Work on moving sim-drone to our user interface
This commit is contained in:
parent
15110bd830
commit
ec7a53201f
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@ -26,7 +26,10 @@ services:
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# Allow access to the host's GPU
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- /dev/dri:/dev/dri
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#Auto reload on code changes
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- ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools
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- ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
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# Enable launching the SDK from the SDK
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- ./:/app/sdk
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- /var/run/docker.sock:/var/run/docker.sock
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devices:
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# Provide access to GPU devices
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- /dev/dri:/dev/dri
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@ -4,15 +4,14 @@ RUN apt-get update
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RUN apt-get -y install qterminal mesa-utils \
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libgstreamer1.0-dev \
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libgstreamer-plugins-base1.0-dev \
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python3.12-venv \
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python3-pip \
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gstreamer1.0-libav \
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gstreamer1.0-gl \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-ugly
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#Install poetry
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RUN curl -sSL https://install.python-poetry.org | python3 -
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ENV PATH="/root/.local/bin:$PATH"
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COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins
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COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models
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@ -26,14 +25,21 @@ RUN chmod +x /spawn_drones.sh
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WORKDIR /app
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COPY ./pyproject.toml /app/pyproject.toml
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COPY ./poetry.lock /app/poetry.lock
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RUN python3 -m venv /opt/venv
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ENV PATH="/opt/venv/bin:$PATH"
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RUN pip3 install poetry
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COPY ./pyproject.toml ./poetry.lock ./README.md ./
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COPY ./spiri_sdk_guitools ./spiri_sdk_guitools
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RUN poetry env use python3
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RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi
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RUN poetry install --no-root
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COPY ./spiri_sdk_guitools /app/spiri_sdk_guitools
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CMD poetry run python3 spiri_sdk_guitools/launcher.py
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@ -666,6 +666,24 @@ MarkupSafe = ">=2.0"
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[package.extras]
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i18n = ["Babel (>=2.7)"]
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[[package]]
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name = "loguru"
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version = "0.7.2"
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description = "Python logging made (stupidly) simple"
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optional = false
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python-versions = ">=3.5"
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files = [
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{file = "loguru-0.7.2-py3-none-any.whl", hash = "sha256:003d71e3d3ed35f0f8984898359d65b79e5b21943f78af86aa5491210429b8eb"},
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{file = "loguru-0.7.2.tar.gz", hash = "sha256:e671a53522515f34fd406340ee968cb9ecafbc4b36c679da03c18fd8d0bd51ac"},
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]
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[package.dependencies]
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colorama = {version = ">=0.3.4", markers = "sys_platform == \"win32\""}
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win32-setctime = {version = ">=1.0.0", markers = "sys_platform == \"win32\""}
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[package.extras]
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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)"]
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[[package]]
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name = "markdown2"
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version = "2.5.1"
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@ -1919,6 +1937,20 @@ files = [
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{file = "websockets-13.1.tar.gz", hash = "sha256:a3b3366087c1bc0a2795111edcadddb8b3b59509d5db5d7ea3fdd69f954a8878"},
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]
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[[package]]
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name = "win32-setctime"
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version = "1.1.0"
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description = "A small Python utility to set file creation time on Windows"
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optional = false
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python-versions = ">=3.5"
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files = [
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{file = "win32_setctime-1.1.0-py3-none-any.whl", hash = "sha256:231db239e959c2fe7eb1d7dc129f11172354f98361c4fa2d6d2d7e278baa8aad"},
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{file = "win32_setctime-1.1.0.tar.gz", hash = "sha256:15cf5750465118d6929ae4de4eb46e8edae9a5634350c01ba582df868e932cb2"},
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]
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[package.extras]
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dev = ["black (>=19.3b0)", "pytest (>=4.6.2)"]
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[[package]]
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name = "wsproto"
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version = "1.2.0"
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@ -2032,4 +2064,4 @@ propcache = ">=0.2.0"
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[metadata]
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lock-version = "2.0"
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python-versions = "^3.11"
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content-hash = "cd634ccba7b1059ce9cf2e92503f3ccce24693405aa53f78509482f944c55d5b"
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content-hash = "941bf4750c3b8a3045cfd01bb1ab4af7c1e8fd2d5fa54cd85d8ac3a0c8837238"
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@ -1,16 +1,17 @@
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[tool.poetry]
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name = "spiri-sdk-guitools"
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name = "spiri_sdk_guitools"
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version = "0.1.0"
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description = ""
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authors = ["Alex Davies <traverse.da@gmail.com>"]
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authors = ["Spiri Robotics"]
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readme = "README.md"
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[tool.poetry.dependencies]
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python = "^3.11"
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nicegui = "^2.5.0"
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pywebview = "^5.3.2"
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loguru = "^0.7.2"
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[build-system]
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requires = ["poetry-core"]
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build-backend = "poetry.core.masonry.api"
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@ -1,5 +1,6 @@
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from nicegui import ui
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from nicegui import ui, binding, app
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import subprocess
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from collections import defaultdict
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# Dictionary of applications: key is the button text, value is the command to execute
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applications = {
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@ -21,19 +22,38 @@ def launch_app(command):
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# Create the NiceGUI interface
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ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').classes('w-full text-center')
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robots = []
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from spiri_sdk_guitools.sim_drone import Robot
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with ui.tabs().classes('w-full') as tabs:
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@ui.page('/')
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def main():
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with ui.tabs().classes('w-full') as tabs:
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tab_tools = ui.tab('Tools')
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tab_robots = ui.tab('Robots')
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# two = ui.tab('Two')
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with ui.tab_panels(tabs, value=tab_tools).classes():
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with ui.tab_panels(tabs, value=tab_tools).classes():
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with ui.tab_panel(tab_tools):
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# Create and place buttons dynamically based on the dictionary
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with ui.grid(columns=3):
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for app_name, command in applications.items():
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ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;')
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with ui.tab_panel(tab_robots):
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with ui.card().tight():
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ui.label(f"Robots SysID")
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with ui.grid(columns=3):
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for robot in robots:
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with ui.row():
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ui.label(f"Robot {robot.sys_id}")
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ui.button(f"Start Robot {robot.sys_id}", on_click=lambda: robot.start()).style('width: 150px; height: 50px; margin: 5px;')
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#Add a new robot
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with ui.element():
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ui.label("Add new robot")
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newRobotParams = defaultdict(binding.BindableProperty)
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ui.number(value=0, label="SysID").bind_value(newRobotParams, 'sysid')
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ui.input(value="./sdk/docker-compose.yml", label="Compose files (comma seperated)").bind_value(newRobotParams, 'compose_files')
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def new_robot():
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robot = Robot(**newRobotParams)
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robots.append(robot)
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ui.label(str(robots))
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ui.button("Add", on_click=new_robot)
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# Start the NiceGUI application
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ui.run(title="Spiri SDK Launcher", port=8923, dark=None)
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@ -0,0 +1,70 @@
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from loguru import logger
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from pathlib import Path
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import contextlib
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from typing import List
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@contextlib.contextmanager
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def modified_environ(*remove, **update):
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"""
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Temporarily updates the ``os.environ`` dictionary in-place.
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The ``os.environ`` dictionary is updated in-place so that the modification
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is sure to work in all situations.
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:param remove: Environment variables to remove.
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:param update: Dictionary of environment variables and values to add/update.
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"""
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env = os.environ
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update = update or {}
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remove = remove or []
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# List of environment variables being updated or removed.
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stomped = (set(update.keys()) | set(remove)) & set(env.keys())
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# Environment variables and values to restore on exit.
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update_after = {k: env[k] for k in stomped}
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# Environment variables and values to remove on exit.
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remove_after = frozenset(k for k in update if k not in env)
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try:
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env.update(update)
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[env.pop(k, None) for k in remove]
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yield
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finally:
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env.update(update_after)
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[env.pop(k) for k in remove_after]
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class Robot:
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def __init__(self, sysid: int, compose_files: List[Path]):
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if sysid > 255 or sysid < 0:
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raise ValueError("sysid must be between 0 and 255")
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self.processes = []
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def start(self):
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"""Starts the simulated drone with a given sys_id,
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each drone must have it's own unique ID.
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"""
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instance = self.sysid-1
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with logger.contextualize(syd_id=sys_id):
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env = os.environ
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with modified_environ(
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SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance),
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MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * instance),
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MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * instance),
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FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance),
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SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
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INSTANCE=str(instance),
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DRONE_SYS_ID=str(self.sys_id),
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):
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logger.info("Starting drone stack, this may take some time")
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docker_stack = sh.docker.compose(
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"--profile",
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"uav-sim",
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"-p",
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f"spiri-sdk-{sys_id}",
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"up",
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_out=outputLogger("docker_stack", sys_id),
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_err=sys.stderr,
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_bg=True,
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)
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self.processes.append(docker_stack)
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