docker安装的autoware之启动docker的脚本理解

开头申明bash文件

#!/bin/bash

//设置只要有一条语句执行错误就会返回

set -e

//设置默认的参数项

# Default settings
CUDA="off"
IMAGE_NAME="autoware/autoware"
TAG_PREFIX="latest"
ROS_DISTRO="kinetic"
BASE_ONLY="false"
PRE_RELEASE="off"
AUTOWARE_HOST_DIR=""
USER_ID="$(id -u)"

//当地一个参数为-h是调用usage函数，也就相当于查看帮助文档

function usage() {
    echo "Usage: $0 [OPTIONS]"
    echo "    -b,--base-only <AUTOWARE_HOST_DIR> If provided, run the base image only and mount the provided Autoware folder."
    echo "                                       Default: Use pre-compiled Autoware image"
    echo "    -c,--cuda <on|off>                 Enable Cuda support in the Docker."
    echo "                                       Default: $CUDA"
    echo "    -h,--help                          Display the usage and exit."
    echo "    -i,--image <name>                  Set docker images name."
    echo "                                       Default: $IMAGE_NAME"
    echo "    -p,--pre-release <on|off>          Use pre-release image."
    echo "                                       Default: $PRE_RELEASE"
    echo "    -r,--ros-distro <name>             Set ROS distribution name."
    echo "                                       Default: $ROS_DISTRO"
    echo "    -s,--skip-uid-fix                  Skip uid modification step required when host uid != 1000"
    echo "    -t,--tag-prefix <tag>              Tag prefix use for the docker images."
    echo "                                       Default: $TAG_PREFIX"
}

# Convert a relative directory path to absolute
function abspath() {
    local path=$1
    if [ ! -d $path ]; then
    exit 1
    fi
    pushd $path > /dev/null
    echo $(pwd)
    popd > /dev/null
}

//option选项要识别的短选项，后面带：表示可以带参数 \符号表示链接下面的命令 --long表示要识别的长选项， --name表示将错误报告给的程序，次错将错误报告给$0，即第文件本身，最后带的参数项目
OPTS=`getopt --options b:c:hi:p:r:st: \
         --long base-only:,cuda:,help,image-name:,pre-release:,ros-distro:,skip-uid-fix,tag-prefix: \
         --name "$0" -- "$@"`
eval set -- "$OPTS"

 

//下面的每个参数的作用在usage函数中已经说明，其中shift是向前移动指定个数的参数

while true; do
  case $1 in                             
    -b|--base-only)
      BASE_ONLY="true"
      AUTOWARE_HOST_DIR=$(abspath "$2")
      shift 2
      ;;
    -c|--cuda)       
      param=$(echo $2 | tr '[:upper:]' '[:lower:]')
      case "${param}" in
        "on"|"off") CUDA="${param}" ;;
        *) echo "Invalid cuda option: $2"; exit 1 ;;
      esac
      shift 2
      ;;
    -h|--help)
      usage
      exit 0
      ;;
    -i|--image-name)
      IMAGE_NAME="$2"
      shift 2
      ;;
    -p|--pre-release)
      param=$(echo $2 | tr '[:upper:]' '[:lower:]')     //将第二个参数中的大写改成小写然后输出到终端
      case "${param}" in
        "on"|"off") PRE_RELEASE="${param}" ;;
        *) echo "Invalid pre-release option: $2"; exit 1 ;;
      esac
      shift 2
      ;;
    -r|--ros-distro)              //此处可以选择镜像的版本，调用build.sh 会直接去pull下载对应的镜像
      ROS_DISTRO="$2"
      shift 2
      ;;
    -s|--skip-uid-fix)
      USER_ID=1000
      shift 1
      ;;
    -t|--tag-prefix)
      TAG_PREFIX="$2"
      shift 2
      ;;
    --)
      if [ ! -z $2 ];        //判断第二个参数为非空是返回true
      then
        echo "Invalid parameter: $2"
        exit 1
      fi
      break
      ;;
    *)
      echo "Invalid option"
      exit 1
      ;;
  esac
done

 

//输出各个选项的内容

echo "Using options:"
echo -e "\tROS distro: $ROS_DISTRO"
echo -e "\tImage name: $IMAGE_NAME"
echo -e "\tTag prefix: $TAG_PREFIX"
echo -e "\tCuda support: $CUDA"
if [ "$BASE_ONLY" == "true" ]; then
  echo -e "\tAutoware Home: $AUTOWARE_HOST_DIR"
fi
echo -e "\tPre-release version: $PRE_RELEASE"
echo -e "\tUID: <$USER_ID>"

SUFFIX=""
RUNTIME=""

//

XSOCK=/tmp/.X11-unix
XAUTH=$HOME/.Xauthority

SHARED_DOCKER_DIR=/home/autoware/shared_dir

//与外部环境共享的autoware目录
SHARED_HOST_DIR=$HOME/shared_dir

AUTOWARE_DOCKER_DIR=/home/autoware/Autoware

//设置目录的权限

VOLUMES="--volume=$XSOCK:$XSOCK:rw
         --volume=$XAUTH:$XAUTH:rw
         --volume=$SHARED_HOST_DIR:$SHARED_DOCKER_DIR:rw"

if [ "$BASE_ONLY" == "true" ]; then
    SUFFIX=$SUFFIX"-base"
    VOLUMES="$VOLUMES --volume=$AUTOWARE_HOST_DIR:$AUTOWARE_DOCKER_DIR "
fi

if [ $CUDA == "on" ]; then
    SUFFIX=$SUFFIX"-cuda"
    RUNTIME="--runtime=nvidia"
fi

if [ $PRE_RELEASE == "on" ]; then
    SUFFIX=$SUFFIX"-rc"
fi

//创建共享目录

# Create the shared directory in advance to ensure it is owned by the host user
mkdir -p $SHARED_HOST_DIR

IMAGE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$SUFFIX
echo "Launching $IMAGE"

//这里才真正运行带有自定义镜像的docker并配置相应的环境，并给使用者权限

docker run \
    -it --rm \
    $VOLUMES \
    --env="XAUTHORITY=${XAUTH}" \
    --env="DISPLAY=${DISPLAY}" \
    --env="USER_ID=$USER_ID" \
    --privileged \
    --net=host \
    $RUNTIME \
    $IMAGE