spiri-sdk/guiTools/spiri_sdk_guitools/sim_drone.py

from loguru import logger
from pathlib import Path
import contextlib
from typing import List
import os
import sh
import subprocess
from nicegui import ui, run, app, binding
import yaml

import docker
import aiodocker
import asyncio
from spiri_sdk_guitools.video_button import EnableStreamingButton
from collections import defaultdict
import importlib.util

docker_client = docker.from_env()

from rclpy.executors import ExternalShutdownException
from rclpy.node import Node
import rclpy
import threading

async def ros_loop():
    rclpy.init()
    node = rclpy.create_node('async_subscriber')
    while rclpy.ok():
        rclpy.spin_once(node, timeout_sec=0)
        await asyncio.sleep(0.1)


app.on_startup(ros_loop())


@contextlib.contextmanager
def modified_environ(*remove, **update):
    """
    Temporarily updates the ``os.environ`` dictionary in-place.

    The ``os.environ`` dictionary is updated in-place so that the modification
    is sure to work in all situations.

    :param remove: Environment variables to remove.
    :param update: Dictionary of environment variables and values to add/update.
    """
    env = os.environ
    update = update or {}
    remove = remove or []

    # List of environment variables being updated or removed.
    stomped = (set(update.keys()) | set(remove)) & set(env.keys())
    # Environment variables and values to restore on exit.
    update_after = {k: env[k] for k in stomped}
    # Environment variables and values to remove on exit.
    remove_after = frozenset(k for k in update if k not in env)

    try:
        env.update(update)
        [env.pop(k, None) for k in remove]
        yield
    finally:
        env.update(update_after)
        [env.pop(k) for k in remove_after]


robots = set()


async def container_logs(container, element):
    adocker = aiodocker.Docker()
    with element:
        with ui.scroll_area():
            acontainer = await adocker.containers.get(container.id)
            async for log in acontainer.log(stdout=True, stderr=True, follow=True):
                for line in log.splitlines():
                    ui.label(line)
                # ui.html(conv.convert(bytes(log,'utf-8').decode('utf-8', 'xmlcharrefreplace'), full=False))


robot_types = {}

class Robot:
    def __init_subclass__(self):
        #Register sub-classes as plugins
        robot_types[self.robot_type] = self

for file in Path("/robots").glob("**/robot_plugins.py"):
    logger.info(f"Loading plugin {file}")
    spec = importlib.util.spec_from_file_location("robot_plugins", file)
    plugin = importlib.util.module_from_spec(spec)
    spec.loader.exec_module(plugin)
    logger.info(f"Loaded plugin {file}")

async def topic_subscriber(element, topic_name):
    while True:
        with element:
            element.clear()
            ui.label(topic_name)
            await asyncio.sleep(1)


class Spirimu(Robot):
    robot_type = "spiri_mu"

    def __init__(self, sysid: int, compose_files: List[Path] | str):
        if sysid > 255 or sysid < 0:
            raise ValueError("sysid must be between 0 and 255")
        self.sysid = int(sysid)
        if isinstance(compose_files, str):
            compose_files = [
                Path(file) for file in compose_files.replace("\n", ",").split(",")
            ]
        self.compose_files = compose_files
        self.processes = []
        self.video_button = None
        robots.add(self)
        #Ros doesn't like dashes in node names
        self.robot_name = f"{self.robot_type}_{self.sysid}".replace("-","_")
        self.wold_name = os.environ.get("WORLD_NAME", "citadel_hill")

    @classmethod
    async def launch_widget(cls, robots_widget):
        newRobotParams = defaultdict(binding.BindableProperty)
        ui.number(value=1, label="SysID", min=1, max=254,
                  ).bind_value(newRobotParams, 'sysid')
        default_robot_compose = ""
        for compose_file in Path("/robots").glob("**/docker-compose.yaml"):
            specialArgs = ""
            try:
                data = yaml.safe_load(compose_file.read_text())
            except yaml.YAMLError:
                default_robot_compose += f"#{compose_file} not valid \n"
                continue
            specialArgs = data.get("x-spiri-sdk-default-args", "")
            enabled = str(data.get("x-spiri-sdk-default-enabled", True))
            enabled = enabled.lower() in ["true", "yes", "1"]

            docstring = data.get("x-spiri-sdk-doc", "")
            if docstring:
                for line in docstring.split("\n"):
                    if line:
                        default_robot_compose += f"# {line}\n"
            if not enabled:
                default_robot_compose += "##"
            default_robot_compose += f"{compose_file} {specialArgs}\n"

        ui.label("Compose files").classes("text-xl")
        ui.codemirror(value=default_robot_compose, language="bash", theme="basicDark").bind_value(newRobotParams, 'compose_files')
        async def new_robot():
            compose_files = []
            #Split on comma or newline, and remove comments
            for line in newRobotParams['compose_files'].split('\n'):
                line = line.split('#')[0].strip()
                if line:
                    compose_files.append(line)
            current_robot = newRobotParams.copy()
            current_robot['compose_files'] = compose_files
            robot = cls(**current_robot)
            asyncio.tasks.create_task(robot.ui(robots_widget))

            newRobotParams['sysid'] += 1
        ui.button("Add", on_click=new_robot)


    async def ui_containers(self, element):
        docker_elements = {}
        container_status = {}
        with element:
            while True:
                with logger.catch():
                    # Poll for data that changes
                    for container in self.containers():
                        try:
                            health = container.attrs["State"]["Health"]["Status"]
                        except KeyError:
                            health = "Unknown"

                        container_status[container] = (
                            f"{container.name} {container.status} {health}"
                        )
                        if container not in docker_elements:
                            docker_elements[container] = ui.element().classes("w-full")
                            with docker_elements[container]:
                                ui.label().bind_text(container_status, container).classes(
                                    "text-2xl"
                                )
                                #Show the command the container is running
                                # ui.label(container.attrs["Config"]["Cmd"])
                                cmd_widget = ui.codemirror(" ".join(container.attrs["Config"]["Cmd"]), language="bash",theme="basicDark").classes('h-auto max-h-32')
                                cmd_widget.enabled = False

                                with ui.expansion("Env Variables").classes("w-full outline outline-1").style("margin: 10px;"):
                                    env_widget = ui.codemirror("\n".join(container.attrs["Config"]["Env"]), language="bash",theme="basicDark")
                                    env_widget.enabled = False

                                logelement = (
                                    ui.expansion("Logs")
                                    .style("margin: 10px;")
                                    .classes("w-full outline outline-1")
                                )
                                asyncio.create_task(container_logs(container, logelement))
                                with ui.expansion("Full details").classes("w-full outline outline-1").style("margin: 10px;"):
                                    details_widget = ui.codemirror(yaml.dump(container.attrs), language="yaml",theme="basicDark")
                                    details_widget.enabled = False
                    # Check for containers that have been removed
                    removed = set(docker_elements.keys()) - set(self.containers())
                    for container in removed:
                        self.robot_ui.remove(docker_elements[container])
                        docker_elements.pop(container)
                    await asyncio.sleep(1)

    async def ui_ros(self, element):
        with element:
            node_dummy = Node("_ros2cli_dummy_to_show_topic_list")
            scroll_area = ui.scroll_area()
            def refresh_topics():
                with scroll_area:
                    scroll_area.clear()
                    #Filter for topics that start with self.robot_name
                    for topic in node_dummy.get_topic_names_and_types():
                        if self.robot_name in topic[0]:
                            ui.label(topic[0])
                            # expander = ui.expansion(topic[0]).classes('w-full')
                            # topic_subscriber(expander, topic[0])

            ui.button("Refresh topics", on_click=refresh_topics).classes("m-2")

    async def ui_actions(self, element):
        pass
        with element:
            node_dummy = Node("_ros2cli_dummy_to_show_service_list")
            scroll_area = ui.scroll_area()
            def refresh_topics():
                with scroll_area:
                    scroll_area.clear()
                    #Filter for topics that start with self.robot_name
                    for topic in node_dummy.get_action_names_and_types():
                        if self.robot_name in topic[0]:
                            ui.label(topic[0])
            ui.button("Refresh topics", on_click=refresh_topics).classes("m-2")

    async def ui(self, element):
        adocker = aiodocker.Docker()

        with element:
            self.robot_ui = ui.element().classes("w-full outline p-4")
            with self.robot_ui:
                ui.label(f"{self.robot_type} {self.sysid}").classes("text-2xl")
                ui.label(f"""Sysid: {self.sysid}""")
                ui.button("Start", on_click=self.async_start).classes("m-2")
                ui.button("Stop", on_click=self.async_stop).classes("m-2")
                self.video_button = EnableStreamingButton(robot_name=self.robot_name).classes(
                    "m-2"
                )

                async def delete_robot():
                    await self.async_stop()
                    robots.remove(self)
                    element.remove(self.robot_ui)

                ui.button("Delete", on_click=delete_robot).classes("m-2")
                with ui.tabs() as tabs:
                    tab_containers = ui.tab("Containers")
                    tab_ros = ui.tab("ROS Topics")
                    # tab_actions = ui.tab("Actions")
                with ui.tab_panels(tabs, value=tab_containers):
                    tab = ui.tab_panel(tab_containers).classes("w-full")
                    asyncio.create_task(self.ui_containers(tab))
                    tab = ui.tab_panel(tab_ros).classes("w-full")
                    asyncio.create_task(self.ui_ros(tab))
                    # tab = ui.tab_panel(tab_actions).classes("w-full")
                    # asyncio.create_task(self.ui_actions(tab))

    async def async_stop(self):
        return await run.io_bound(self.stop)

    def stop(self):
        # If video was enabled, and we stop. Button state is wrong.
        # Stop video if it is enabled.
        if isinstance(self.video_button, EnableStreamingButton):
            self.video_button.stop_video()
        # Delete gazebo model
        self.delete_gz_model()
        # Signal all processes to stop
        for process in self.processes:
            process.terminate()
            process.kill()
        self.processes = []
        for container in self.containers():
            # container.stop()
            container.remove(force=True)

    def containers(self):
        return docker_client.containers.list(
            all=True, filters={"name": f"robot-sim-{self.robot_name}"}
        )

    async def async_start(self):
        return await run.io_bound(self.start)

    def start(self):
        """Starts the simulated drone with a given sysid,
        each drone must have it's own unique ID.
        """
        instance = self.sysid - 1
        sysid = self.sysid
        with logger.contextualize(syd_id=sysid):
            env = os.environ
            with modified_environ(
                SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance),
                MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * instance),
                MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * instance),
                FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance),
                GSTREAMER_UDP_PORT=str(int(env["GSTREAMER_UDP_PORT"]) + 10 * instance),
                SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
                INSTANCE=str(instance),
                DRONE_SYS_ID=str(self.sysid),
                ROBOT_NAME=self.robot_name,
                WORLD_NAME="citadel_hill",
            ):
                self.spawn_gz_model()
                logger.info("Starting drone stack, this may take some time")
                for compose_file in self.compose_files:
                    arguments = compose_file.split(" ")
                    arguments = [arg.strip() for arg in arguments]
                    compose_file = arguments[0]
                    arguments = arguments[1:]

                    if not isinstance(compose_file, Path):
                        compose_file = Path(compose_file)
                    if not compose_file.exists():
                        raise FileNotFoundError(f"File {compose_file} does not exist")
                    #Get the folder the compose file is in
                    compose_folder = compose_file.parent
                    args = [
                        "docker-compose",
                        "--profile",
                        "uav-sim",
                        "-p",
                        f"robot-sim-{self.robot_name}-{compose_folder.name}",
                        "-f",
                        compose_file.as_posix(),
                        "up",
                        *arguments,
                    ]
                    command = " ".join(args)

                    logger.info(f"Starting drone stack with command: {command}")
                    docker_stack = subprocess.Popen(
                        args,
                        # stdout=subprocess.PIPE,
                        # stderr=subprocess.PIPE,
                    )
                    logger.info(f"Started drone stack with PID: {docker_stack.pid}")

    @logger.catch
    def spawn_gz_model(self):
        sysid = self.sysid
        logger.info("")
        env = os.environ
        GSTREAMER_UDP_PORT = env["GSTREAMER_UDP_PORT"]
        FDM_PORT_IN = env["FDM_PORT_IN"]
        WORLD_NAME = env["WORLD_NAME"]
        DRONE_MODEL = env["DRONE_MODEL"]
        XACRO_CMD = [
            "xacro",
            f"gstreamer_udp_port:={GSTREAMER_UDP_PORT}",
            f"fdm_port_in:={FDM_PORT_IN}",
            "model.xacro.sdf",
            "-o",
            "model.sdf",
        ]
        # This path is breaking if this drone_model folder doesnt exist!
        # TODO: fix this model path for minimal code maintenance
        ROS2_CMD = f"ros2 run ros_gz_sim create -world {WORLD_NAME} -file /ardupilot_gazebo/models/{DRONE_MODEL}/model.sdf -name {self.robot_name} -x {sysid - 1}  -y 0 -z 0.195"

        xacro_proc = subprocess.Popen(
            XACRO_CMD,
            cwd=f"/ardupilot_gazebo/models/{DRONE_MODEL}",
            stdout=subprocess.PIPE,
            stderr=subprocess.PIPE,
        )
        ros2_gz_create_proc = subprocess.Popen(
            ROS2_CMD.split(),
            stdout=subprocess.PIPE,
            stderr=subprocess.PIPE,
        )
        out, err = ros2_gz_create_proc.communicate(timeout=3)
        ros2_gz_create_proc.kill()
        return

    @logger.catch
    def delete_gz_model(self):
        sysid = self.sysid
        env = os.environ
        WORLD_NAME = env["WORLD_NAME"]
        # http://osrf-distributions.s3.amazonaws.com/gazebo/api/7.1.0/classgazebo_1_1physics_1_1Entity.html
        ENTITY_TYPE_MODEL = 0x00000002
        REQUEST_ARG = f"name: '{self.robot_name}' type: {ENTITY_TYPE_MODEL}"
        GZ_SERVICE_CMD = [
            "gz",
            "service",
            "-s",
            f"/world/{WORLD_NAME}/remove",
            "--reqtype",
            "gz.msgs.Entity",
            "--reptype",
            "gz.msgs.Boolean",
            "--timeout",
            "5000",
            "--req",
            REQUEST_ARG,
        ]
        remove_entity_proc = subprocess.Popen(
            GZ_SERVICE_CMD,
            stdout=subprocess.PIPE,
            stderr=subprocess.PIPE,
        )
        out, err = remove_entity_proc.communicate(timeout=3)
        remove_entity_proc.kill()