Update mapping docker and startup

start_exwayz_mapping_container.sh

@@ -0,0 +1,157 @@
+#!/bin/bash
+
+# =============================================================================
+#
+# Script to manage and interact with the Exwayz development container.
+#
+# Author: Gemini
+# Reviewer: Gemini (as Senior Developer)
+#
+# =============================================================================
+
+# Exit immediately if a command exits with a non-zero status.
+set -e
+
+# --- Configuration ---
+readonly CONTAINER_NAME="ExwayzMapping"
+readonly IMAGE_NAME="beckhoff-exwayz:latest"
+readonly HOST_DIR="$(pwd)" # Use the current directory from where the script is run
+readonly CONTAINER_DIR="/app"
+readonly MOUNT_PATH="${HOST_DIR}:${CONTAINER_DIR}"
+
+# Default network setting. Can be overridden with --network flag.
+NETWORK_NAME="host"
+WORKING_DIR="${CONTAINER_DIR}"
+# --- Helper Functions ---
+
+# Displays a user-friendly usage message.
+usage() {
+    cat <<EOF
+Usage: $0 [options] [command] [args...]
+
+Manages the Exwayz container lifecycle and provides an execution environment.
+
+Options:
+  --network <name>  Specify a network name or 'host'. Defaults to 'host'.
+  --working-dir <path>  Specify the directory inside the container to use as working directory. Defaults to the /app.
+  --help            Shows this usage message.
+
+Commands:
+  <none>    Creates and starts the container if needed, then attaches an interactive shell.
+  shell     Explicitly creates, starts, and attaches an interactive shell.
+  stop      Stops the running container.
+  rm        Stops and removes the container.
+  *         Executes any other command inside the container (e.g., "$0 ros2 topic list").
+
+EOF
+    exit 1
+}
+
+# Executes a command inside the running container with the ROS2 environment sourced.
+# $@ - The command and its arguments to execute.
+exec_in_container() {
+    echo "--- Executing in container (with ROS2): '$@' ---"
+    local ros2_setup_command="
+        if [ -n \"\$ROS_DISTRO\" ] && [ -f \"/opt/ros/\$ROS_DISTRO/setup.bash\" ]; then
+            source \"/opt/ros/\$ROS_DISTRO/setup.bash\" --;
+            echo 'Sourced ROS2 environment.'
+        else
+            echo 'Warning: \$ROS_DISTRO not set or setup file not found. Continuing without sourcing ROS2 environment.' >&2
+        fi;
+        exec \"\$@\"
+    "
+    podman exec -it -w "${WORKING_DIR}" "${CONTAINER_NAME}" \
+        /bin/bash -c "${ros2_setup_command}" bash "$@"
+}
+
+
+# --- Argument Parsing ---
+
+# Parse flags like --network before handling commands.
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --network)
+            if [[ -z "$2" ]]; then
+                echo "Error: --network requires a name." >&2
+                exit 1
+            fi
+            NETWORK_NAME="$2"
+            shift # remove --network
+            shift # remove its value
+            ;; 
+        --working-dir)
+            if [[ -z "$2" ]]; then
+                echo "Error: --working-dir requires a path." >&2
+                exit 1
+            fi
+            WORKING_DIR="$2"
+            shift # remove --working-dir
+            shift # remove its value
+            ;; 
+        --help)
+            usage
+            ;; 
+        *)
+            # Not a flag we recognize, so it must be the start of the command.
+            break
+            ;; 
+    esac
+done
+
+
+# --- Main Logic ---
+
+# Handle stateless commands that don't require the container to be running.
+case "$1" in
+    stop)
+        echo "Stopping container '${CONTAINER_NAME}'..."
+    podman stop "${CONTAINER_NAME}"
+        exit 0
+        ;; 
+    rm)
+        echo "Stopping and removing container '${CONTAINER_NAME}'..."
+        # Stop container, ignoring errors if it's already stopped.
+        podman stop "${CONTAINER_NAME}" >/dev/null 2>&1 || true
+        podman rm "${CONTAINER_NAME}"
+        exit 0
+        ;; 
+esac
+
+# --- Container Lifecycle Management ---
+# For all other commands, ensure the container is running.
+
+# Check if a container with the specified name already exists.
+if ! podman ps -a --format '{{.Names}}' | grep -q "^${CONTAINER_NAME}"$; then
+    echo "Container '${CONTAINER_NAME}' not found. Creating and starting a new one..."
+    podman run -d --name "${CONTAINER_NAME}" \
+        --network="${NETWORK_NAME}" \
+        --ipc=host \
+        --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+        -v "${MOUNT_PATH}" \
+        -w "${CONTAINER_DIR}" \
+        "${IMAGE_NAME}" \
+        tail -f /dev/null # Keep container running
+    echo "Container created and started."
+# If the container exists, check if it is running.
+elif ! podman ps --format '{{.Names}}' | grep -q "^${CONTAINER_NAME}"$; then
+    echo "Container '${CONTAINER_NAME}' exists but is stopped. Starting it..."
+    podman start "${CONTAINER_NAME}"
+    echo "Container started."
+else
+    echo "Container '${CONTAINER_NAME}' is already running."
+fi
+
+
+# --- Command Execution ---
+
+# Decide what to execute inside the container.
+case "$1" in
+    "" | "shell") # No arguments or "shell" argument
+        exec_in_container /bin/bash
+        ;; 
+    *)
+        exec_in_container "$@"
+        ;; 
+esac
+
+echo "Script finished."