Merge from precious

.hgignore

@@ -7,3 +7,5 @@ Ogre.log
 *.swp
 *.gch
 *.pch
+*.pem
+*.pem.*

README.md

@@ -0,0 +1,81 @@
+# PriusCup Docker Image
+
+## Building
+These steps will walk through creating a docker image for PriusCup.
+
+### Step 0 - Prerequisites
+1. [Install docker](https://docs.docker.com/engine/installation/)
+2. [Install nvidia-docker](https://github.com/NVIDIA/nvidia-docker/wiki/Installation)
+
+### Step 1 - Build simulation-base
+
+```
+cd priuscup/docker/simulation-base
+./build.bash
+```
+
+### Step 2 - Build cloudsim-sim-base
+```
+cd priuscup/docker/cloudsim-sim-base
+./build.bash
+```
+
+### Step 3 - Build precious
+```
+cd priuscup/docker/precious
+./build.bash
+```
+1. This script will output a public ssh key. Add this key to your bitbucket account.
+2. Tag the output image to `precious:latest`
+```
+sudo docker tag precious:2017_Jan_12_1914 precious:latest
+```
+
+## S3 bucket file upload
+
+1. To enable uploading prius data to s3 bucket, create an `aws_s3_keys.bash`
+file in `priuscup/aws` and export `AWS_ACCESS_KEY_ID` and
+`AWS_SECRET_ACCESS_KEY` variables.
+
+
+## Testing Locally
+### option 1: cloudsim_deploy.bash
+1. Start the docker image
+```
+cd priuscup/aws
+echo "CLOUDSIM_ADMIN=\"abc\"" > $dir/cloudsim-env.bash
+echo "{}" > cloudsim-options.bash
+./cloudsim_deploy.bash --no-shutdown
+```
+2. Open a browser to `http://127.0.0.1/`
+
+### option 2: run-local.bash
+```
+cd priuscup/aws
+./run-local.bash
+```
+After a few seconds a firefox window will open to `127.0.0.1`
+
+## Deploying to AWS
+1. Start a g2.2xlarge instance with the AMI *ubuntu-nvidia-docker-16GiB* *ami-b71142d7*
+2. Use the following script to copy the image to the instance
+```
+cd priuscup/aws
+./deploy-ec2.bash
+```
+3. SSH into the instance and create the file `/home/ubuntu/code/aws_s3_keys.bash`
+modifying the contents below appropriately
+```
+export AWS_ACCESS_KEY_ID=idOfBucketWriterUser
+export AWS_SECRET_ACCESS_KEY=secretKeyOfBucketWriterUser
+```
+4. Save the AMI
+
+## Setting up a local demo
+1. Build a docker image (see instructions above)
+2. Save the image to a tar archive
+    `sudo docker save --output=/tmp/precious.tar precious:latest`
+3. Copy the tar archive to the demo machine and load it into docker
+    `sudo docker load --input=/tmp/precious.tar`
+4. Copy the `aws` folder to the demo machine
+5. To start a demo on the local machine, call `./run-local.bash`

aws/cloudsim_deploy.bash

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+# launch docker container, providing env and options
+
+
+extra_opts=""
+cmd=""
+do_shutdown=1
+container_name=aws_priuscup_$(date +%Y_%b_%d_%H%M)
+
+
+if [ $# -eq 1 ]
+then
+    if [ "--debug" = $1 ]
+    then
+        # make it easy to run gdb inside the container
+        extra_opts="-it --security-opt seccomp=unconfined"
+        cmd=bash
+        do_shutdown=0
+    elif [ "--no-shutdown" = $1 ]
+    then
+        do_shutdown=0
+    fi
+fi
+
+
+{
+    # Stop the container after 50 minutes
+    sleep 3000
+    echo "TIMEOUT TIMEOUT TIMEOUT"
+    sudo docker stop $container_name
+} &
+timer_pid=$!
+
+
+until sudo nvidia-docker ps
+do
+    echo "Waiting for docker server"
+    sleep 1
+done
+
+# cloudsim_deploy lives in the same folder as cloudsim_env.bash and cloudsim_options.json
+code_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# Make sure processes in the container can connect to the x server
+# Necessary so gazebo can create a context for OpenGL rendering (even headless)
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+# Display is hard-coded to :0 because that's what the startup scripts on AWS will generate
+eval sudo nvidia-docker run \
+  -e DISPLAY=unix:0 \
+  -e XAUTHORITY=$XAUTH \
+  -v "$XAUTH:$XAUTH" \
+  -v "/tmp/.X11-unix:/tmp/.X11-unix" \
+  -v "/etc/localtime:/etc/localtime:ro" \
+  -v "$code_dir:/code:ro" \
+  -p 4000:4000 \
+  -p 80:8080 \
+  --rm=true \
+  --name $container_name \
+  $extra_opts precious:latest $cmd
+
+
+# Stop the timeout timer
+kill -SIGKILL $timer_pid
+
+
+if [ $do_shutdown -eq 1 ]
+then
+    # Stop the amazon instance (saves money)
+    sudo shutdown -hP now
+fi

aws/deploy-ec2.bash

@@ -0,0 +1,29 @@
+#!/bin/bash -e
+
+if [ $# -ne 3 ]
+then
+    echo "Usage: $0 <docker image:tag> <path to ssh key> <user name>@<ec2host>"
+    exit 1
+fi
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+image_name=$1
+path_to_key=$2
+dest=$3
+
+
+# Copy startup folder to instance
+scp -r -i $path_to_key $DIR/startup $dest:
+ssh -i $path_to_key $dest './startup/install.bash'
+
+# copy the cloudsim_deploy.bash script to the ec2 instance
+scp -i $path_to_key $DIR/cloudsim_deploy.bash $dest:code/cloudsim_deploy.bash
+
+# Get password before piping stuff
+sudo echo "Loading"
+
+# Copy the docker image to an ec2 instance running ubuntu-nvidia-docker AMI
+sudo docker save $image_name | bzip2 | pv | ssh -i $path_to_key $dest 'bunzip2 | docker load'
+
+

aws/run-local.bash

@@ -0,0 +1,22 @@
+#/usr/bin/env bash
+
+dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+PROFILEDIR=$(mktemp -p /tmp -d tmp-fx-profile.XXXXXX.d)
+
+function cleanup {
+    echo "Post run cleanup!"
+    rm -rf $PROFILEDIR
+    sudo docker stop $(sudo docker ps -aq --filter 'name=aws_priuscup_')
+}
+trap cleanup EXIT
+
+# start precious software in the background
+echo "{}" > $dir/cloudsim-options.json
+echo "CLOUDSIM_ADMIN=\"abc\"" > $dir/cloudsim-env.bash
+$dir/cloudsim_deploy.bash --no-shutdown &
+echo "Waiting for precious to start"
+sleep 10
+
+# start a web browser
+firefox -profile $PROFILEDIR -no-remote -new-instance 127.0.0.1
+

aws/startup/Xorg.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=X server with virtual screen
+
+[Service]
+ExecStart=/usr/bin/Xorg :0 -config /home/ubuntu/startup/xorg.conf
+
+
+[Install]
+WantedBy=docker.service

aws/startup/install.bash

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+# Configures an EC2 instance running ubuntu-nvidia-docker-16GiB
+
+dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# Need to start an Xorg server with some custom options on :0
+# but lightdm already starts an Xserver on that display, so stop it first
+echo "stopping lightdm"
+sudo service lightdm stop
+echo "disapling lightdm"
+sudo systemctl disable lightdm
+echo "enabling custom Xorg service"
+sudo systemctl enable ${dir}/Xorg.service

aws/startup/xorg.conf

@@ -0,0 +1,61 @@
+# nvidia-xconfig: X configuration file generated by nvidia-xconfig
+# nvidia-xconfig:  version 367.57  (buildmeister@swio-display-x64-rhel04-13)  Mon Oct  3 21:42:19 PDT 2016
+
+
+Section "ServerLayout"
+    Identifier     "Layout0"
+    Screen      0  "Screen0"
+    InputDevice    "Keyboard0" "CoreKeyboard"
+    InputDevice    "Mouse0" "CorePointer"
+EndSection
+
+Section "Files"
+EndSection
+
+Section "InputDevice"
+
+    # generated from default
+    Identifier     "Mouse0"
+    Driver         "mouse"
+    Option         "Protocol" "auto"
+    Option         "Device" "/dev/psaux"
+    Option         "Emulate3Buttons" "no"
+    Option         "ZAxisMapping" "4 5"
+EndSection
+
+Section "InputDevice"
+
+    # generated from default
+    Identifier     "Keyboard0"
+    Driver         "kbd"
+EndSection
+
+Section "Monitor"
+    Identifier     "Monitor0"
+    VendorName     "Unknown"
+    ModelName      "Unknown"
+    HorizSync       28.0 - 33.0
+    VertRefresh     43.0 - 72.0
+    Option         "DPMS"
+EndSection
+
+Section "Device"
+    Identifier     "Device0"
+    Driver         "nvidia"
+    VendorName     "NVIDIA Corporation"
+    BoardName      "GRID K520"
+    BusID          "PCI:0:3:0"
+EndSection
+
+Section "Screen"
+    Identifier     "Screen0"
+    Device         "Device0"
+    Monitor        "Monitor0"
+    DefaultDepth    24
+    Option         "UseDisplayDevice" "None"
+    SubSection     "Display"
+        Virtual     1280 1024
+        Depth       24
+    EndSubSection
+EndSection
+

docker/.dockerignore

@@ -0,0 +1,4 @@
+build-docker-image.bash
+deploy-ec2.bash
+run-to-build.bash
+build-pc.bash

docker/cloudsim-sim-base/Dockerfile

@@ -0,0 +1,32 @@
+FROM simulation-base:xenial
+
+# Starting point for cloudsim simulation projects
+#   1) inherits dependencies for building gazebo + ignition + sdformat
+#   2) provides a cloudsim-sim install in /opt/cloudsim-sim
+
+# Cloudsim-sim dependencies
+RUN apt-get update \
+ && apt-get install -y \
+        redis-server \
+        nodejs \
+        nodejs-legacy \
+        npm \
+ && apt-get clean
+
+# Install cloudsim-sim (default branch)
+RUN cd /opt \
+ && hg clone https://bitbucket.org/osrf/cloudsim-sim \
+ && cd /opt/cloudsim-sim \
+ && npm install \
+ && touch /opt/cloudsim-sim/server/keys.zip
+
+# Cloudsim-portal provides files in a directory called ~code
+# These must get mounted as /code in the container using a docker volume
+VOLUME ["/code"]
+
+# Install an entrypoint script which launches cloudsim-sim
+# Projects should set their start points with CMD
+COPY cloudsim-sim-entry.bash /cloudsim-sim-entry.bash
+ENTRYPOINT ["/cloudsim-sim-entry.bash"]
+CMD ["echo", "Someone forgot to set the CMD!"]
+

docker/cloudsim-sim-base/build.bash

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+sudo docker build -t cloudsim-sim-base:xenial $DIR

docker/cloudsim-sim-base/cloudsim-sim-entry.bash

@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+
+# http://redsymbol.net/articles/bash-exit-traps/
+function cleanup {
+    # Stop cloudsim-sim
+    sudo service redis-server stop
+    cd /opt/cloudsim-sim
+    sudo npm stop
+}
+trap cleanup EXIT
+
+# Start cloudsim-sim
+sudo service redis-server start
+cd /opt/cloudsim-sim
+cp /code/cloudsim-env.bash .env
+cp /code/cloudsim-options.json options.json
+npm start &
+
+# Do the CMD
+eval "$@"