"carma" shell script update to support dual compute system

engineering_tools/carma

@@ -143,7 +143,7 @@ carma__attach() {
     local CARMA_DOCKER_FILE="`docker run --rm --volumes-from carma-config:ro --entrypoint sh busybox:latest -c 'cat /opt/carma/vehicle/config/docker-compose.yml'`"
 
     echo "Attaching to CARMA container STDOUT..."
-    echo "$CARMA_DOCKER_FILE" | docker-compose -p carma -f - logs --follow --tail=10
+    echo "$CARMA_DOCKER_FILE" | docker-compose logs -f -t --tail=10
 }
 
 carma-config__edit() {
@@ -339,6 +339,174 @@ carma__stop() {
     fi
 }
 
+carma__swarm() {
+
+    if [ "$1" = "deploy" ]; then
+
+        echo "Checking Docker Swarm status..."
+        if [ "$(docker info | grep Swarm | sed 's/Swarm: //g')" == " inactive" ]; then
+            echo "Initalizing Docker Swarm..."
+            docker swarm init --advertise-addr 192.168.88.100 # consider making a variable
+        else
+            echo "Docker Swarm active"
+        fi
+
+        # if carma-config-data volume doesn't exist exit and request update
+        if [ "$(docker volume ls | grep carma-config-data | sed 's/local     //g')" ]; then
+            echo "Found carma-config-data volume"
+        else
+            echo "Missing carma-config-data volume, add with \"carma swarm update-config <image tag>\""
+            exit 1
+        fi
+
+        # carma-web-ui will always run as a background process regardless of deploy argument
+        docker run --rm -v carma-config-data:/opt/carma/vehicle/config --entrypoint sh busybox:latest -c \
+        'cat /opt/carma/vehicle/config/docker-compose-background-pc1.yml' | \
+        docker stack deploy --compose-file - carma-background
+
+
+        # Run part of the stack on a single host. Mostly for debugging purposes off of the dual PC setup
+        if [ "$2" = "single" ]; then 
+            echo "Deploying CARMA to single host Swarm stack..."
+
+            docker run --rm -v carma-config-data:/opt/carma/vehicle/config --entrypoint sh busybox:latest -c \
+            'cat /opt/carma/vehicle/config/docker-compose-pc1.yml' | \
+            docker stack deploy --compose-file - carma-pc1
+
+
+        # For use with two connected PCs with known IPs
+        # Saves the generated swarm join token and ssh's into the worker to execute and deploy
+        elif [ "$2" = "dual" ]; then
+            echo "Deploying CARMA to dual compute Swarm stack..."
+
+            local TKN=$(docker swarm join-token -q worker)
+            ssh dev@192.168.88.101 "docker swarm join --token $TKN 192.168.88.100:2377"
+
+            docker run --rm -v carma-config-data:/opt/carma/vehicle/config --entrypoint sh busybox:latest -c \
+            'cat /opt/carma/vehicle/config/docker-compose-pc1.yml' | \
+            docker stack deploy --compose-file - carma-pc1
+
+            docker run --rm -v carma-config-data:/opt/carma/vehicle/config --entrypoint sh busybox:latest -c \
+            'cat /opt/carma/vehicle/config/docker-compose-pc2.yml' | \
+            docker stack deploy --compose-file - carma-pc2
+
+
+        elif [ ! -z "$2" ]; then
+            echo "Unrecognized argument \"swarm deploy $2\""
+        fi
+
+
+    # Updates the carma-config-data volume based on a input tag string given by the user
+    elif [ "$1" = "update-config" ]; then
+        echo "Updating carma-config-data volume..."
+
+        if [ "$2" = "-d" ]; then
+            local USERNAME=usdotfhwastoldev
+            local TAG=$3
+        elif [ "$2" = "-c" ]; then
+            local USERNAME=usdotfhwastolcandidate
+            local TAG=$3
+        else
+            local USERNAME=usdotfhwastol
+            local TAG=$2
+        fi
+
+        if [[ -z $2 ]]; then
+            echo "Please specify a tag string to update carma-config-data volume."
+            echo "Done."
+            exit 1
+        fi
+
+        local IMAGE_NAME="$USERNAME/carma-config:$TAG"
+
+        if [ "$(docker images | grep $USERNAME/carma-config | grep $TAG )" ]; then
+            echo "Found image, applying to carma-config-volume"
+            docker run --rm --name carma-config-data -v carma-config-data:/opt/carma/vehicle/config -d $USERNAME/carma-config:$TAG
+        else
+            echo "Could not find $USERNAME/carma-config:$TAG in local images"
+        fi
+
+
+    elif [ "$1" = "edit-config" ]; then
+        echo "Opening carma-config-data volume shell with read/write privileges..."
+
+        if [ "$(docker volume ls | grep carma-config-data | sed 's/local     //g')" ]; then
+            echo "Found carma-config-data volume"
+        else
+            echo "Missing carma-config-data volume, add with \"carma swarm update-config <image tag>\""
+            exit 1
+        fi
+
+        local carma_base=$(__get_image_from_config carma-base:)
+        if [[ -z $carma_base ]]; then
+            __pull_newest_carma_base
+            carma_base=$(__get_most_recent_carma_base)
+        fi
+
+        docker run -it --rm -v carma-config-data:/opt/carma/vehicle/config $carma_base bash
+
+
+    # Attaches each carma service's STDOUT logs to the current terminal
+    elif [ "$1" = "attach" ]; then
+        echo "Attaching STDOUT logs to terminal..."
+
+        SWARM_SERVICES=$(docker service ls --format "{{.Name}}")
+
+        # this seems to loop forever and cannot be escaped with ctrl+C
+        # performance will likely be poor due to combined log streams
+        for TASK in $SWARM_SERVICES; do
+            docker service logs --follow --details --tail=10 "$TASK" &
+        done
+
+        sleep infinity
+
+
+    # Takes n image tags that are saved locally and pushes them to the registry
+    elif [ "$1" = "set-image" ]; then
+        shift
+        echo "Installing Docker images..."
+
+        if [ "$(docker volume ls | grep carma-registry | sed 's/local     //g')" ]; then
+            echo "Found carma-registry volume"
+        else
+            echo "Missing carma-registry volume, adding now..."
+            docker volume create carma-registry
+        fi
+
+        docker service create --constraint 'node.role==manager' -d --volume "carma-registry:/var/lib/registry" -p 5000:5000 --name carma-registry-service registry:2
+
+        IMAGE_NAMES="$*"
+
+        for SOURCE_IMAGE_NAME in $IMAGE_NAMES
+        do
+
+        echo "Pushing $SOURCE_IMAGE_NAME to localhost:5000"
+
+        docker tag "$SOURCE_IMAGE_NAME" "localhost:5000/$SOURCE_IMAGE_NAME"
+        docker push "localhost:5000/$SOURCE_IMAGE_NAME"
+        docker rmi "localhost:5000/$SOURCE_IMAGE_NAME"
+
+        done
+
+
+    elif [ "$1" = "down" ]; then
+        echo "Shutting down swarm..."
+
+        if [ "$(docker node ls | grep worker )" ]; then
+            ssh dev@192.168.88.101 "docker swarm leave"
+        fi
+        docker swarm leave --force
+
+
+    elif [ ! -z "$1" ]; then
+        echo "Unrecognized argument \"swarm $1\""
+
+
+    elif [ $# -eq 0 ]; then
+        carma__swarm-help
+    fi
+}
+
 carma__ps() {
     if ! docker container inspect carma-config > /dev/null 2>&1; then
         echo "No existing CARMA configuration found, nothing to report. Please set a config."
@@ -564,6 +732,51 @@ Please enter one of the following commands:
 HELP
 }
 
+carma__swarm-help() {
+    cat <<SHELP
+-------------------------------------------------------------------------------
+| USDOT FHWA STOL CARMA Swarm                                                 |
+-------------------------------------------------------------------------------
+
+Please enter one of the following commands:
+  swarm:
+    deploy
+        [empty]
+            - Will always deploy carma-web-ui as a background service on PC1 
+        single
+            - Deploys PC1 services as described in docker-compose-pc1.yml
+              to use for debugging on a single test system
+        dual
+            - Deploys PC1 services from docker-compose-pc1.yml and
+              PC2 services from docker-compose-pc2.yml to the PC1
+              manger node and PC2 worker node
+    update-config <tag/image>
+        - [empty]
+            - Defaults to a usdotfhwastol image
+        - d 
+            - Defines a usdotfhwastoldev image
+        - c
+            - Defines a usdotfhwastolcandidate image
+        - Uses the local carma-config image defined in
+          <tag/image> to update the Docker named volume
+          "carma-config-data" which can be found at
+          /var/lib/docker/volumes/carma-config-data/_data
+    edit-config
+        - Requires sudo privilege. Opens a bash shell
+          in a carma-base image with carma-config-data
+          mounted so that files can be modified
+    set-image <tag/image>
+        - Pushes the images defined by <tag/image> to the
+          the registry service and associated volume
+    attach
+        - View STDOUT from all running CARMA processes
+    down
+        - Shuts down the worker node and manager node
+          and ends Swarm along with all services
+
+SHELP
+}
+
 carma__config() {
     local cmdname=$1; shift
     if type "carma-config__$cmdname" >/dev/null 2>&1; then