if [ -z ${PX4_DOCKER_REPO+x} ]; then

echo "guessing PX4_DOCKER_REPO based on input";

if [[ $@ =~ .*px4_fmu.* ]]; then

# nuttx-px4fmu-v{1,2,3,4,5}

PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"

elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then

# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default

PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"

elif [[ $@ =~ .*pilotpi.arm64 ]]; then

# scumaker_pilotpi_arm64

PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"

elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then

# posix_rpi_cross, posix_bebop_default

PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"

elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then

# clang tools

PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"

elif [[ $@ =~ .*tests* ]]; then

# run all tests with simulation

PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"

fi

echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";

if [ -z ${PX4_DOCKER_REPO+x} ]; then

PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"

echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

SRC_DIR=$PWD/../

CCACHE_DIR=${HOME}/.ccache

mkdir -p "${CCACHE_DIR}"

docker run -it --rm -w "${SRC_DIR}" \

--env=AWS_ACCESS_KEY_ID \

--env=AWS_SECRET_ACCESS_KEY \

--env=BRANCH_NAME \

--env=CCACHE_DIR="${CCACHE_DIR}" \

--env=CI \

--env=CODECOV_TOKEN \

--env=COVERALLS_REPO_TOKEN \

--env=LOCAL_USER_ID="$(id -u)" \

--env=PX4_ASAN \

--env=PX4_MSAN \

--env=PX4_TSAN \

--env=PX4_UBSAN \

--env=TRAVIS_BRANCH \

--env=TRAVIS_BUILD_ID \

--publish 14556:14556/udp \

--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \

--volume=${SRC_DIR}:${SRC_DIR}:rw \

${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"