build.sh

#!/usr/bin/env bash
set -e

SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
WORKSPACE_ROOT="$SCRIPT_DIR"

# Function to print help message
print_help() {
	echo "Usage: build.sh [OPTIONS]"
	echo "Options:"
	echo "  -h | --help     Display this help message"
	echo "  --platform      Specify the platform (linux/amd64 or linux/arm64, default: current platform)"
	echo "  --ros-distro    Specify ROS distribution (humble or jazzy, default: humble)"
	echo "  --no-cuda       Do not build CUDA images (default: false)"
	echo "  --target        Specify the target images to build (common, components, universe, default: components)"
}

# Parse arguments
parse_arguments() {
	while [ "$1" != "" ]; do
		case "$1" in
		--help | -h)
			print_help
			exit 1
			;;
		--no-cuda)
			option_no_cuda=true
			;;
		--platform)
			option_platform="$2"
			shift
			;;
		--target)
			option_target="$2"
			shift
			;;
		--ros-distro)
			option_ros_distro="$2"
			shift
			;;
		*)
			echo "Unknown option: $1"
			print_help
			exit 1
			;;
		esac
		shift
	done
}

# Set ROS distribution
set_ros_distro() {
	if [ -n "$option_ros_distro" ]; then
		ros_distro="$option_ros_distro"
	else
		ros_distro="humble"
	fi
}

# Set build options
set_build_options() {
	if [ -n "$option_target" ]; then
		target="$option_target"
	else
		target="components"
	fi
}

# Set platform
set_platform() {
	if [ -n "$option_platform" ]; then
		platform="$option_platform"
	else
		platform="linux/amd64"
		if [ "$(uname -m)" = "aarch64" ]; then
			platform="linux/arm64"
		fi
	fi
}

# Clone autoware repositories
clone_repositories() {
	cd "$WORKSPACE_ROOT"

	if [ ! -d "autoware" ]; then
		echo "Cloning Autoware repository..."
		git clone https://github.com/autowarefoundation/autoware.git autoware
	fi

	if [ ! -d "autoware/src" ]; then
		mkdir -p autoware/src
		vcs import autoware/src <autoware/repositories/autoware.repos
	else
		echo "Source directory already exists. Updating repositories..."
		vcs import autoware/src <autoware/repositories/autoware.repos
		vcs pull autoware/src
	fi
}

# Build images
build_images() {
	# https://github.com/docker/buildx/issues/484
	export BUILDKIT_STEP_LOG_MAX_SIZE=10000000

	local bake_file="$SCRIPT_DIR/components/docker-bake.hcl"
	local ubuntu_version="jammy"
	if [ "$ros_distro" = "jazzy" ]; then
		ubuntu_version="noble"
	fi
	local base_image="ros:${ros_distro}-ros-base-${ubuntu_version}"
	local image_common="openadkit-common"
	local image_component="openadkit"

	echo "Building images with:"
	echo "  Target: $target"
	echo "  Platform: $platform"
	echo "  ROS distro: $ros_distro"
	echo "  Base image: $base_image"
	echo "  CUDA: $([ "$option_no_cuda" = "true" ] && echo "disabled" || echo "enabled")"

	set -x

	# =========================================================================
	# Stage 1: Common images
	# =========================================================================
	docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
		--set "*.context=$WORKSPACE_ROOT" \
		--set "*.ssh=default" \
		--set "*.platform=$platform" \
		--set "*.args.ROS_DISTRO=$ros_distro" \
		--set "*.args.BASE_IMAGE=$base_image" \
		--set "common-base.tags=${image_common}:base" \
		--set "common-devel.tags=${image_common}:devel" \
		common-base common-devel

	if [ "$option_no_cuda" != "true" ]; then
		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
			--set "*.context=$WORKSPACE_ROOT" \
			--set "*.ssh=default" \
			--set "*.platform=$platform" \
			--set "*.args.ROS_DISTRO=$ros_distro" \
			--set "*.args.BASE_IMAGE=$base_image" \
			--set "common-base-cuda.tags=${image_common}:base-cuda" \
			--set "common-devel-cuda.tags=${image_common}:devel-cuda" \
			common-base-cuda common-devel-cuda
	fi

	if [ "$target" = "common" ]; then
		set +x
		return
	fi

	# =========================================================================
	# Stage 2: Component images
	# =========================================================================
	docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
		--set "*.context=$WORKSPACE_ROOT" \
		--set "*.ssh=default" \
		--set "*.platform=$platform" \
		--set "*.args.ROS_DISTRO=$ros_distro" \
		--set "*.args.COMMON_BASE_IMAGE=${image_common}:base" \
		--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel" \
		--set "sensing-perception.tags=${image_component}:sensing-perception" \
		--set "localization-mapping.tags=${image_component}:localization-mapping" \
		--set "planning-control.tags=${image_component}:planning-control" \
		--set "vehicle-system.tags=${image_component}:vehicle-system" \
		--set "api.tags=${image_component}:api" \
		--set "visualizer.tags=${image_component}:visualizer" \
		--set "simulator.tags=${image_component}:simulator" \
		sensing-perception localization-mapping planning-control vehicle-system api visualizer simulator

	if [ "$option_no_cuda" != "true" ]; then
		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
			--set "*.context=$WORKSPACE_ROOT" \
			--set "*.ssh=default" \
			--set "*.platform=$platform" \
			--set "*.args.ROS_DISTRO=$ros_distro" \
			--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-cuda" \
			--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-cuda" \
			--set "sensing-perception-cuda.tags=${image_component}:sensing-perception-cuda" \
			sensing-perception-cuda
	fi

	if [ "$target" = "components" ]; then
		set +x
		return
	fi

	# =========================================================================
	# Stage 3: Universe images
	# =========================================================================
	docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
		--set "*.context=$WORKSPACE_ROOT" \
		--set "*.ssh=default" \
		--set "*.platform=$platform" \
		--set "*.args.ROS_DISTRO=$ros_distro" \
		--set "*.args.COMMON_BASE_IMAGE=${image_common}:base" \
		--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel" \
		--set "*.args.SENSING_PERCEPTION_IMAGE=${image_component}:sensing-perception" \
		--set "*.args.LOCALIZATION_MAPPING_IMAGE=${image_component}:localization-mapping" \
		--set "*.args.PLANNING_CONTROL_IMAGE=${image_component}:planning-control" \
		--set "*.args.VEHICLE_SYSTEM_IMAGE=${image_component}:vehicle-system" \
		--set "*.args.API_IMAGE=${image_component}:api" \
		--set "*.args.VISUALIZER_IMAGE=${image_component}:visualizer" \
		--set "*.args.SIMULATOR_IMAGE=${image_component}:simulator" \
		--set "universe.tags=${image_component}:universe" \
		universe

	if [ "$option_no_cuda" != "true" ]; then
		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
			--set "*.context=$WORKSPACE_ROOT" \
			--set "*.ssh=default" \
			--set "*.platform=$platform" \
			--set "*.args.ROS_DISTRO=$ros_distro" \
			--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-cuda" \
			--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-cuda" \
			--set "*.args.SENSING_PERCEPTION_CUDA_IMAGE=${image_component}:sensing-perception-cuda" \
			--set "*.args.LOCALIZATION_MAPPING_IMAGE=${image_component}:localization-mapping" \
			--set "*.args.PLANNING_CONTROL_IMAGE=${image_component}:planning-control" \
			--set "*.args.VEHICLE_SYSTEM_IMAGE=${image_component}:vehicle-system" \
			--set "*.args.API_IMAGE=${image_component}:api" \
			--set "*.args.VISUALIZER_IMAGE=${image_component}:visualizer" \
			--set "*.args.SIMULATOR_IMAGE=${image_component}:simulator" \
			--set "universe-cuda.tags=${image_component}:universe-cuda" \
			universe-cuda
	fi

	set +x
}

# Remove dangling images
remove_dangling_images() {
	docker image prune -f
}

# Main script execution
parse_arguments "$@"
set_ros_distro
set_build_options
set_platform
clone_repositories
build_images
remove_dangling_images