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Added stub ros topics in preperation for future ros tooling

This commit is contained in:
Alex Davies 2024-11-07 12:45:08 -04:00
parent 1a409a063a
commit f4f5b0890e
3 changed files with 96 additions and 2 deletions
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guiTools/poetry.lock generated
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@ -953,6 +953,70 @@ native = ["pywebview (>=5.0.1,<6.0.0)"]
plotly = ["plotly (>=5.13.0,<6.0.0)"]
sass = ["libsass (>=0.23.0,<0.24.0)"]
[[package]]
name = "numpy"
version = "2.1.3"
description = "Fundamental package for array computing in Python"
optional = false
python-versions = ">=3.10"
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[[package]]
name = "orjson"
version = "3.10.11"
@ -2143,4 +2207,4 @@ propcache = ">=0.2.0"
[metadata]
lock-version = "2.0"
python-versions = "^3.11"
content-hash = "e6d65a92946717f8c239c1920193c45a350d163ec22316a8218828b4580c072f"
content-hash = "7607ff77762b700b8f487fd9b5ef6c07e875eccd429feace40047276d2f84280"

1
guiTools/pyproject.toml
View File

@ -13,6 +13,7 @@ loguru = "^0.7.2"
sh = "^2.1.0"
docker = "^7.1.0"
aiodocker = "^0.23.0"
numpy = "^2.1.3"
[build-system]
requires = ["poetry-core"]

31
guiTools/spiri_sdk_guitools/sim_drone.py
View File

@ -5,13 +5,27 @@ from typing import List
import os
import sh
import subprocess
from nicegui import ui, run
from nicegui import ui, run, app
import docker
import aiodocker
import asyncio
docker_client = docker.from_env()
from rclpy.executors import ExternalShutdownException
from rclpy.node import Node
import rclpy
import threading
def ros_main() -> None:
rclpy.init()
try:
rclpy.spin()
except ExternalShutdownException:
pass
app.on_startup(lambda: threading.Thread(target=ros_main).start())
@contextlib.contextmanager
def modified_environ(*remove, **update):
"""
@ -92,6 +106,17 @@ class Robot:
docker_elements.pop(container)
await asyncio.sleep(1)
async def ui_ros(self, element):
with element:
node_dummy = Node("_ros2cli_dummy_to_show_topic_list")
scroll_area = ui.scroll_area()
with scroll_area:
while True:
scroll_area.clear()
for topic in node_dummy.get_topic_names_and_types():
ui.label(topic)
await asyncio.sleep(10)
async def ui(self, element):
adocker = aiodocker.Docker()
@ -109,9 +134,13 @@ class Robot:
ui.button("Delete", on_click=delete_robot).classes("m-2")
with ui.tabs() as tabs:
tab_containers = ui.tab('Containers')
tab_ros = ui.tab('ROS Topics')
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=tab_ros):
tab = ui.tab_panel(tab_ros).classes("w-full")
asyncio.create_task(self.ui_ros(tab))
async def async_stop(self):
return await run.io_bound(self.stop)