run

#!/usr/bin/env bash
set -e
SCRIPT_DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null 2>&1 && pwd)"
IMAGE=$(basename $SCRIPT_DIR)
GID=$(id -g $USER)
DOCKER_XAUTHORITY=/tmp/.docker.xauth
SHELL_NAME=$(basename $SHELL)

# https://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2
if [ ! -f $DOCKER_XAUTHORITY ]; then
    xauth_list=$(xauth nlist $DISPLAY | sed -e 's/^..../ffff/')
    if [ ! -z "$xauth_list" ]; then
        echo $xauth_list | xauth -f $DOCKER_XAUTHORITY nmerge -
    else
        touch $DOCKER_XAUTHORITY
    fi
fi

function loud_docker() {
    set -x
    nvidia-docker $@
    set +x
}

function build_image() {
    local tmp=$(mktemp)
    if ! docker build \
        --build-arg USER=$USER \
        --build-arg UID=$UID \
        --build-arg GID=$GID \
        --build-arg SHELL=$SHELL_NAME \
        -t $IMAGE $SCRIPT_DIR &> $tmp; then
        result=$?
        >&2 cat $tmp
        exit $result
    fi
}
build_image

IMAGE_ID=$(docker images $IMAGE --format "{{.ID}}")

function get_existing_container() {
    docker ps -a --filter "ancestor=$IMAGE_ID" --format "{{ .ID }}" | head -n1 || echo ""
}

function exec_container() {
    if [[ $# -ge 2 ]]; then
        cmds=${@:2}
    else
        cmds=($SHELL_NAME)
    fi
    local container=$(get_existing_container)
    nvidia-docker start $container 1> /dev/null
    set -x
    nvidia-docker exec -it $container $cmds
}

function usage() {
    >&2 echo "Usage: $0 [start|stop|exec|rm|rmi]"
}

if [[ $# -eq 0 ]]; then
    set start
fi

EXISTING_CONTAINER=$(get_existing_container)

case $1 in
    "start")
        if [ -z "$EXISTING_CONTAINER" ]; then
            loud_docker run -t \
                -u $UID:$GID \
                --env="DISPLAY=$DISPLAY" \
                --env="QT_X11_NO_MITSHM=1" \
                --env="XAUTHORITY=$XAUTHORITY" \
                --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
                --volume="$DOCKER_XAUTHORITY:$XAUTHORITY" \
                --volume="$SCRIPT_DIR:/home/$USER/workspace" \
                --runtime=nvidia \
                --detach \
                -h $SCRIPT_DIR \
                $IMAGE \
                cat -
            exec_container $@
        else
            exec_container $@
        fi
        ;;
    "stop")
        if [ ! -z "$EXISTING_CONTAINER" ]; then
            docker stop "${@:2}" $EXISTING_CONTAINER
        else
            >&2 echo "Error: no such container"
            exit 1
        fi
        ;;
    "exec")
         if [ ! -z "$EXISTING_CONTAINER" ]; then
            exec_container $@
        else
            >&2 echo "Error: no such container"
            exit 1
        fi
        ;;
    "rm")
        if [ ! -z "$EXISTING_CONTAINER" ]; then
            docker rm "${@:2}" $EXISTING_CONTAINER
        else
            >&2 echo "Error: no such container"
            exit 1
        fi
        ;;
    "rmi")
        docker rmi $IMAGE
        ;;
    *)
        usage
        exit 1
esac