Support for sub-apps

Dockerfile

@@ -25,10 +25,10 @@ RUN make px4_sitl_default
 
 RUN pip3 install typer-slim loguru sh
 
-RUN apt-get install --yes virtualbox-guest-dkms virtualbox-guest-utils spice-vdagent qemu-guest-agent
-RUN apt-get install --yes docker-compose-v2 firefox
+# RUN apt-get install --yes virtualbox-guest-dkms virtualbox-guest-utils spice-vdagent qemu-guest-agent
+RUN apt-get install --yes docker-compose-v2
 #Install our desktop environment last
-RUN apt-get install --yes --no-install-recommends lxqt sddm
+# RUN apt-get install --yes --no-install-recommends lxqt sddm firefox
 
 COPY ./skel/ /opt/spiri-sdk/user-home-skeleton/
 RUN cp -r /opt/spiri-sdk/user-home-skeleton/* /etc/skel/

skel/Desktop/simulated-drone/sim_drone.py

@@ -1,6 +1,11 @@
 #!/bin/env python3
-import typer, os, sys, contextlib
+import typer
+import os
+import sys
+import contextlib
+import pathlib
 import time
+import functools
 from loguru import logger
 import sh
 import atexit
@@ -45,6 +50,9 @@ class outputLogger:
             elif message.startswith("ERROR"):
                 message = message.lstrip("ERROR")
                 logger.error(message)
+            elif message.startswith("DEBUG"):
+                message = message.lstrip("DEBUG")
+                logger.debug(message)
             else:
                 logger.info(message)
 
@@ -102,7 +110,7 @@ def wait_for_gazebo(timeout=60, interval=1):
 
 
 @app.command()
-def start(sys_id: int = 1):
+def start(sys_id: int = 1, extra_apps: list[pathlib.Path] = []):
     """Starts the simulated drone with a given sys_id,
     each drone must have it's own unique ID.
     """
@@ -131,14 +139,27 @@ def start(sys_id: int = 1):
                 _bg=True,
             )
             processes.append(docker_stack)
+            for extra_app in extra_apps:
+                logger.info(f"Starting app {extra_app}, this may take some time")
+                app_name = extra_app.stem
+                app_stack = sh.docker.compose(
+                    "--project-name",
+                    f"simulated_robot_{sys_id}_{app_name}",
+                    "up",
+                    _out=outputLogger(app_name, sys_id),
+                    _err=sys.stderr,
+                    _bg=True,
+                )
+                processes.append(app_stack)
 
 
 @app.command()
-def start_group(count: int = typer.Argument(min=1, max=10)):
+@functools.wraps(start)
+def start_group(count: int = typer.Argument(min=1, max=10), *args, **kwargs):
     """Start a group of robots"""
     for i in range(count):
         logger.info(f"start robot {i}")
-        start(sys_id=i + 1)
+        start(sys_id=i + 1, *args, **kwargs)
         if i == 0:
             wait_for_gazebo()