[vscode|poetry] devcontainers, a poetry setup and basic testing

.devcontainer/Dockerfile

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+################################################################################
+# Base
+#  - a single-version python slim-bullseye image
+# Installs
+#  - poetry in /opt/poetry
+#  - adds a user called 'zen'
+# Size
+#  - 300MB
+################################################################################
+
+
+ARG PYTHON_VERSION=3.8.15
+ARG DEBIAN_VERSION=bullseye
+
+ARG NAME=py-trees-js
+ARG POETRY_VERSION=1.3.2
+
+FROM python:${PYTHON_VERSION}-slim-${DEBIAN_VERSION}
+# FROM ubuntu:20.04
+
+ENV POETRY_HOME=/opt/poetry
+ENV PATH="${POETRY_HOME}/bin:${PATH}"
+
+################################################################################
+# Debs
+################################################################################
+
+####################
+# Core
+####################
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    # poetry
+    curl \
+    python3-dev \
+    # pytrees
+    graphviz \
+    # development
+    bash \
+    bash-completion \
+    ca-certificates \
+    git \
+    less \
+    make \
+    ssh \
+    vim \
+    wget
+
+####################
+# OpenGL
+####################
+# mesa-utils : glxgears + gl libs (libgl# libglvnd#, libglx#)
+# egl: not needed (libegl1, libgles2)
+# vulkan: not needed
+RUN apt-get install -y --no-install-recommends \
+    mesa-utils
+
+####################
+# Qt5 webengine
+####################
+# Should just install pyqt5webengine from debs instead?
+RUN apt-get install -y --no-install-recommends \
+    libasound2 \
+    libdbus-1-dev \
+    libgl1 \
+    libnss3 \
+    libxcomposite1 \
+    libxcursor1 \
+    libxdamage1 \
+    libxi6 \
+    libxkbcommon0 \
+    libxkbcommon-x11-0 \
+    libxrandr2 \
+    libxtst6
+
+################################################################################
+# Poetry
+################################################################################
+
+# Don't permit virtualenvs for root / ci jobs (this configuration).
+# Do permit virtualenvs for user zen (uses the default).
+RUN curl -sSL https://install.python-poetry.org | POETRY_VERSION=${POETRY_VERSION} python3 - && \
+    poetry config virtualenvs.create false && \
+    poetry completions bash >> ~/.bash_completion
+
+
+################################################################################
+# NVIDIA
+################################################################################
+
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,display,video,utility,compute
+
+################################################################################
+# Login Shells for Debugging & Development
+################################################################################
+
+# In a login shell (below), the PATH env doesn't survive, configure it at ground zero
+RUN echo "export PATH=${POETRY_HOME}/bin:${PATH}" >> /etc/profile
+ENV TERM xterm-256color
+ENTRYPOINT ["/bin/bash", "--login", "-i"]
+
+################################################################################
+# Development with a user, e.g. for vscode devcontainers
+################################################################################
+
+ARG USERNAME=zen
+ARG USER_UID=1001
+ARG USER_GID=${USER_UID}
+
+RUN groupadd --gid $USER_GID $USERNAME && \
+    useradd --uid $USER_UID --gid $USER_GID -s "/bin/bash" -m $USERNAME && \
+    apt-get install -y sudo && \
+    echo "${USERNAME} ALL=NOPASSWD: ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+RUN echo "export PS1='\[\033[01;36m\](docker)\[\033[00m\] \[\033[01;32m\]\u@${NAME}\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '" >> /home/${USERNAME}/.bashrc && \
+    echo "alias ll='ls --color=auto -alFNh'" >> /home/${USERNAME}/.bashrc && \
+    echo "alias ls='ls --color=auto -Nh'" >> /home/${USERNAME}/.bashrc && \
+    poetry completions bash >> /home/${USERNAME}/.bash_completion
+
+#    touch /home/${USERNAME}/.bash_completion && chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bash_completion
+
+################################################################################
+# Debugging with root
+################################################################################
+
+RUN echo "export PS1='\[\033[01;36m\](docker)\[\033[00m\] \[\033[01;32m\]\u@${NAME}\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '" >> ${HOME}/.bashrc && \
+    echo "alias ll='ls --color=auto -alFNh'" >> ${HOME}/.bashrc && \
+    echo "alias ls='ls --color=auto -Nh'" >> ${HOME}/.bashrc

.devcontainer/Dockerfile copy

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+################################################################################
+# Base
+#  - a single-version python slim-bullseye image
+# Installs
+#  - poetry in /opt/poetry
+#  - adds a user called 'zen'
+# Size
+#  - 300MB
+################################################################################
+
+# FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04 as glvnd
+
+ARG PYTHON_VERSION=3.8.15
+ARG DEBIAN_VERSION=bullseye
+
+FROM python:${PYTHON_VERSION}-slim-${DEBIAN_VERSION}
+
+ARG NAME=poetry-zen
+ARG POETRY_VERSION=1.3.2
+ENV POETRY_HOME=/opt/poetry
+ENV PATH="${POETRY_HOME}/bin:${PATH}"
+
+################################################################################
+# Poetry
+################################################################################
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    # For poetry
+    curl \
+    # For pytrees
+    graphviz \
+    make \
+    # For the qt5 viewer
+    libasound2 \
+    libdbus-1-dev \
+    libgl1 \
+    libnss3 \
+    libxcomposite1 \
+    libxcursor1 \
+    libxi6 \
+    libxkbcommon0 \
+    libxkbcommon-x11-0 \
+    libxrandr2 \
+    libxtst6 \
+    # For convenience
+    bash \
+    bash-completion \
+    ca-certificates \
+    git \
+    less \
+    ssh \
+    vim \
+    wget \
+    && \
+    rm -rf /var/lib/apt/lists/* && \
+    curl -sSL https://install.python-poetry.org | POETRY_VERSION=${POETRY_VERSION} python3 - && \
+    poetry config virtualenvs.create false && \
+    poetry completions bash >> ~/.bash_completion
+
+################################################################################
+# NVIDIA
+################################################################################
+
+# COPY --from=glvnd /usr/share/glvnd/egl_vendor.d/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+# ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+# ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+################################################################################
+# Login Shells for Debugging & Development
+################################################################################
+
+# In a login shell (below), the PATH env doesn't survive, configure it at ground zero
+RUN echo "export PATH=${POETRY_HOME}/bin:${PATH}" >> /etc/profile
+ENV TERM xterm-256color
+ENTRYPOINT ["/bin/bash", "--login", "-i"]
+
+################################################################################
+# Development with a user, e.g. for vscode devcontainers
+################################################################################
+
+ARG USERNAME=zen
+ARG USER_UID=1000
+ARG USER_GID=${USER_UID}
+
+RUN groupadd --gid $USER_GID $USERNAME && \
+    useradd --uid $USER_UID --gid $USER_GID -s "/bin/bash" -m $USERNAME && \
+    apt-get install -y sudo && \
+    echo "${USERNAME} ALL=NOPASSWD: ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+RUN echo "export PS1='\[\033[01;36m\](docker)\[\033[00m\] \[\033[01;32m\]\u@${NAME}\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '" >> /home/${USERNAME}/.bashrc && \
+    echo "alias ll='ls --color=auto -alFNh'" >> /home/${USERNAME}/.bashrc && \
+    echo "alias ls='ls --color=auto -Nh'" >> /home/${USERNAME}/.bashrc && \
+    poetry completions bash >> /home/${USERNAME}/.bash_completion
+
+#    touch /home/${USERNAME}/.bash_completion && chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bash_completion
+
+################################################################################
+# Debugging with root
+################################################################################
+
+RUN echo "export PS1='\[\033[01;36m\](docker)\[\033[00m\] \[\033[01;32m\]\u@${NAME}\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '" >> ${HOME}/.bashrc && \
+    echo "alias ll='ls --color=auto -alFNh'" >> ${HOME}/.bashrc && \
+    echo "alias ls='ls --color=auto -Nh'" >> ${HOME}/.bashrc

.devcontainer/Makefile

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+TAG=original
+REPO=devel
+
+help:
+	@echo "Usage:"
+	@echo ""
+	@echo "  image     : build an image"
+	@echo "  container : create a container that persists"
+	@echo "  start     : execute from the container"
+	@echo "  clean     : clean up container"
+	@echo "  pristine  : clean image and container"
+	@echo ""
+	@echo "Be Froody."
+
+image:
+	docker build \
+	  --build-arg POETRY_VERSION=1.3.2 \
+	  --build-arg PYTHON_VERSION=3.8.16 \
+	  --build-arg DEBIAN_VERSION=bullseye \
+	  --build-arg NAME=${TAG} \
+	  -t ${REPO}:${TAG} .
+
+container:
+	docker container create --tty --network host -i --gpus all -v /tmp/.X11-unix:/tmp/.X11-unix:ro -e DISPLAY --name=${TAG} ${REPO}:${TAG}
+
+run: clean
+	docker run -it --mount type=bind,source=/mnt/mervin/workspaces/foo,target=/mnt/foo --name=${TAG} --network host --gpus all --volume /tmp/.X11-unix:/tmp/.X11-unix:ro --env DISPLAY --env NVIDIA_VISIBLE_DEVICES=all --env NVIDIA_DRIVER_CAPABILITIES=graphics,display,video,utility,compute --user zen ${REPO}:${TAG} -i
+
+start:
+	docker container start -i ${TAG}
+
+clean:
+	-docker container rm ${TAG}
+
+pristine: clean
+	docker image rm ${REPO}:${TAG}

.devcontainer/README.md

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+# Development Environment
+
+These VSCode devcontainers setup multiple environments for testing against
+different python versins.
+
+## Setup
+
+```
+$ git clone git@github.com:splintered-reality/py_trees.git
+$ code ./py_trees
+```
+
+## VSCode DevContainer
+
+At this point you can either "Re-open project in container" to develop against
+the default python version.
+
+Alternatively "Open Folder in Container" and point it at one of the
+`py<MAJOR><MINOR>` subfolders in this directory to develop against a different
+python version.

.devcontainer/devcontainer.json

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+{
+    "name": "py_trees-js-38",
+
+    "build": {
+        "dockerfile": "./Dockerfile",
+        "args": {
+            "NAME": "py_trees_js",
+            "POETRY_VERSION": "1.3.2",
+            "PYTHON_VERSION": "3.8.16",
+            "DEBIAN_VERSION": "bullseye"
+        },
+        "context": ".."
+    },
+    "containerEnv": {
+        "POETRY_HTTP_BASIC_PYPI_USERNAME": "${localEnv:POETRY_HTTP_BASIC_PYPI_USERNAME}",
+        "POETRY_HTTP_BASIC_PYPI_PASSWORD": "${localEnv:POETRY_HTTP_BASIC_PYPI_PASSWORD}",
+        "QT_DEBUG_PLUGINS": "1"
+    },
+    "remoteUser": "zen",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "bierner.github-markdown-preview",
+                "bierner.markdown-preview-github-styles",
+                "bungcip.better-toml",
+                "streetsidesoftware.code-spell-checker",
+                "ms-python.python",
+                "omnilib.ufmt",
+                "tht13.rst-vscode"
+            ]
+        }
+    },
+    "postCreateCommand": "poetry install --all-extras",
+    "mounts": [
+        {
+            "source": "/tmp/.X11-unix",
+            "target": "/tmp/.X11-unix:ro",
+            "type": "bind"
+        }
+    ],
+    "runArgs": [
+        "--runtime=nvidia",
+        "--gpus",
+        "all",
+        "--env",
+        "DISPLAY",
+        "--network",
+        "host"
+    ]
+    // Breaks codespaces
+    // "workspaceMount": "source=${localWorkspaceFolder},target=/workspaces,type=bind",
+    // "workspaceFolder": "/workspaces"
+ }

.devcontainer/opengl_experiments/README.md

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+## XAuth
+
+Read some articles that were using XAuth to help remotely forward across ssh connections
+with different `DISPLAY` values.
+
+What hasn't worked:
+
+* Install `xauth` in the `Dockerfile` / mount `.Xauthority` in the `devcontainer.json`:
+
+```
+{
+    "source": "${localEnv:HOME}${localEnv:USERPROFILE}/.Xauthority",
+    "target": "/home/zen/.Xauthority",
+    "type": "bind"
+},
+```