unity2moveit2/scripts/start-ros2-docker.ps1

# Unity-ROS2 Docker Management Script
# PowerShell script for managing ROS2 Docker containers

param(
    [switch]$Build,
    [switch]$Monitor,
    [switch]$Stop,
    [switch]$Logs,
    [switch]$Status,
    [string]$Service = "ros2-unity"
)

# Set error handling
$ErrorActionPreference = "Stop"

# Get script directory
$ScriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
$ProjectRoot = Split-Path -Parent $ScriptDir
$DockerDir = Join-Path $ProjectRoot "docker"

Write-Host "=== Unity-ROS2 Docker Management Script ===" -ForegroundColor Green
Write-Host "Project Root: $ProjectRoot" -ForegroundColor Cyan
Write-Host "Docker Config Dir: $DockerDir" -ForegroundColor Cyan

# Check if Docker is running
function Test-DockerRunning {
    try {
        docker version | Out-Null
        return $true
    }
    catch {
        Write-Host "Error: Docker is not running or not installed" -ForegroundColor Red
        Write-Host "Please start Docker Desktop and try again" -ForegroundColor Yellow
        return $false
    }
}

# Check container status
function Get-ContainerStatus {
    param([string]$ContainerName)
    
    try {
        $status = docker ps -a --filter "name=$ContainerName" --format "{{.Status}}"
        if ($status) {
            return $status
        } else {
            return "Not Found"
        }
    }
    catch {
        return "Unknown"
    }
}

# Show system status
function Show-SystemStatus {
    Write-Host "`n=== System Status ===" -ForegroundColor Yellow
    
    # Docker status
    if (Test-DockerRunning) {
        Write-Host "Docker: Running" -ForegroundColor Green
    } else {
        Write-Host "Docker: Not Running" -ForegroundColor Red
        return
    }
    
    # Container status
    $mainStatus = Get-ContainerStatus "unity-ros2-system"
    $monitorStatus = Get-ContainerStatus "ros2-monitor"
    
    Write-Host "Main Container (unity-ros2-system): $mainStatus" -ForegroundColor Cyan
    Write-Host "Monitor Container (ros2-monitor): $monitorStatus" -ForegroundColor Cyan
    
    # Network connection test
    if ($mainStatus -like "*Up*") {
        Write-Host "`nTesting network connection..." -ForegroundColor Yellow
        try {
            $containerIP = docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' unity-ros2-system
            Write-Host "Container IP: $containerIP" -ForegroundColor Green
            
            # Test port
            $testResult = Test-NetConnection -ComputerName "localhost" -Port 10000 -WarningAction SilentlyContinue
            if ($testResult.TcpTestSucceeded) {
                Write-Host "Port 10000: Accessible" -ForegroundColor Green
            } else {
                Write-Host "Port 10000: Not Accessible" -ForegroundColor Red
            }
        }
        catch {
            Write-Host "Network test failed: $($_.Exception.Message)" -ForegroundColor Yellow
        }
    }
}

# Build images
function Build-Images {
    Write-Host "`nBuilding Docker images..." -ForegroundColor Yellow
    
    Set-Location $DockerDir
    
    try {
        docker-compose build --no-cache
        Write-Host "Images built successfully" -ForegroundColor Green
    }
    catch {
        Write-Host "Image build failed: $($_.Exception.Message)" -ForegroundColor Red
        exit 1
    }
}

# Start services
function Start-Services {
    param([bool]$IncludeMonitor = $false)
    
    Write-Host "`nStarting ROS2 services..." -ForegroundColor Yellow
    
    Set-Location $DockerDir
    
    try {
        if ($IncludeMonitor) {
            docker-compose --profile monitoring up -d
            Write-Host "Main and monitoring services started" -ForegroundColor Green
        } else {
            docker-compose up -d ros2-unity
            Write-Host "Main service started" -ForegroundColor Green
        }
        
        # Wait for service initialization
        Write-Host "Waiting for service initialization..." -ForegroundColor Yellow
        Start-Sleep -Seconds 10
        
        # Show connection info
        Write-Host "`nConnection Information:" -ForegroundColor Cyan
        Write-Host "  Unity Connection Address: localhost" -ForegroundColor White
        Write-Host "  TCP Port: 10000" -ForegroundColor White
        Write-Host "  Backup Ports: 10001, 10002" -ForegroundColor White
        
    }
    catch {
        Write-Host "Service startup failed: $($_.Exception.Message)" -ForegroundColor Red
        exit 1
    }
}

# Stop services
function Stop-Services {
    Write-Host "`nStopping ROS2 services..." -ForegroundColor Yellow
    
    Set-Location $DockerDir
    
    try {
        docker-compose down
        Write-Host "Services stopped" -ForegroundColor Green
    }
    catch {
        Write-Host "Service stop failed: $($_.Exception.Message)" -ForegroundColor Red
    }
}

# Show logs
function Show-Logs {
    param([string]$ServiceName = "ros2-unity")
    
    Write-Host "`nShowing service logs ($ServiceName)..." -ForegroundColor Yellow
    
    Set-Location $DockerDir
    
    try {
        docker-compose logs -f $ServiceName
    }
    catch {
        Write-Host "Cannot get logs: $($_.Exception.Message)" -ForegroundColor Red
    }
}

# Main logic
if (-not (Test-DockerRunning)) {
    exit 1
}

# Handle parameters
switch ($true) {
    $Status {
        Show-SystemStatus
        break
    }
    
    $Build {
        Build-Images
        break
    }
    
    $Stop {
        Stop-Services
        break
    }
    
    $Logs {
        Show-Logs -ServiceName $Service
        break
    }
    
    $Monitor {
        Start-Services -IncludeMonitor $true
        Show-SystemStatus
        break
    }
    
    default {
        Start-Services -IncludeMonitor $false
        Show-SystemStatus
        
        Write-Host "`nNext Steps:" -ForegroundColor Green
        Write-Host "  1. Configure Unity connection parameters (localhost:10000)" -ForegroundColor White
        Write-Host "  2. Run Unity project for testing" -ForegroundColor White
        Write-Host "  3. Use -Logs parameter to view detailed logs" -ForegroundColor White
        Write-Host "  4. Use -Monitor parameter to start monitoring service" -ForegroundColor White
        Write-Host "  5. Use -Stop parameter to stop all services" -ForegroundColor White
    }
}

Write-Host "`n=== Script Execution Complete ===" -ForegroundColor Green