wip

Signed-off-by: Daisuke Sato <[email protected]>

bake-docker.sh

@@ -137,15 +137,11 @@ if [[ $build_server -eq 1 ]]; then
     server_com="docker buildx bake -f docker-compose-server.yaml $platform_option"
     echo $server_com
     eval $server_com
-fi
-
-if [[ $location_tools -eq 1 ]]; then
+elif [[ $location_tools -eq 1 ]]; then
     location_com="docker buildx bake -f docker-compose-location-tools.yaml  $platform_option"
     echo $location_com
     eval $location_com
-fi
-
-if [[ -n $base_name ]]; then
+elif [[ -n $base_name ]]; then
     base_com="docker buildx bake -f docker-compose.yaml $platform_option $@"
     export BASE_IMAGE=$base_name
     echo $base_com

docker-compose-common.yaml

@@ -394,7 +394,8 @@ services:
     extends: localization-prod-base
 
 # server
-  map_base:
+  map_server:
+    image: cmucal/cabot-map_server
     build: 
       context: ./docker/server
       args:
@@ -418,9 +419,9 @@ services:
       - "./server"
       - "run"
       - "defaultServer"
-#    depends_on:
-#      mongodb:
-#        condition: service_healthy
+    depends_on:
+      mongodb:
+        condition: service_healthy
     ports:
       - 127.0.0.1:9090:9090  # only localhost can access this server
     networks:
@@ -431,24 +432,11 @@ services:
       timeout: 3s
       retries: 10  # increased from 5, needs more time to launch on Jetson
 
-  map_server-dev:
-    extends: map_base
-
-  map_server-prod:
-    extends: map_base
-    image: cmucal/cabot-map_server
-
   map_data:
-    build: 
-      context: ./docker/server
-      args:
-        - USERNAME=runner_user
-    env_file:
-      - ${ENV_FILE:-.empty-env}
-      - .env
-#    depends_on:
-#      map_server:
-#        condition: service_healthy
+    image: cmucal/cabot-map_server      
+    depends_on:
+      map_server:
+        condition: service_healthy
     command:
       - "bash"
       - "-c"
@@ -475,7 +463,7 @@ services:
       retries: 5
 
 
-  location_tools-base:
+  location_tools:
     build:
       context: ./docker/server
       dockerfile: Dockerfile.location-tools
@@ -510,13 +498,6 @@ services:
       timeout: 3s
       retries: 10  # increased from 5, needs more time to launch on Jetson
 
-  location_tools-dev:
-    extends: location_tools-base
-
-  location_tools-prod:
-    extends: location_tools-base
-    image: cmucal/cabot-location-tools
-
   mongodb_lt:
     image : mongo:4.4.25  # the latest v4 version as of Nov. 2023, works without server side modification
     environment:

docker-compose-location-tools.yaml

@@ -23,8 +23,8 @@ services:
   location_tools:
     extends:
       file: docker-compose-common.yaml
-      service: location_tools-dev
-          
+      service: location_tools
+
   mongodb_lt:
     extends:
       file: docker-compose-common.yaml

docker-compose-server.yaml

@@ -22,19 +22,16 @@ services:
   map_server:
     extends:
       file: docker-compose-common.yaml
-      service: map_server-dev
-      
+      service: map_server
+
   map_data:
     extends:
       file: docker-compose-common.yaml
       service: map_data
-      depend_on:
-        map_server:
-          condition: service_healthy
-
+
   mongodb:
     extends:
-      file: docker-compose-common-server.yaml
+      file: docker-compose-common.yaml
       service: mongodb                    
 
 networks:

server-launch.sh

@@ -66,7 +66,6 @@ function help()
     echo "-l           location tools server"
     echo "-X <port>    expose port to outside (set port like 80, 9090, ...)"
     echo "-E 1-10     separate environment (ROS_DOMAIN_ID, CABOT_MAP_SERVER_HOST) for simultaneous launch"
-    echo "-P           prodcuct image "
 }
 
 pwd=`pwd`
@@ -83,9 +82,8 @@ port_access=127.0.0.1
 environment=
 launch_prefix=
 MAP_SERVER_PORT=9090
-prodimg_server=0
 
-while getopts "hd:E:p:fvcClX:P" arg; do
+while getopts "hd:E:p:fvcClX:" arg; do
     case $arg in
         h)
             help
@@ -119,9 +117,6 @@ while getopts "hd:E:p:fvcClX:P" arg; do
 	X)
 	    port_access=0.0.0.0
             export MAP_SERVER_PORT=$OPTARG
-	P)  
-	    prodimg_server=1
-	    ;;
     esac
 done
 shift $((OPTIND-1))
@@ -158,11 +153,7 @@ if [[ $clean_server -eq 2 ]]; then
 fi
 
 if [[ $location_tools -eq 1 ]]; then
-    if [ $prodimg -eq 1 ]; then
-        docker compose -p $launch_prefix -f docker-compose-location-tools-prodimg.yaml up -d
-    else
-        docker compose -p $launch_prefix -f docker-compose-location-tools.yaml up -d
-    fi
+    docker compose -p $launch_prefix -f docker-compose-location-tools.yaml up -d
     exit 0
 fi
 
@@ -254,15 +245,8 @@ if [ $error -eq 1 ] && [ $ignore_error -eq 0 ]; then
    exit 2
 fi
 
-dcfile=docker-compose
-if [[ $prodimg_server -eq 1 ]]; then
-    dcfile="${dcfile}-server-prodimg"
-    blue "map_server-prod"
-else 
-    dcfile="${dcfile}-server"
-    blue "map_server"
-fi
-dcfile="${dcfile}.yaml"
+dcfile=docker-compose-server.yaml
+blue "map_server"
 
 export CABOT_SERVER_DATA_MOUNT=$data_dir
 export PORT_ACCESS=$port_access