dev-server.sh

#!/usr/bin/env bash

IMAGE_NAME=epfl-lasa/franka-lightweight-interface
IMAGE_STAGE=source-dependencies
CONTAINER_NAME=franka-lightweight-interface-remote-development-ssh

SSH_PORT=1111
SSH_KEY_FILE="$HOME/.ssh/id_rsa.pub"

HELP_MESSAGE="Usage: ./dev-server.sh [-p <port>] [-k <file>] [-r] [-v]
Build and run a docker container as an SSH toolchain server for remote development.
The server is bound to the specified port on localhost (127.0.0.1)
and uses passwordless RSA key-pair authentication. The host public key
is read from the specified key file and copied to the server on startup.
On linux hosts, the UID and GID of the specified user will also be
set to match the UID and GID of the host user by the entry script.
The server will run in the background as ${CONTAINER_NAME}.
You can connect with 'ssh developer@localhost -p <port>'.
Close the server with 'docker stop ${CONTAINER_NAME}'.

Options:
  -p, --port <XXXX>        Specify the port to bind for SSH
                           connection.
                           (default: ${SSH_PORT})
  -k, --key-file <path>    Specify the path of the RSA
                           public key file.
                           (default: ${SSH_KEY_FILE})
  -r, --rebuild            Rebuild the image using the docker
                           --no-cache option.
  -v, --verbose            Use the verbose option during the building
                           process.
  -h, --help               Show this help message."

BUILD_FLAGS=()
while [ "$#" -gt 0 ]; do
  case "$1" in
    -p|--port) SSH_PORT=$2; shift 2;;
    -k|--key-file) SSH_KEY_FILE=$2; shift 2;;
    -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift 1;;
    -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift 1;;
    -h|--help) echo "${HELP_MESSAGE}"; exit 0;;
    *) echo "Unknown option: $1" >&2; echo "${HELP_MESSAGE}"; exit 1;;
  esac
done

BUILD_FLAGS+=(--target "${IMAGE_STAGE}")
BUILD_FLAGS+=(-t "${IMAGE_NAME}":"${IMAGE_STAGE}")
PUBLIC_KEY=$(cat "${SSH_KEY_FILE}")

docker pull ghcr.io/aica-technology/network-interfaces:v1.2
DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . || exit 1

COMMAND_FLAGS=()
COMMAND_FLAGS+=(--key "${PUBLIC_KEY}")
COMMAND_FLAGS+=(--user developer)

if [[ "${OSTYPE}" != "darwin"* ]]; then
  USER_ID=$(id -u "${USER}")
  GROUP_ID=$(id -g "${USER}")
  COMMAND_FLAGS+=(--uid "${USER_ID}")
  COMMAND_FLAGS+=(--gid "${GROUP_ID}")
fi

docker container stop "${CONTAINER_NAME}" >/dev/null 2>&1
docker rm --force "${CONTAINER_NAME}" >/dev/null 2>&1

echo "Starting background container with access port ${SSH_PORT} for user developer"
docker run -d --rm --cap-add sys_ptrace \
  --user root \
  --publish 127.0.0.1:"${SSH_PORT}":22 \
  --name "${CONTAINER_NAME}" \
  --hostname "${CONTAINER_NAME}" \
  "${IMAGE_NAME}":"${IMAGE_STAGE}" /sshd_entrypoint.sh "${COMMAND_FLAGS[@]}"

echo "${CONTAINER_NAME}"