uas-ugv/build.sh

#!/bin/bash

set -e

TPUT=$(command -v tput 2>/dev/null || echo true)

DIR=$(cd "$(dirname "$0")"; pwd -P)

TOOLCHAIN_IMAGE="uas-ugv-build:latest"
: ${BUILD_DIR:="$DIR/cmake-build"}
DOCKERFILE="$DIR/Dockerfile"

echo_status() {
    echo "$($TPUT setaf 2)==> $*$($TPUT sgr0)"
}

get_docker_run_flags() {
    if [ -z "$DOCKER_RUN_FLAGS" ]; then
        DOCKER_RUN_FLAGS=(--interactive --rm)
        # if stdin is a terminal, tell docker to allocate a tty
        if [ -t 0 ]; then
            DOCKER_RUN_FLAGS+=(--tty)
        fi
        USB_SERIAL_DEVICES=$(find /dev -name 'ttyUSB0' -o -name 'ttyACM*' || true)
        for device in $USB_SERIAL_DEVICES; do
            DOCKER_RUN_FLAGS+=(--device "$device")
            echo_status "Adding device $device to container"
        done
    fi
}

build_docker_container() {
    echo_status "Building docker container image"
    docker build -f "$DOCKERFILE" -t "$TOOLCHAIN_IMAGE" "$DIR"
    echo_status "Built docker container image and tagged as $TOOLCHAIN_IMAGE"
}

build_docker() {
    mkdir -p "$BUILD_DIR"
    command -v setfacl 1>/dev/null && setfacl -m default:u:$USER:rwx "$BUILD_DIR"
    build_docker_container
    get_docker_run_flags
    local targets=$*
    if [ -z "$targets" ]; then
        targets="all"
    fi
    echo_status "Building target(s) $targets in container"
    docker run \
        --volume="$DIR:/esp/uas-ugv" \
        "${DOCKER_RUN_FLAGS[@]}" \
        "$TOOLCHAIN_IMAGE" \
        /esp/uas-ugv/build.sh cmake "$targets"
}

docker_idf() {
    mkdir -p "$BUILD_DIR"
    command -v setfacl 1>/dev/null && setfacl -m default:u:$USER:rwx "$BUILD_DIR"
    build_docker_container
    get_docker_run_flags
    echo_status "Running idf.py $*"
    docker run \
        --volume="$DIR:/esp/uas-ugv" \
        "${DOCKER_RUN_FLAGS[@]}" \
        "$TOOLCHAIN_IMAGE" \
        '/bin/bash' -c "cd /esp/uas-ugv && \$IDF_PATH/tools/idf.py $*"
}

build_cmake() {
    mkdir -p "$BUILD_DIR"
    cd "$BUILD_DIR"
    echo_status "CMake configure"
    cmake -G Ninja "$DIR"
    echo_status "CMake build $*"
    cmake --build "$BUILD_DIR" -- "$@"
}

build_clean() {
    rm -rf "$BUILD_DIR"
}

CMD="$1"; shift

case $CMD in 
    docker_container) build_docker_container ;;
    docker) build_docker "$@" ;;
    docker_idf) docker_idf "$@" ;;
    cmake) build_cmake "$@" ;;
    clean) build_clean ;;
    *) echo "Usage: $0 <docker_container|docker|cmake>" ;;
esac