From d6acc28f725747b22f6eb5cfd4ef15cb3355c70d Mon Sep 17 00:00:00 2001
From: Michael Katsoulis <michael.katsoulis@kyburz-switzerland.ch>
Date: Fri, 9 Jan 2026 16:53:07 +0100
Subject: [PATCH] Working when secrets manually entered in container

---
 .gitignore             |  3 ++-
 README.md              | 37 +++++++++++++++++++++++++++++++++++--
 exwayz_test.dockerfile | 29 ++++++++++++++++++++++-------
 notes.md               |  1 +
 4 files changed, 60 insertions(+), 10 deletions(-)
 create mode 100644 notes.md

diff --git a/.gitignore b/.gitignore
index 7537556..0be0a0b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 licenses/**
-pkgs/exwayz_3d_mapping*
\ No newline at end of file
+pkgs/exwayz_3d_mapping*
+tmp/**
\ No newline at end of file
diff --git a/README.md b/README.md
index 042b8a4..989fd64 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,35 @@
-## Building with docker secrets
-TODO: Figure out a safer way to include secrets in the docker file
+# Build the docker image
+'''bash
+docker build -t exwayz_test:v1.0 -f exwayz_test.dockerfile .
+'''
+## TODO Building with docker secrets
+We need to improve our handling of secrets and figure out a safer way to include them in the docker file/image
+
+
+
+# To run the docker file:
+1. We need to enable the use of the display
+2. Share the volume with our current code so we can access it in the container
+3. start a shell 
+
+'''bash
+docker run -it \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    -v "$(pwd):/app" \
+    exwayz_test
+'''
+
+
+Then, run the exways slam on a bag to test everything is workign correctly.
+'''bash 
+exwayz_slam --bag data/exwayz_sample_data_slam_01.bag --bag-hesai /hesai/pandar_packets --hesai-model PandarXT-32 --d-write 0.1 -o ./slam_session_tutorial --no-date
+'''
+Naturally, change the path to the bagfile for the parameter '--bag'
+
+Hopefully, you will see something like this:
+![Working Exwayz Demo¨¨](media/Exwayz_slam_demo_working.gif)
+
+# may have to:
+source /opt/ros/$ROS_DISTRO/setup.bash
\ No newline at end of file
diff --git a/exwayz_test.dockerfile b/exwayz_test.dockerfile
index e496db8..187b098 100644
--- a/exwayz_test.dockerfile
+++ b/exwayz_test.dockerfile
@@ -9,20 +9,35 @@ ARG TARGETARCH=amd64
 COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
 COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
 
+#If debug, install the following:
+RUN apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils
+#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
+
+# RUN --mount=type=secret,id=exwayz_license set -eux; \
+# 	if [ "${TARGETARCH}" = "aarch64" ]; then \
+# 		pkg=/tmp/exwayz_aarch64.deb; \
+# 	else \
+# 		pkg=/tmp/exwayz_amd64.deb; \
+# 	fi; \
+# 	apt-get update; \
+# 	apt-get install -fy "$pkg"; \
+# 	if [ -s /run/secrets/exwayz_license ]; then \
+# 		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+# 	fi; \
+# 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
+# 	rm -rf /var/lib/apt/lists/*
+
 RUN --mount=type=secret,id=exwayz_license set -eux; \
-	if [ "${TARGETARCH}" = "aarch64" ]; then \
-		pkg=/tmp/exwayz_aarch64.deb; \
-	else \
-		pkg=/tmp/exwayz_amd64.deb; \
-	fi; \
 	apt-get update; \
-	apt-get install -fy "$pkg"; \
+	apt-get install -fy /tmp/exwayz_amd64.deb; \
 	if [ -s /run/secrets/exwayz_license ]; then \
 		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+	else \
+		echo "No license file provided"; \
+		exit 1; \
 	fi; \
 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
 	rm -rf /var/lib/apt/lists/*
-
 # TODO verify license was applied successfully
 
 # Set entrypoint
diff --git a/notes.md b/notes.md
new file mode 100644
index 0000000..a07157c
--- /dev/null
+++ b/notes.md
@@ -0,0 +1 @@
+## fixing broken s
\ No newline at end of file