import os
import docker
import time
import sys
import yaml
from draw_tool import visualize_under_folder


def copy_to_docker(from_path, to_path):
        cmd = f"docker cp {from_path} {container.name}:{to_path}"
        os.system(cmd)


def copy_from_docker(from_path, to_path):
    cmd = f"docker cp {container.name}:{from_path} {to_path}"
    os.system(cmd)


if __name__ == "__main__":

    config_file = os.path.join(os.getcwd(), 'config.yaml')
    print(config_file)
    with open(config_file, 'r') as file:  
        config = yaml.safe_load(file)

    # ------------------------------------------------------------------------------
    # 自动化流程
    # ------------------------------------------------------------------------------

    client = docker.from_env()

    # 启动容器
    container = client.containers.run(config['docker_image_id'], name=config['cur_name'], detach=True)
    print("create container", container.name)

    # 删除
    container.exec_run("rm -rf /home/xx")

    # 拷贝数据文件到容器根目录
    copy_to_docker(config['to_path'], "/")

    # 删除某个文件某的一行
    container.exec_run("sed -i '14d' start.sh")

    # 重启容器
    print("restart container", container.name)
    container.restart()

    # 启动roscore
    container.exec_run("/bin/bash -c 'roscore'", stream=True)
    time.sleep(2.0)
    # exit(0)

    # 运行仿真程序,监控结束信号
    task_list = [
        "source /opt/ros/noetic/setup.bash",
        "roslaunch xx xx.launch"
    ]
    cmd = "/bin/bash -c '{}'".format(";".join(task_list))
    exec_log = container.exec_run(cmd, stream=True)

    for line in exec_log[1]:
        text = line.decode("utf-8")
        if "[simulator_manager]: simulation finish" in text:
            print("get finish flag in docker")
            break
        print(text, end='\n')


    # 把录好的包拷贝出来
    save_dir = os.path.join(config['bag_save_path'], config['cur_name'])
    copy_from_docker("/data/recorder", save_dir)


    # 容器停止和删除
    container.stop()
    container.remove()


    # ------------------------------------------------------------------------------
    # 结果可视化
    # ------------------------------------------------------------------------------
    visualize_under_folder(save_dir)