Work on moving sim-drone to our user interface

docker-compose.yml

@@ -26,7 +26,10 @@ services:
       # Allow access to the host's GPU
       - /dev/dri:/dev/dri
       #Auto reload on code changes
-      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools
+      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
+      # Enable launching the SDK from the SDK
+      - ./:/app/sdk
+      - /var/run/docker.sock:/var/run/docker.sock
     devices:
       # Provide access to GPU devices
       - /dev/dri:/dev/dri

guiTools/Dockerfile

@@ -4,15 +4,14 @@ RUN apt-get update
 RUN apt-get -y install qterminal mesa-utils \
     libgstreamer1.0-dev \
     libgstreamer-plugins-base1.0-dev \
+    python3.12-venv \
+    python3-pip \
     gstreamer1.0-libav \
     gstreamer1.0-gl \
     gstreamer1.0-plugins-good \
     gstreamer1.0-plugins-bad \
     gstreamer1.0-plugins-ugly 
 
-#Install poetry
-RUN curl -sSL https://install.python-poetry.org | python3 -
-ENV PATH="/root/.local/bin:$PATH"
 
 COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins
 COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models
@@ -26,14 +25,21 @@ RUN chmod +x /spawn_drones.sh
 
 WORKDIR /app
 
-COPY ./pyproject.toml /app/pyproject.toml
+RUN python3 -m venv /opt/venv
-COPY ./poetry.lock /app/poetry.lock
+ENV PATH="/opt/venv/bin:$PATH"
+
+RUN pip3 install poetry
+
+COPY ./pyproject.toml ./poetry.lock ./README.md ./
+COPY ./spiri_sdk_guitools ./spiri_sdk_guitools
+
+RUN poetry env use python3
+RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi
 
-RUN poetry install --no-root
 
-COPY ./spiri_sdk_guitools /app/spiri_sdk_guitools
 
 CMD poetry run python3 spiri_sdk_guitools/launcher.py
 
 
 
+

guiTools/poetry.lock

@@ -666,6 +666,24 @@ MarkupSafe = ">=2.0"
 [package.extras]
 i18n = ["Babel (>=2.7)"]
 
+[[package]]
+name = "loguru"
+version = "0.7.2"
+description = "Python logging made (stupidly) simple"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "loguru-0.7.2-py3-none-any.whl", hash = "sha256:003d71e3d3ed35f0f8984898359d65b79e5b21943f78af86aa5491210429b8eb"},
+    {file = "loguru-0.7.2.tar.gz", hash = "sha256:e671a53522515f34fd406340ee968cb9ecafbc4b36c679da03c18fd8d0bd51ac"},
+]
+
+[package.dependencies]
+colorama = {version = ">=0.3.4", markers = "sys_platform == \"win32\""}
+win32-setctime = {version = ">=1.0.0", markers = "sys_platform == \"win32\""}
+
+[package.extras]
+dev = ["Sphinx (==7.2.5)", "colorama (==0.4.5)", "colorama (==0.4.6)", "exceptiongroup (==1.1.3)", "freezegun (==1.1.0)", "freezegun (==1.2.2)", "mypy (==v0.910)", "mypy (==v0.971)", "mypy (==v1.4.1)", "mypy (==v1.5.1)", "pre-commit (==3.4.0)", "pytest (==6.1.2)", "pytest (==7.4.0)", "pytest-cov (==2.12.1)", "pytest-cov (==4.1.0)", "pytest-mypy-plugins (==1.9.3)", "pytest-mypy-plugins (==3.0.0)", "sphinx-autobuild (==2021.3.14)", "sphinx-rtd-theme (==1.3.0)", "tox (==3.27.1)", "tox (==4.11.0)"]
+
 [[package]]
 name = "markdown2"
 version = "2.5.1"
@@ -1919,6 +1937,20 @@ files = [
     {file = "websockets-13.1.tar.gz", hash = "sha256:a3b3366087c1bc0a2795111edcadddb8b3b59509d5db5d7ea3fdd69f954a8878"},
 ]
 
+[[package]]
+name = "win32-setctime"
+version = "1.1.0"
+description = "A small Python utility to set file creation time on Windows"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "win32_setctime-1.1.0-py3-none-any.whl", hash = "sha256:231db239e959c2fe7eb1d7dc129f11172354f98361c4fa2d6d2d7e278baa8aad"},
+    {file = "win32_setctime-1.1.0.tar.gz", hash = "sha256:15cf5750465118d6929ae4de4eb46e8edae9a5634350c01ba582df868e932cb2"},
+]
+
+[package.extras]
+dev = ["black (>=19.3b0)", "pytest (>=4.6.2)"]
+
 [[package]]
 name = "wsproto"
 version = "1.2.0"
@@ -2032,4 +2064,4 @@ propcache = ">=0.2.0"
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.11"
-content-hash = "cd634ccba7b1059ce9cf2e92503f3ccce24693405aa53f78509482f944c55d5b"
+content-hash = "941bf4750c3b8a3045cfd01bb1ab4af7c1e8fd2d5fa54cd85d8ac3a0c8837238"

guiTools/pyproject.toml

@@ -1,16 +1,17 @@
 [tool.poetry]
-name = "spiri-sdk-guitools"
+name = "spiri_sdk_guitools"
 version = "0.1.0"
 description = ""
-authors = ["Alex Davies <traverse.da@gmail.com>"]
+authors = ["Spiri Robotics"]
 readme = "README.md"
 
 [tool.poetry.dependencies]
 python = "^3.11"
 nicegui = "^2.5.0"
 pywebview = "^5.3.2"
-
+loguru = "^0.7.2"
 
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+

guiTools/spiri_sdk_guitools/launcher.py

@@ -1,5 +1,6 @@
-from nicegui import ui
+from nicegui import ui, binding, app
 import subprocess
+from collections import defaultdict
 
 # Dictionary of applications: key is the button text, value is the command to execute
 applications = {
@@ -21,19 +22,38 @@ def launch_app(command):
 # 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
 
-with ui.tabs().classes('w-full') as tabs:
+@ui.page('/')
-    tab_tools = ui.tab('Tools')
+def main():
-    tab_robots = ui.tab('Robots')
+
-    # two = ui.tab('Two')
+    with ui.tabs().classes('w-full') as tabs:
-with ui.tab_panels(tabs, value=tab_tools).classes():
+        tab_tools = ui.tab('Tools')
-    with ui.tab_panel(tab_tools):
+        tab_robots = ui.tab('Robots')
-        # Create and place buttons dynamically based on the dictionary
+        # two = ui.tab('Two')
-        with ui.grid(columns=3):
+    with ui.tab_panels(tabs, value=tab_tools).classes():
-            for app_name, command in applications.items():
+        with ui.tab_panel(tab_tools):
-                ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;')
+            # Create and place buttons dynamically based on the dictionary
-    with ui.tab_panel(tab_robots):
+            with ui.grid(columns=3):
-        with ui.card().tight():
+                for app_name, command in applications.items():
-            ui.label(f"Robots SysID")
+                    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):
+            with ui.grid(columns=3):
+                for robot in robots:
+                    with ui.row():
+                        ui.label(f"Robot {robot.sys_id}")
+                        ui.button(f"Start Robot {robot.sys_id}", on_click=lambda: robot.start()).style('width: 150px; height: 50px; margin: 5px;')
+            #Add a new robot
+            with ui.element():
+                ui.label("Add new robot")
+                newRobotParams = defaultdict(binding.BindableProperty)
+                ui.number(value=0, label="SysID").bind_value(newRobotParams, 'sysid')
+                ui.input(value="./sdk/docker-compose.yml", label="Compose files (comma seperated)").bind_value(newRobotParams, 'compose_files')
+                def new_robot():
+                    robot = Robot(**newRobotParams)
+                    robots.append(robot)
+                    ui.label(str(robots))
+                ui.button("Add", on_click=new_robot)
 # Start the NiceGUI application
 ui.run(title="Spiri SDK Launcher", port=8923, dark=None)

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -0,0 +1,70 @@
+from loguru import logger
+from pathlib import Path
+import contextlib
+from typing import List
+
+@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]
+
+
+class Robot:
+    def __init__(self, sysid: int, compose_files: List[Path]):
+        if sysid > 255 or sysid < 0:
+            raise ValueError("sysid must be between 0 and 255")
+        self.processes = []
+
+    def start(self):
+        """Starts the simulated drone with a given sys_id,
+        each drone must have it's own unique ID.
+        """
+        instance = self.sysid-1
+        with logger.contextualize(syd_id=sys_id):
+            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),
+                SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
+                INSTANCE=str(instance),
+                DRONE_SYS_ID=str(self.sys_id),
+            ):
+                logger.info("Starting drone stack, this may take some time")
+                docker_stack = sh.docker.compose(
+                    "--profile",
+                    "uav-sim",
+                    "-p",
+                    f"spiri-sdk-{sys_id}",
+                    "up",
+                    _out=outputLogger("docker_stack", sys_id),
+                    _err=sys.stderr,
+                    _bg=True,
+                )
+                self.processes.append(docker_stack)