# **Project Overview**

This repository contains the container and supporting files used by the LENA autonomous vehicle project. It packages the Exwayz 3D Mapping / SLAM executables into a Docker image that can run as part of the vehicle microservices stack.

**Repository Contents**

- **`exwayz_test.dockerfile`**: Dockerfile used to build the container image for testing and integration.
- **`src/**`: all code that we have written which runs on the container.
- **`tmp/data/`**: sample data including `exwayz_sample_data_slam_01.bag` used for demonstrations and tests. Download this from the link to their google drive on [the Exwayz docs site](https://exwayz.notion.site/Exwayz-3D-Mapping-v1-latest-1ea57c917367810ea1e9f8bf83e2e9d4)
- **`media/`**: screenshots and demos (GIFs) used in documentation.
- **`licenses/`**: licensing information for included components.

**Contributing**

Please open issues or PRs for fixes and improvements. If you work on vehicle deployment or CI, include small, testable changes and document any required secrets or hardware assumptions.


# **Quick Start**

Build the image (from the repository root):

```powershell
docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
```

Run the container (example; adjust mounts and environment for your platform):

```powershell
# Example (PowerShell on systems with X11 forwarding available)
docker run -it --rm \
    --env="DISPLAY=$env:DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    -v "${PWD}:/app" \
    exwayz_test:latest
```

On POSIX shells use `$DISPLAY` and `$(pwd)` as usual.

Run the Exwayz SLAM pipeline against the sample bag inside the container (example):

```bash
exwayz_slam --bag tmp/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
```

Adjust paths and model names to match your sensor and bag file layout.

# **Status**

- Docker image: mostly working for local testing.
- Secrets: currently not included in the image; build-time and runtime secrets need secure handling (see TODOs).
- Target: this repo should evolve into the deploy-and-run repo for vehicle microservices.

# **Todos**
- [x] **Prototype Docker Image**: Get a prototype docker image working and run their demos.
- [x] **Refine README**: polish documentation and examples (in progress).
- [ ] **Secrets Handling**: implement secure secret injection for builds and runtime (Docker BuildKit, secret manager, or CI secrets).
- [ ] **Standardized Scripts**: add `build_image.ps1` and `run_container.ps1` (and POSIX equivalents) to standardize workflows.
- [ ] **CI Build**: add GitHub Actions workflow equivalent to Gitea to build (and optionally scan) images on push/PR.
- [ ] **Vehicle Deployment Guide**: document runtime flags, service templates, and health-checks for deployment on the vehicle.
- [ ] **Integration Test**: add tests that run the pipeline against `tmp/data/exwayz_sample_data_slam_01.bag` to detect regressions.