From f0fa9f4ae9cda9e179cce17100ccacb074f88915 Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Thu, 27 Feb 2025 15:32:15 -0400
Subject: [PATCH] Injected root CA to allow image caching.

---
 .gitignore                               |  1 +
 docker-compose.yml                       | 12 ++++----
 guiTools/spiri_sdk_guitools/sim_drone.py | 36 +++++++++++++++---------
 3 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/.gitignore b/.gitignore
index 1b0e716..22e8354 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@ docs/build/
 .vscode
 *.pyc
 survey/
+cache/
diff --git a/docker-compose.yml b/docker-compose.yml
index f1e3bb5..eab06a8 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,14 +1,14 @@
 services:
 
-  docker-registry-cache:
-    image: registry:2
-    restart: always
+  docker_registry_proxy:
+    image: rpardini/docker-registry-proxy:0.6.5-debug
     ports:
-      - "5000:5000"
+      - "3128:3128"
     environment:
-      REGISTRY_PROXY_REMOTEURL: "https://registry-1.docker.io"
+      - ENABLE_MANIFEST_CACHE=true
     volumes:
-      - ./cache/docker:/var/lib/registry
+      - ./cache/docker/data:/docker_mirror_cache
+      - ./cache/docker/ca:/ca
 
 
   gui-tools:
diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py
index eff84cb..8cd6821 100644
--- a/guiTools/spiri_sdk_guitools/sim_drone.py
+++ b/guiTools/spiri_sdk_guitools/sim_drone.py
@@ -79,6 +79,7 @@ stop_docker_daemon()
 
 atexit.register(stop_docker_daemon)
 
+
 @dataclass
 class Robot:
     compose_files: List[Path] | str = ""
@@ -98,17 +99,26 @@ class Robot:
     def setup_docker(self):
         """Start a Docker-in-Docker instance for the robot, using a registry cache."""
         client = docker.from_env()
+        cache_proxy = "http://sdk-host.internal:3128"
 
         self.docker_daemon = client.containers.run(
             "docker:dind",
             privileged=True,
             name=f"spiri-sdk-dind-{self.robot_name}",
             command=(
-                "dockerd --host=tcp://0.0.0.0:2375 "
-                "--registry-mirror=http://host.docker.internal:5000 "
-                "--log-driver=json-file --log-opt mode=non-blocking --log-opt max-size=10m "
+                "sh -c '"
+                f"wget -O /usr/local/share/ca-certificates/proxy.crt {cache_proxy}/ca.crt && "
+                "update-ca-certificates && "
+                "dockerd --host=tcp://0.0.0.0:2375 --tls=false "
+                "--https-proxy http://sdk-host.internal:3128 "
+                "'"
             ),
-            remove=True,
+            environment={
+                "DOCKER_BUILDKIT": "1",
+                # "DOCKER_TLS_CERTDIR": "",
+            },
+            extra_hosts={"sdk-host.internal": "host-gateway"},
+            # remove=True,
             detach=True,
         )
 
@@ -129,7 +139,7 @@ class Robot:
                 self._docker_client = docker.DockerClient(base_url=self.docker_host)
             except Exception as e:
                 logger.info(f"Waiting for docker daemon to start: {e}")
-                await asyncio.sleep(1)
+                await asyncio.sleep(0.1)
         return self._docker_client
 
     async def async_docker_client(self):
@@ -267,18 +277,18 @@ class Robot:
                 with ui.tabs() as tabs:
                     # tab_logs = ui.tab("Logs")
                     tab_containers = ui.tab("Containers")
-                    tabs_iframe = ui.tab("ui")
+                    # tabs_iframe = ui.tab("ui")
                 # with ui.tab_panels(tabs, value=tab_logs):
                 #     tab = ui.tab_panel(tab_logs).classes("w-full")
                 #     asyncio.create_task(self.logs(tab))
                 with ui.tab_panels(tabs, value=tab_containers):
-                    tab = ui.tab_panel(tab_containers).classes("w-full")
-                    asyncio.create_task(self.ui_containers(tab))
-                with ui.tab_panels(tabs, value=tabs_iframe):
-                    tab = ui.tab_panel(tabs_iframe).classes("w-full")
-                    with tab:
-                        ui.link(f"http://{self.robot_ip}",f"http://{self.robot_ip}").classes("m-2")
-                        ui.html(f"<iframe src='http://{self.robot_ip}' class='w-full h-screen'></iframe>").classes("w-full h-screen")
+                    containers = ui.tab_panel(tab_containers).classes("w-full")
+
+                    asyncio.create_task(self.ui_containers(containers))
+                    # 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")
+                    #     ui.html(f"<iframe src='http://{self.robot_ip}' class='w-full h-screen'></iframe>").classes("w-full h-screen")
 
     async def stop(self):
         # If video was enabled, and we stop. Button state is wrong.