Changes to allow exporting robot env

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -100,6 +100,8 @@ class Robot:
         """Start a Docker-in-Docker instance for the robot, using a registry cache."""
         client = docker.from_env()
         cache_proxy = "http://sdk-host.internal:3128"
+        # sdk_root = os.environ.get("SDK_ROOT")
+        # buildx_shared_cache = str((Path(sdk_root) / "/cache/buildx-cache").absolute())
 
         self.docker_daemon = client.containers.run(
             "docker:dind",
@@ -115,10 +117,16 @@ class Robot:
             ),
             environment={
                 "DOCKER_BUILDKIT": "1",
+                "DOCKER_DRIVER": "overlay2",
                 # "DOCKER_TLS_CERTDIR": "",
             },
             extra_hosts={"sdk-host.internal": "host-gateway"},
-            # remove=True,
+            volumes={
+                "/var/lib/docker/buildx-cache": {
+                    "bind": "/var/lib/docker/buildx-cache",
+                    "mode": "rw",
+                },
+            },
             detach=True,
         )
 
@@ -260,7 +268,6 @@ class Robot:
                 self.robot_ui.clear()
             with self.robot_ui:
                 ui.label(f"{self}").classes("text-2xl")
-                ui.label(f"DOCKER_HOST={self.docker_host}")
                 ui.button("Start", on_click=self.async_start).classes("m-2")
                 ui.button("Stop", on_click=self.stop).classes("m-2")
 
@@ -277,6 +284,7 @@ class Robot:
                 with ui.tabs() as tabs:
                     # tab_logs = ui.tab("Logs")
                     tab_containers = ui.tab("Containers")
+                    tab_environment = ui.tab("Environment")
                     # tabs_iframe = ui.tab("ui")
                 # with ui.tab_panels(tabs, value=tab_logs):
                 #     tab = ui.tab_panel(tab_logs).classes("w-full")
@@ -285,6 +293,38 @@ class Robot:
                     containers = ui.tab_panel(tab_containers).classes("w-full")
 
                     asyncio.create_task(self.ui_containers(containers))
+                    with ui.tab_panel(tab_environment):
+                        environment = []
+                        for key, value in self.environ().items():
+                            environment.append(f"{key}={value}")
+                        for key, value in self.extra_env().items():
+                            environment.append(f"{key}={value}")
+                        with ui.row():
+                            ui.button(
+                                "Copy to clipboard",
+                                on_click=lambda: ui.clipboard.write(
+                                    "export " + " ".join(environment)
+                                ),
+                            )
+                            ui.button(
+                                "Save to file",
+                                on_click=lambda: ui.download(
+                                    "\n".join(environment).encode("utf-8"),
+                                    f"sdk_env_{self.robot_name}.txt",
+                                ),
+                            )
+                        env_vars = ui.codemirror(
+                            value="\n".join(environment),
+                            language="bash",
+                            theme="basicDark",
+                        )
+                        env_vars.enabled = False
+                        ui.label(
+                            "These environment variables allow running arbitrary docker containers and stacks "
+                            "in the same context as the robot, as well as interacting with the simulated robot's "
+                            "docker daemon. Simply copy to clipboard, paste into your terminal, and your docker "
+                            "cli and other docker tools will start using the robot's environment."
+                        ).classes("text-sm")
                     # iframe = ui.tab_panel(tabs_iframe).classes("w-full")
                     # with iframe:
                     #     ui.link(f"http://{self.robot_ip}",f"http://{self.robot_ip}").classes("m-2")
@@ -308,15 +348,20 @@ class Robot:
     def extra_env(self):
         return {}
 
+    def environ(self):
+        return dict(
+            ROBOT_NAME=self.robot_name,
+            WORLD_NAME="citadel_hill",
+            DOCKER_HOST=self.docker_host,
+        )
+
     def start(self):
         """Starts the simulated drone with a given sysid,
         each drone must have it's own unique ID.
         """
         with logger.contextualize(drone=str(self)):
             with modified_environ(
-                ROBOT_NAME=self.robot_name,
+                **self.environ(),
-                WORLD_NAME="citadel_hill",
-                DOCKER_HOST=self.docker_host,
                 **self.extra_env(),
             ):
                 self.spawn_gz_model()