knightriderdocker

docker_commands.bash

# two important docker types to distinguish: $DOCKER_IMAGE vs. $DOCKER_CONTAINER.  (think executable vs process)
# docker run  takes an image and makes a container
# docker commit takes a container and makes an image 

# docker start, stop, exec operate on containers only.

# start running a new container instance as a daemon,  starting from a docker image
# some settings like volume mappings need to be set here

# you will probably need to remove the inline comments. SORRY!
# TODO replace them with `: <comment>` \ like in the first line
docker run \
  --privileged `: access to lots of device/low level things from container (trusted)` \
  --network=host \ # no docker interference on network (vs bridge, which remaps ports and adds overhead)
  -v /mnt/sdb2/ros_shared/:/home/user/shared_with_host \ # shared folder with outside world. also, no indirect io
  -v /dev/:/dev/\ # not sure this is necessary if we have --privilged
  -v /tmp/.X11-unix/:/tmp/.X11-unix\ # communicate with host x windows via unix domain socktr (vs eg ssh)
  -e DISPLAY=unix$DISPLAY \ # display env var for x windows (eg. RVIZ)
  -e LINES \ # share the LINES env vars set from host with docker (otherwise tiny terminals)
  -e COLUMNS \ # see LINES
  --hostname='knightrider-docker' \ # helps distinguish container from outside world
  --add-host="knightrider-docker:127.0.0.1" \ # custom missing from /etc/hosts otherwise
  -d \ # run as daemon, otherwise the 
  -i \ # take STDIN input (not sure this is necessary  for daemon)
  $DOCKER_IMAGE \ # your own image you want to run
  /bin/bash # somewhat arbitrary what runs here if we just want it in the background
  
# see what the name for the new container is (if it is running)
docker ps # shows running containers (there should be an entry if the above worked as expected)
docker ps -a # shows running and also stopped containers

# connect into running container instance and run a command (including an interactive terminal)
docker exec \
  -u user \ # otherwise will run as root
  -e LINES  \ # placing this both here and in docker run seem to be necessary, otherwise tiny terminal
  -e COLUMNS \ # see LINES
  -e DISPLAY=unix$DISPLAY  # not sure this is necessary
  -t \ # allocate tty. not sure what this is for.
  -i \ # take stdin.  useful for terminal...
  $CONTAINER_NAME # from docker ps, needs to be running
  /bin/bash # or your choice of program, if you want something else.

# within docker, can do exit, but daemon will keep running
docker stop $CONTAINER_NAME #can restart later if wanted
docker ps -a # find the container again if you don't remember
docker start $CONTAINER_NAME # resume where you started.

#  if a container has some change you really want to keep and share with other people:
docker commit -m 'my message' $CONTAINER_NAME
# you get an image out


### within the container
# build the project (if needs to be rebuilt bc of new tools)
# may need to do more, see the knightrider repo scripts 
cd ~/shared_with_host/software/knightrider/
catkin_make -j 8

# run the logging stuff (needs all devices connected)
ROS_BAG_PATH=~/shared_with_host/bagfiles/ roslaunch h_dblogging.launch veh:=white_prius


### vertica docker commands

#after a restart
docker ps -a  # list all containers. see if one is named after vertica, eg vertica_container_0
docker run vertica_container_0
sudo docker exec vertica_container_0 /opt/vertica/bin/admintools -t start_db  -d testid

# test things worked
vsql -d testid -U readonly_user -v schema=blob_schema


##### in case we need to start from image (eg, new image, new machine, or previous container lost somehow)
# start from image (you should only need this command after making a new image)
sudo docker run \
  --network=host `: will get us port 5433, and will remain steady. avoids overhead` \
  -v /nvme_drive/vertica_data:/vertica_data `: data is persisted to this folder, across container runs` \
  -v /nvme_drive/parquet_data:/nvme_drive/parquet_data `: allow loading parquet files easily` \
  -u dbadmin `: dbadmin is needed for most admintools commands` \
  -di `: daemon + stdin seems required to continue running` \
  --name=vertica_container_0 `: helps remember this is the vertica container. may want to increment number` \
  vertica-plus-tools `: image name` \ 
  /bin/bash `: placeholder`
  
## things to try next time: 
# --restart= unless-stopped (will it start the