run_docker_gui.sh

#!/usr/bin/env bash

set -euo pipefail

SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
IMAGE_NAME=${OPENHDMAP_DOCKER_IMAGE:-openhdmap:22.04}
SMOKE_TEST=0
GUI_USER=${SUDO_USER:-$USER}
GUI_UID=$(id -u "$GUI_USER")
GUI_HOME=$HOME
if [[ -n "${SUDO_USER:-}" ]]; then
    GUI_HOME=$(getent passwd "$GUI_USER" | cut -d: -f6)
fi
CONFIG_DIR=${OPENHDMAP_CONFIG_DIR:-"$GUI_HOME/.config/openHDMap-docker"}
DATA_DIR=${OPENHDMAP_DATA_DIR:-"$GUI_HOME/openHDMap-data"}
HOST_DISPLAY=${DISPLAY:-}
HOST_XAUTHORITY=${XAUTHORITY:-}
DOCKER_XAUTH_ARGS=()
DOCKER_XAUTH_FILE=

if [[ "${1:-}" == "--smoke-test" ]]; then
    SMOKE_TEST=1
fi

mkdir -p "$CONFIG_DIR"
mkdir -p "$DATA_DIR"

if [[ -z "$HOST_XAUTHORITY" ]]; then
    if [[ -f "/run/user/$GUI_UID/gdm/Xauthority" ]]; then
        HOST_XAUTHORITY="/run/user/$GUI_UID/gdm/Xauthority"
    elif [[ -f "/home/$GUI_USER/.Xauthority" ]]; then
        HOST_XAUTHORITY="/home/$GUI_USER/.Xauthority"
    fi
fi

if ! docker image inspect "$IMAGE_NAME" >/dev/null 2>&1; then
    echo "Docker image $IMAGE_NAME missing, building it now"
    docker build -f "$SCRIPT_DIR/Dockerfile.22.04" -t "$IMAGE_NAME" "$SCRIPT_DIR"
fi

if [[ $SMOKE_TEST -eq 1 ]]; then
    echo "Running Docker smoke test via virtual framebuffer"
    exec docker run --rm \
        --name openhdmap-smoke \
        -e QTWEBENGINE_DISABLE_SANDBOX=1 \
        -e QTWEBENGINE_CHROMIUM_FLAGS="--disable-gpu --disable-software-rasterizer --no-sandbox" \
        -e XDG_RUNTIME_DIR=/tmp/runtime-root \
        -v "$CONFIG_DIR:/root/.config/openHDMap" \
        -v "$DATA_DIR:/root/openHDMap" \
        --security-opt seccomp=unconfined \
        --shm-size=1gb \
        -w /app/build \
        "$IMAGE_NAME" \
        bash -lc 'mkdir -p /tmp/runtime-root && chmod 700 /tmp/runtime-root && timeout 20s xvfb-run -a -s "-screen 0 1280x800x24" ./openHDMap >/tmp/openhdmap-smoke.log 2>&1; status=$?; cat /tmp/openhdmap-smoke.log; [[ $status -eq 0 || $status -eq 124 ]]'
fi

if [[ -z "$HOST_DISPLAY" ]]; then
    echo "DISPLAY is not set. Use ./run_docker_gui.sh --smoke-test or ./run_docker_virtual.sh"
    exit 1
fi

if ! command -v xhost >/dev/null 2>&1; then
    echo "xhost is required for GUI Docker runs"
    exit 1
fi

run_gui_user_command() {
    if [[ -n "${SUDO_USER:-}" ]]; then
        sudo -u "$GUI_USER" env DISPLAY="$HOST_DISPLAY" XAUTHORITY="$HOST_XAUTHORITY" "$@"
        return
    fi
    env DISPLAY="$HOST_DISPLAY" XAUTHORITY="$HOST_XAUTHORITY" "$@"
}

if [[ -n "$HOST_XAUTHORITY" && -f "$HOST_XAUTHORITY" ]]; then
    DOCKER_XAUTH_FILE=$(mktemp /tmp/openhdmap-docker-xauth-XXXXXX)
    touch "$DOCKER_XAUTH_FILE"
    chmod 600 "$DOCKER_XAUTH_FILE"

    if run_gui_user_command xauth nlist "$HOST_DISPLAY" | sed 's/^..../ffff/' | xauth -f "$DOCKER_XAUTH_FILE" nmerge -; then
        DOCKER_XAUTH_ARGS=(-e XAUTHORITY=/tmp/.docker.xauth -v "$DOCKER_XAUTH_FILE:/tmp/.docker.xauth:ro")
    else
        rm -f "$DOCKER_XAUTH_FILE"
        DOCKER_XAUTH_FILE=
        echo "Warning: failed to export Xauthority cookie, falling back to xhost-only access"
    fi
fi

cleanup() {
    if [[ -n "$HOST_XAUTHORITY" && -f "$HOST_XAUTHORITY" ]]; then
        run_gui_user_command xhost -SI:localuser:root >/dev/null 2>&1 || true
    else
        env DISPLAY="$HOST_DISPLAY" xhost -SI:localuser:root >/dev/null 2>&1 || true
    fi
    env DISPLAY="$HOST_DISPLAY" xhost -local: >/dev/null 2>&1 || true
    [[ -n "$DOCKER_XAUTH_FILE" ]] && rm -f "$DOCKER_XAUTH_FILE"
}
trap cleanup EXIT

if [[ -n "$HOST_XAUTHORITY" && -f "$HOST_XAUTHORITY" ]]; then
    run_gui_user_command xhost +SI:localuser:root >/dev/null
else
    echo "Warning: XAUTHORITY not found, falling back to xhost-only access"
    env DISPLAY="$HOST_DISPLAY" xhost +SI:localuser:root >/dev/null
fi
env DISPLAY="$HOST_DISPLAY" xhost +local: >/dev/null

echo "Starting openHDMap in Docker with host X11 for interactive use"
exec docker run --rm -it \
    --name openhdmap-gui \
    --network=host \
    -e DISPLAY="$HOST_DISPLAY" \
    -e QT_X11_NO_MITSHM=1 \
    -e QTWEBENGINE_DISABLE_SANDBOX=1 \
    -e QT_QPA_PLATFORM=xcb \
    -e QT_AUTO_SCREEN_SCALE_FACTOR=0 \
    -e QT_SCALE_FACTOR=1 \
    -e QT_SCREEN_SCALE_FACTORS=1 \
    -e QT_LOGGING_RULES="${QT_LOGGING_RULES:-}" \
    -e XDG_RUNTIME_DIR=/tmp/runtime-root \
    -e QTWEBENGINE_CHROMIUM_FLAGS="--disable-gpu --disable-gpu-sandbox --disable-software-rasterizer --no-sandbox" \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "$CONFIG_DIR:/root/.config/openHDMap" \
    -v "$DATA_DIR:/root/openHDMap" \
    "${DOCKER_XAUTH_ARGS[@]}" \
    --device /dev/dri \
    --security-opt seccomp=unconfined \
    --shm-size=1gb \
    -w /app/build \
    "$IMAGE_NAME" \
    bash -lc '
        mkdir -p /root/.config/openHDMap /tmp/runtime-root /root/openHDMap
        chmod 700 /tmp/runtime-root
        cat > /root/.config/openHDMap/openHDMap.ini <<EOF
    [%General]
    defaultsVersion=4
    workingDir=/root/openHDMap

    [plugins]
    PointCloudExportPlugin\surfaceSampling=false
    PointCloudExportPlugin\voxelSize=1

    [terrain]
    batchSize=20

    [vegetation]
    classification=20
    dbscan_enabled=true
    dbscan_eps=2.0
    dbscan_min_points=10
    delaunay_alpha=1.5
    delaunay_offset=2.5
    delaunay_tolerance=0.001
    max_intensity=65535
    max_returns=10
    min_intensity=30
    min_returns=3

    [workerPool]
    maxThreads=8
EOF
            if command -v xdpyinfo >/dev/null 2>&1; then
            if ! xdpyinfo >/tmp/openhdmap-x11.log 2>&1; then
                if [[ "$DISPLAY" == :* ]]; then
                    alt_display="unix${DISPLAY}"
                    DISPLAY="$alt_display" xdpyinfo >/tmp/openhdmap-x11.log 2>&1 && export DISPLAY="$alt_display"
                fi
            fi
            if ! grep -q "name of display" /tmp/openhdmap-x11.log 2>/dev/null; then
                echo "X11 preflight failed"
                echo "DISPLAY=$DISPLAY"
                ls -l /tmp/.X11-unix || true
                ls -l /tmp/.docker.xauth || true
                xauth -f /tmp/.docker.xauth list || true
                cat /tmp/openhdmap-x11.log
                exit 1
            fi
            fi
        ./openHDMap
    '