Legacy install (launcher)

mkdir -p ~/sentinel
cd ~/sentinel

#!/bin/bash
set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
[[ -f "$SCRIPT_DIR/.env" ]] && source "$SCRIPT_DIR/.env"

CONFIG_FILE="$1"
VERSION="${2:-latest}"
NECK_CALIBRATION="${3:-}"
CONTAINER_NAME="${4:-sentinel-runtime}"

if [[ -z "$CONFIG_FILE" ]]; then
    cat >&2 <<EOF
Usage: $0 <config_file> [version] [neck_calibration_file] [container_name]
  $0 /abs/path/yam_dual.yaml 0.13.0-amd64-cu13
  $0 /abs/path/cfg.yaml      0.13.0-jp6.2 /abs/path/neck_calibration.json
  $0 /abs/path/cfg.yaml      0.13.0-jp6.2 /abs/path/neck_calibration.json my-name
EOF
    exit 1
fi
[[ -f "$CONFIG_FILE" ]] || { echo "ERROR: config not found: $CONFIG_FILE" >&2; exit 1; }
[[ -z "$NECK_CALIBRATION" || -f "$NECK_CALIBRATION" ]] \
    || { echo "ERROR: neck calibration not found: $NECK_CALIBRATION" >&2; exit 1; }

AUTH_URL="https://api-prod.avearobotics.com"
LICENSE_KEY="$(python3 - "$CONFIG_FILE" <<'PY'
import sys, yaml
sys_ = (yaml.safe_load(open(sys.argv[1])) or {}).get('system') or {}
print(sys_.get('license_key') or '')
PY
)"
[[ -n "$LICENSE_KEY" ]] \
    || { echo "ERROR: system.license_key not found in $CONFIG_FILE" >&2; exit 1; }

ECR_RESP="$(curl -fsS -X POST "$AUTH_URL/auth/robot/ecr-credentials" \
    -H 'Content-Type: application/json' \
    -d "{\"license_key\":\"$LICENSE_KEY\"}")"
[[ -n "$ECR_RESP" ]] || { echo "ERROR: empty ECR response from $AUTH_URL" >&2; exit 1; }

mapfile -t CREDS < <(printf '%s' "$ECR_RESP" | python3 -c \
    'import json,sys;r=json.load(sys.stdin);print(r["registry"]);print(r["password"])')
REGISTRY="${CREDS[0]}"
printf '%s' "${CREDS[1]}" \
    | docker login --username AWS --password-stdin "$REGISTRY" >/dev/null
unset CREDS ECR_RESP

IMAGE="$REGISTRY/sentinel-runtime:${VERSION}"

ARCH=$(uname -m | sed 's/x86_64/amd64/;s/aarch64/arm64/')
if [[ "$ARCH" == "arm64" && -f /etc/nv_tegra_release ]]; then
    PLATFORM=jetson
elif [[ "$ARCH" == "amd64" ]] && command -v nvidia-smi >/dev/null && nvidia-smi -L >/dev/null 2>&1; then
    PLATFORM=cuda
else
    PLATFORM=cpu
fi

echo "sentinel-runtime $VERSION  $PLATFORM/$ARCH  $IMAGE  ($CONTAINER_NAME)"

cd "$REPO_ROOT"
mkdir -p datasets

ARGS=(
    -it --rm --name "$CONTAINER_NAME"
    --privileged --network host --ipc host
    -v /dev:/dev -v /tmp:/tmp
    -v "$REPO_ROOT/datasets:/datasets"
    -v "$(realpath "$CONFIG_FILE"):/config/robot.yaml:ro"
    -v zed-models:/usr/local/zed/resources
    --group-add video --group-add plugdev
    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    -e ENABLE_RECORDING=true
)

case "$PLATFORM" in
    cuda)
        ARGS+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all) ;;
    jetson)
        ARGS+=(--runtime nvidia --gpus all
               -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all)
        # ZED X / GMSL: Argus ISP settings + host zed/i2c/render GIDs.
        # /tmp is already bound, so argus_socket + zed_x_daemon sockets come along.
        [[ -d /var/nvidia/nvcam/settings ]] \
            && ARGS+=(-v /var/nvidia/nvcam/settings:/var/nvidia/nvcam/settings:ro)
        for grp in zed i2c render; do
            gid=$(getent group "$grp" 2>/dev/null | cut -d: -f3 || true)
            [[ -n "$gid" ]] && ARGS+=(--group-add "$gid")
        done
        ;;
esac

[[ -n "$NECK_CALIBRATION" ]] \
    && ARGS+=(-v "$(realpath "$NECK_CALIBRATION"):/config/neck_calibration.json:ro")

exec docker run "${ARGS[@]}" "$IMAGE"

chmod +x run_sentinel.sh