
    fi
    if [[ $run_test -eq 1 ]]; then
	kill -0 $runtest_pid
	if [[ $? -eq 1 ]]; then
	    ctrl_c 1
	    exit
	fi
    fi
    snore 1
done