diff --git a/guiTools/poetry.lock b/guiTools/poetry.lock index a1990a2..83b3c98 100644 --- a/guiTools/poetry.lock +++ b/guiTools/poetry.lock @@ -1,5 +1,19 @@ # This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +[[package]] +name = "aioconsole" +version = "0.8.1" +description = "Asynchronous console and interfaces for asyncio" +optional = false +python-versions = ">=3.8" +files = [ + {file = "aioconsole-0.8.1-py3-none-any.whl", hash = "sha256:e1023685cde35dde909fbf00631ffb2ed1c67fe0b7058ebb0892afbde5f213e5"}, + {file = "aioconsole-0.8.1.tar.gz", hash = "sha256:0535ce743ba468fb21a1ba43c9563032c779534d4ecd923a46dbd350ad91d234"}, +] + +[package.extras] +dev = ["pytest", "pytest-asyncio", "pytest-cov", "pytest-repeat", "uvloop"] + [[package]] name = "aiodocker" version = "0.23.0" @@ -152,6 +166,30 @@ yarl = ">=1.12.0,<2.0" [package.extras] speedups = ["Brotli", "aiodns (>=3.2.0)", "brotlicffi"] +[[package]] +name = "aiomonitor" +version = "0.7.1" +description = "Adds monitor and Python REPL capabilities for asyncio applications" +optional = false +python-versions = ">=3.8" +files = [ + {file = "aiomonitor-0.7.1-py3-none-any.whl", hash = "sha256:10f50418ef8e60cd4b57efb3d2b984f62e01b3a7272772c6916e54f26877fd09"}, + {file = "aiomonitor-0.7.1.tar.gz", hash = "sha256:beb1f14429bc4a3135bbac32381d242fe2019d74fcf9c86d3f4bd7405dc562e4"}, +] + +[package.dependencies] +aioconsole = ">=0.7.0" +aiohttp = ">=3.8.5" +attrs = ">=20" +click = ">=8.0" +janus = ">=1.0" +jinja2 = ">=3.1.2" +prompt-toolkit = ">=3.0" +telnetlib3 = ">=2.0.4" +terminaltables = "*" +trafaret = ">=2.1.1" +typing-extensions = ">=4.1" + [[package]] name = "aiosignal" version = "1.3.1" @@ -690,6 +728,17 @@ files = [ {file = "itsdangerous-2.2.0.tar.gz", hash = "sha256:e0050c0b7da1eea53ffaf149c0cfbb5c6e2e2b69c4bef22c81fa6eb73e5f6173"}, ] +[[package]] +name = "janus" +version = "1.1.0" +description = "Mixed sync-async queue to interoperate between asyncio tasks and classic threads" +optional = false +python-versions = ">=3.9" +files = [ + {file = "janus-1.1.0-py3-none-any.whl", hash = "sha256:9a3daf0f1a16abda1a7c976e28dc1f6caf3b8d1de9b8c93b2ea84de424de7705"}, + {file = "janus-1.1.0.tar.gz", hash = "sha256:0634df8b2b31f8afda4311abcf7fea912686fef717d13769eeaa01ae08d2b84c"}, +] + [[package]] name = "jinja2" version = "3.1.4" @@ -1095,6 +1144,20 @@ files = [ {file = "packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002"}, ] +[[package]] +name = "prompt-toolkit" +version = "3.0.48" +description = "Library for building powerful interactive command lines in Python" +optional = false +python-versions = ">=3.7.0" +files = [ + {file = "prompt_toolkit-3.0.48-py3-none-any.whl", hash = "sha256:f49a827f90062e411f1ce1f854f2aedb3c23353244f8108b89283587397ac10e"}, + {file = "prompt_toolkit-3.0.48.tar.gz", hash = "sha256:d6623ab0477a80df74e646bdbc93621143f5caf104206aa29294d53de1a03d90"}, +] + +[package.dependencies] +wcwidth = "*" + [[package]] name = "propcache" version = "0.2.0" @@ -1772,6 +1835,43 @@ anyio = ">=3.4.0,<5" [package.extras] full = ["httpx (>=0.22.0)", "itsdangerous", "jinja2", "python-multipart (>=0.0.7)", "pyyaml"] +[[package]] +name = "telnetlib3" +version = "2.0.4" +description = "Python 3 asyncio Telnet server and client Protocol library" +optional = false +python-versions = ">=3.7" +files = [ + {file = "telnetlib3-2.0.4-py2.py3-none-any.whl", hash = "sha256:b3c0f984a7fb1b6ee16e6fdaa410c56389b0dc492174a99c6661b1ba4c9d457d"}, + {file = "telnetlib3-2.0.4.tar.gz", hash = "sha256:dbcbc16456a0e03a62431be7cfefff00515ab2f4ce2afbaf0d3a0e51a98c948d"}, +] + +[[package]] +name = "terminaltables" +version = "3.1.10" +description = "Generate simple tables in terminals from a nested list of strings." +optional = false +python-versions = ">=2.6" +files = [ + {file = "terminaltables-3.1.10-py2.py3-none-any.whl", hash = "sha256:e4fdc4179c9e4aab5f674d80f09d76fa436b96fdc698a8505e0a36bf0804a874"}, + {file = "terminaltables-3.1.10.tar.gz", hash = "sha256:ba6eca5cb5ba02bba4c9f4f985af80c54ec3dccf94cfcd190154386255e47543"}, +] + +[[package]] +name = "trafaret" +version = "2.1.1" +description = "Validation and parsing library" +optional = false +python-versions = "*" +files = [ + {file = "trafaret-2.1.1-py3-none-any.whl", hash = "sha256:1966f432586797aed663edd54cbc201fd7ba59eed1638f1a7a33f17977b3a569"}, + {file = "trafaret-2.1.1.tar.gz", hash = "sha256:d9d00800318fbd343fdfb3353e947b2ebb5557159c844696c5ac24846f76d41c"}, +] + +[package.extras] +objectid = ["pymongo (>=2.4.1)"] +rfc3339 = ["python-dateutil (>=1.5)"] + [[package]] name = "typing-extensions" version = "4.12.2" @@ -1985,6 +2085,17 @@ files = [ [package.dependencies] anyio = ">=3.0.0" +[[package]] +name = "wcwidth" +version = "0.2.13" +description = "Measures the displayed width of unicode strings in a terminal" +optional = false +python-versions = "*" +files = [ + {file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"}, + {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"}, +] + [[package]] name = "websockets" version = "13.1" @@ -2207,4 +2318,4 @@ propcache = ">=0.2.0" [metadata] lock-version = "2.0" python-versions = "^3.11" -content-hash = "7607ff77762b700b8f487fd9b5ef6c07e875eccd429feace40047276d2f84280" +content-hash = "bf8122985963391df3c60a13513784f7533309ec22095a82cac34034b6dae399" diff --git a/guiTools/pyproject.toml b/guiTools/pyproject.toml index 13d226f..644a980 100644 --- a/guiTools/pyproject.toml +++ b/guiTools/pyproject.toml @@ -14,6 +14,7 @@ sh = "^2.1.0" docker = "^7.1.0" aiodocker = "^0.23.0" numpy = "^2.1.3" +aiomonitor = "^0.7.1" [build-system] requires = ["poetry-core"] diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index 3151619..b9fe73a 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -3,6 +3,7 @@ import subprocess from collections import defaultdict import docker import time +from loguru import logger docker_client = docker.from_env() @@ -28,7 +29,6 @@ ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').cl robots = [] from spiri_sdk_guitools.sim_drone import robot_types -import aiodocker import asyncio @ui.page('/') @@ -68,5 +68,16 @@ async def main(): ui.label(f"Add new {name}").classes("text-3xl") await robot.launch_widget(robots_widget) +import aiomonitor +async def amonitor(): + # + logger.info("Starting aiomonitor") + loop = asyncio.get_running_loop() + run_forever = loop.create_future() + with aiomonitor.start_monitor(loop): + await run_forever + +app.on_startup(amonitor) + # Start the NiceGUI application ui.run(title="Spiri SDK Launcher", port=8923, dark=None) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index f6a37ac..76fe448 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -119,7 +119,19 @@ class Spirimu(Robot): ).bind_value(newRobotParams, 'sysid') default_robot_compose = "" for compose_file in Path("/robots").glob("**/docker-compose.yaml"): - default_robot_compose += f"{compose_file} --build \n" + 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", "") + docstring = data.get("x-spiri-sdk-doc", "") + if docstring: + for line in docstring.split("\n"): + if line: + default_robot_compose += f"# {line}\n" + 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') @@ -190,17 +202,28 @@ class Spirimu(Robot): with element: node_dummy = Node("_ros2cli_dummy_to_show_topic_list") scroll_area = ui.scroll_area() - with scroll_area: - while True: + 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]) - await asyncio.sleep(10) + 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() @@ -342,15 +365,13 @@ class Spirimu(Robot): cwd=f"/ardupilot_gazebo/models/{DRONE_MODEL}", stdout=subprocess.PIPE, stderr=subprocess.PIPE, - timeout=1, ) ros2_gz_create_proc = subprocess.Popen( ROS2_CMD.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE, - timeout=1, ) - out, err = ros2_gz_create_proc.communicate(timeout=15) + out, err = ros2_gz_create_proc.communicate(timeout=3) ros2_gz_create_proc.kill() return @@ -381,5 +402,5 @@ class Spirimu(Robot): stdout=subprocess.PIPE, stderr=subprocess.PIPE, ) - out, err = remove_entity_proc.communicate(timeout=15) + out, err = remove_entity_proc.communicate(timeout=3) remove_entity_proc.kill() diff --git a/robots/spiri-mu/core/docker-compose.yaml b/robots/spiri-mu/core/docker-compose.yaml index 2ff1dbb..a152b63 100644 --- a/robots/spiri-mu/core/docker-compose.yaml +++ b/robots/spiri-mu/core/docker-compose.yaml @@ -1,3 +1,6 @@ +x-spiri-sdk-doc: | + Runs the core services for a simulated Spiri Mu + services: ardupilot: env_file: diff --git a/robots/spiri-mu/virtual_camera/docker-compose.yaml b/robots/spiri-mu/virtual_camera/docker-compose.yaml index 5a4bcf7..6caa122 100644 --- a/robots/spiri-mu/virtual_camera/docker-compose.yaml +++ b/robots/spiri-mu/virtual_camera/docker-compose.yaml @@ -1,4 +1,8 @@ +x-spiri-sdk-doc: | + Start a virtual camera that can be included in ros +x-spiri-sdk-default-args: --build + services: front-gimbal: ipc: host