Update deployment container script

.devcontainer/Dockerfile

@@ -16,3 +16,7 @@ COPY --chown=${USERNAME}:${USERNAME} config ${HOME}
 #     && apt-get autoremove -y \
 #     && apt-get clean -y \
 #     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# set user and working directory
+USER ${USERNAME}
+WORKDIR ${ROS_WORKSPACE}

.devcontainer/base-dev/README.md

@@ -62,23 +62,9 @@ If you want to push this to GitHub (instead of using the slow Build Images workf
 
 1. Login to the GitHub container registry: [Authenticating with a personal access token (classic)](https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry#authenticating-with-a-personal-access-token-classic)
 
-2. Push each image, replacing `<tag>` with the desired tag in the commands below
+2. Push the image, replacing `<tag>` with the desired tag in the command below
 
     ```
-    docker buildx build . \
-        --file base-dev.Dockerfile \
-        --tag ghcr.io/ubcsailbot/sailbot_workspace/base:<tag> \
-        --platform linux/arm64,linux/amd64 \
-        --builder sailbot \
-        --target base \
-        --push
-    docker buildx build . \
-        --file base-dev.Dockerfile \
-        --tag ghcr.io/ubcsailbot/sailbot_workspace/local-base:<tag> \
-        --platform linux/arm64,linux/amd64 \
-        --builder sailbot \
-        --target local-base \
-        --push
     docker buildx build . \
         --file base-dev.Dockerfile \
         --tag ghcr.io/ubcsailbot/sailbot_workspace/dev:<tag> \

.devcontainer/docker-compose.yml

@@ -27,7 +27,7 @@ services:
 
   # URL: mongodb://localhost:27017
   mongodb:
-    image: mongo:7
+    image: mongo:${MONGO_TAG:-7}
     restart: unless-stopped
     volumes:
       - mongodb-data:/data/db:delegated

.github/workflows/build-images.yml

@@ -4,10 +4,9 @@ on:
   workflow_dispatch:
     inputs:
       tag:
-        description: 'Tag of the base, local-base, and dev images'
-        required: false
+        description: 'Tag of the Docker image'
+        required: true
         type: string
-        default: 'main'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -34,37 +33,15 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.PAT_TOKEN }}
 
-      - name: Build and push base
-        uses: docker/build-push-action@v5
-        with:
-          context: "{{defaultContext}}:.devcontainer/base-dev"
-          file: base-dev.Dockerfile
-          push: true
-          tags: ghcr.io/ubcsailbot/sailbot_workspace/base:${{ inputs.tag }}
-          platforms: linux/arm64,linux/amd64
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
-          target: base
-
-      - name: Build and push local-base
-        uses: docker/build-push-action@v5
-        with:
-          context: "{{defaultContext}}:.devcontainer/base-dev"
-          file: base-dev.Dockerfile
-          push: true
-          tags: ghcr.io/ubcsailbot/sailbot_workspace/local-base:${{ inputs.tag }}
-          platforms: linux/arm64,linux/amd64
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
-          target: local-base
-
       - name: Build and push dev
         uses: docker/build-push-action@v5
         with:
           context: "{{defaultContext}}:.devcontainer/base-dev"
           file: base-dev.Dockerfile
           push: true
-          tags: ghcr.io/ubcsailbot/sailbot_workspace/dev:${{ inputs.tag }}
+          tags: |
+            ghcr.io/ubcsailbot/sailbot_workspace/dev:${{ inputs.tag }}
+            ghcr.io/ubcsailbot/sailbot_workspace/dev:latest
           platforms: linux/arm64,linux/amd64
           cache-from: type=gha
           cache-to: type=gha,mode=max

scripts/deployment/README.md

@@ -4,18 +4,6 @@ Deploying our software to our autonomous sailboat's main computer.
 
 ## Scripts
 
-### `start_container.sh`
-
-Runs the [`base`](https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer/base-dev/base-dev.Dockerfile)
-image. A new container is created every time this is run. The default container name is `sailbot_deployment_container`.
-Container names are unique, so if you want to use multiple deployment containers (e.g., from different branches)
-you will have to update the variable `CONTAINER_NAME` in the script.
-
-Usage:
-
-- Runs the base image used by the Dev Container by default: `./start_container.sh`
-- Run a specific version of the base image by specifying its ID: `./start_container.sh <IMAGE_ID>`
-
 ### `setup_boot.sh`
 
 Configures programs and scripts that need to run when the main computer boots. Only needs to be run once unless the
@@ -24,27 +12,15 @@ renaming or moving the file.
 
 Usage:
 
-- Must be run as root
-- `sudo ./setup_boot.sh`
+- Must be run as root: `sudo ./setup_boot.sh`
 
-## Deployment container commands
+### `start_containers.sh`
 
-- Exit out of a container: `exit`
-- Start an existing container: `docker start -ia <container name>`
-- Delete an existing container: `docker rm <container name>`
-- Find the container ID of a container: `docker ps -a`
+Runs our Docker Compose files.
 
-## Deploy software
-
-> These commands are run in the in the root directory of this repository
-
-1. Run the setup script: `./scripts/setup.sh`
-2. Run the build script with the quick build flag: `./scripts/build.sh -q`
-
-## Develop software
-
-The deployment container isn't intended for development, but if you discover a bug and want to quickly push a fix:
+Usage:
 
-1. Fix the issue in a terminal ***outside*** the deployment container
-2. Run the software to verify your fix in a terminal ***inside*** the deployment container
-3. Commit and push your fix in a terminal ***outside*** the deployment container
+- Runs the global launch file by default: `./start_containers.sh`
+- Add the `--website` argument to additionally run the website container
+- Add the `--interactive` argument to manually run commands in the sailbot workspace container
+- Add the `--help` argument to see all available arguments

scripts/deployment/start_containers.sh

@@ -0,0 +1,128 @@
+#!/bin/bash
+
+## CLI ARGUMENTS ---
+
+# default argument values
+WEBSITE_ARG=""
+INTERACTIVE=false
+CLEAN=false
+RESET=false
+
+# function to display usage help
+usage() {
+    echo "Usage: $0 [--website] [--interactive] [--clean] [--reset]"
+    echo "  --website      If set, runs the website container"
+    echo "  --interactive  If set, run commands inside the sailbot workspace container interactively"
+    echo "  --clean        If set, removes containers after running"
+    echo "  --reset        If set, removes containers and volumes after running"
+    exit 1
+}
+
+# parse command-line options
+while getopts ":-:" opt; do
+    case "${opt}" in
+        -)
+            case "${OPTARG}" in
+                website)
+                    WEBSITE_ARG="--file .devcontainer/website/docker-compose.website.yml"
+                    ;;
+                interactive)
+                    INTERACTIVE=true
+                    ;;
+                clean)
+                    CLEAN=true
+                    ;;
+                reset)
+                    RESET=true
+                    ;;
+                *)
+                    usage  # Show usage if argument is not recognized
+                    ;;
+            esac
+            ;;
+        *)
+            usage  # Show usage if option is unknown
+            ;;
+    esac
+done
+
+# check for any remaining arguments after option parsing
+if [ "$OPTIND" -le "$#" ]; then
+    usage
+fi
+
+## HELPER VARIABLES AND FUNCTIONS ---
+
+# get absolute path to workspace root in host OS
+SCRIPT_DIR="$(dirname "$(readlink --canonicalize "$0")")"
+HOST_WORKSPACE_ROOT="$SCRIPT_DIR/../.."
+
+# common arguments for docker compose commmands
+MONGO_TAG="7"
+PROJECT_NAME="deployment"
+DOCKER_COMPOSE_ARGS="docker compose --project-name $PROJECT_NAME --file .devcontainer/docker-compose.yml $WEBSITE_ARG"
+
+# function to pull the first FROM image from a specified Dockerfile
+pull_from_image() {
+    # Check if Dockerfile path was provided as an argument
+    if [[ -z "$1" ]]; then
+        echo "No Dockerfile path specified."
+        return 1  # Return with error status
+    fi
+
+    # The path to the Dockerfile is the first argument to the function
+    local dockerfile_path="$1"
+
+    # Extract the image from the Dockerfile
+    local image=$(grep '^FROM' "$dockerfile_path" | head -n 1 | awk '{print $2}')
+
+    # Check if the image variable is not empty
+    if [[ -n "$image" ]]; then
+        echo "Pulling Docker image: $image"
+        docker pull "$image"
+    else
+        echo "No image found in Dockerfile at $dockerfile_path."
+        return 1  # Return with error status
+    fi
+}
+
+
+## RUN COMMANDS ---
+
+# run commands in the workspace's root directory
+cd $HOST_WORKSPACE_ROOT
+
+# pull images if connected to the internet
+if wget -q --spider --timeout=1 http://google.com; then
+    pull_from_image .devcontainer/Dockerfile
+    pull_from_image .devcontainer/website/website.Dockerfile
+    docker pull mongo:$MONGO_TAG
+fi
+
+# start containers
+MONGO_TAG=$MONGO_TAG $DOCKER_COMPOSE_ARGS up --build --detach --pull never
+
+# run commands inside sailbot workspace container
+if [[ "$INTERACTIVE" = true ]]; then
+    $DOCKER_COMPOSE_ARGS exec --interactive --tty sailbot-workspace /bin/bash
+else
+    $DOCKER_COMPOSE_ARGS exec --no-TTY sailbot-workspace /bin/bash -c "\
+    source /opt/ros/\$ROS_DISTRO/setup.bash && \
+    ./scripts/setup.sh && \
+    ./scripts/build.sh && \
+    source ./install/local_setup.bash && \
+    ros2 launch src/global_launch/main_launch.py"
+fi
+
+# stop containers
+$DOCKER_COMPOSE_ARGS stop
+
+# remove containers
+if [[ "$CLEAN" == "true" ]] || [[ "$RESET" == "true" ]]; then
+    $DOCKER_COMPOSE_ARGS down
+fi
+
+# remove volumes
+if [[ "$RESET" = true ]]; then
+    docker volume ls -q | grep "^${PROJECT_NAME}_" | xargs -r docker volume rm
+fi

scripts/run-tests.sh

@@ -1,7 +1,6 @@
 #!/bin/bash
 set -e
 
-source /opt/ros/${ROS_DISTRO}/setup.bash
 ./scripts/setup.sh
-./scripts/build.sh RelWithDebInfo OFF  # Do not run static analysis or linting
+./scripts/build.sh
 ./scripts/test.sh

scripts/setup.sh

@@ -16,5 +16,8 @@ for DIR in $ROS_WORKSPACE/src/*; do
 done
 
 sudo apt-get update
-rosdep update --rosdistro $ROS_DISTRO
+if wget -q --spider --timeout=1 http://google.com; then
+    # only run if connected to the internet
+    rosdep update --rosdistro $ROS_DISTRO
+fi
 rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO