spiri-sdk/guiTools/spiri_sdk_guitools/launcher.py

from nicegui import ui, binding, app
import subprocess
from collections import defaultdict
import docker
import time

docker_client = docker.from_env()

# Dictionary of applications: key is the button text, value is the command to execute
applications = {
    "Terminal": ["qterminal"],
    "rqt": ["rqt"],
    "rviz2": ["rviz2"],
    "Gazebo": ["/spawn_drones.sh"],
    "Gazebo Standalone": "gz sim -v4".split(),
    # Add more applications here if needed
}

# Function to launch an application
def launch_app(command):
    try:
        subprocess.Popen(command)
    except FileNotFoundError:
        print(f"{command[0]} not found. Make sure it's installed and accessible in the PATH.")

# Create the NiceGUI interface
ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').classes('w-full text-center')

robots = []
from spiri_sdk_guitools.sim_drone import Robot

@ui.refreshable
def show_robots():

    with ui.element().classes('w-full'):
        for robot in robots:
            @ui.refreshable
            def container_status(robot):
                ui.label("Containers")
                for container in robot.containers():
                    ui.label(f"{container.name} {container.status}")
            with ui.card().style('margin: 10px;').classes('w-full'):
                ui.label(f"{robot.robot_type}")
                ui.label(f"""Sysid: {robot.sysid}""")
                ui.button("Start", on_click=robot.start)
                ui.button("Stop", on_click=robot.stop)
                def delete_robot():
                    robot.stop()
                    robots.remove(robot)
                    show_robots.refresh()
                ui.button("Delete", on_click=delete_robot)
                with ui.expansion("Details").style('margin: 10px;').classes('w-full'):
                    container_status(robot)
                ui.timer(1, container_status.refresh)
                logwidget = ui.expansion("Logs").style('margin: 10px;').classes('w-full')

@ui.page('/')
def main():

    with ui.tabs().classes('w-full') as tabs:
        tab_tools = ui.tab('Tools')
        tab_robots = ui.tab('Robots')
        # two = ui.tab('Two')
    with ui.tab_panels(tabs, value=tab_tools).classes("w-full"):
        with ui.tab_panel(tab_tools):
            # Create and place buttons dynamically based on the dictionary
            with ui.grid(columns=3):
                for app_name, command in applications.items():
                    ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;')
        with ui.tab_panel(tab_robots):

            #Add a new robot
            with ui.element():
                ui.label("Add new robot")
                newRobotParams = defaultdict(binding.BindableProperty)
                ui.number(value=1, label="SysID", min=1, max=254,
                          ).bind_value(newRobotParams, 'sysid')
                ui.textarea(value="./sdk/docker-compose.yml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files')
                def new_robot():
                    robot = Robot(**newRobotParams)
                    # robot.start()
                    robots.append(robot)
                    newRobotParams['sysid'] += 1
                    show_robots.refresh()
                ui.button("Add", on_click=new_robot)
            with ui.element():
                ui.label("Debug")
                def cleanup_all_containers():
                    #Find all containers that start with spiri-sdk
                    containers = docker_client.containers.list(all=True)
                    removal_count = 0
                    for container in containers:
                        if container.name.startswith("robot-sim-"):
                            container.remove(force=True)
                            removal_count += 1
                    ui.label(f"Removed {removal_count} containers")
                ui.button("Cleanup all containers", on_click=cleanup_all_containers)


            ui.separator()
            ui.label("Current robots")
            robotwidget = show_robots()
# Start the NiceGUI application
ui.run(title="Spiri SDK Launcher", port=8923, dark=None)