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spiri-sdk
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feature/multiple-compose #11

Merged
unsalted_salt merged 7 commits from feature/multiple-compose into master 2024-11-18 14:27:31 -04:00
Conversation 1 Commits 7 Files Changed 4 +60 -37
4 changed files with 60 additions and 37 deletions
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2
guiTools/spiri_sdk_guitools/launcher.py
View File

@ -70,7 +70,7 @@ async def main():
).bind_value(newRobotParams, 'sysid')
default_robot_compose = (
"/robots/spiri-mu/core/docker-compose.yaml\n"
"#/robots/spiri-mu/virtual_camera/docker-compose.yaml"
"#/robots/spiri-mu/virtual_camera/docker-compose.yaml --build"
)
ui.label("Compose files").classes("text-xl")
ui.codemirror(value=default_robot_compose, language="bash", theme="basicDark").bind_value(newRobotParams, 'compose_files')

85
guiTools/spiri_sdk_guitools/sim_drone.py
View File

@ -6,6 +6,7 @@ import os
import sh
import subprocess
from nicegui import ui, run, app
import yaml
import docker
import aiodocker
@ -96,38 +97,47 @@ class Robot:
container_status = {}
with element:
while True:
# Poll for data that changes
for container in self.containers():
try:
health = container.attrs["State"]["Health"]["Status"]
except KeyError:
health = "Unknown"
with logger.catch():
# Poll for data that changes
for container in self.containers():
try:
health = container.attrs["State"]["Health"]["Status"]
except KeyError:
health = "Unknown"
container_status[container] = (
f"{container.name} {container.status} {health}"
)
if container not in docker_elements:
docker_elements[container] = ui.element().classes("w-full")
with docker_elements[container]:
ui.label().bind_text(container_status, container).classes(
"text-lg"
)
#Show the command the container is running
# ui.label(container.attrs["Config"]["Cmd"])
cmd_widget = ui.codemirror(" ".join(container.attrs["Config"]["Cmd"]), language="bash",theme="basicDark").classes('h-auto max-h-32')
cmd_widget.enabled = False
logelement = (
ui.expansion("Logs")
.style("margin: 10px;")
.classes("w-full outline outline-1")
)
asyncio.create_task(container_logs(container, logelement))
# Check for containers that have been removed
removed = set(docker_elements.keys()) - set(self.containers())
for container in removed:
self.robot_ui.remove(docker_elements[container])
docker_elements.pop(container)
await asyncio.sleep(1)
container_status[container] = (
f"{container.name} {container.status} {health}"
)
if container not in docker_elements:
docker_elements[container] = ui.element().classes("w-full")
with docker_elements[container]:
ui.label().bind_text(container_status, container).classes(
"text-2xl"
)
#Show the command the container is running
# ui.label(container.attrs["Config"]["Cmd"])
cmd_widget = ui.codemirror(" ".join(container.attrs["Config"]["Cmd"]), language="bash",theme="basicDark").classes('h-auto max-h-32')
cmd_widget.enabled = False
with ui.expansion("Env Variables").classes("w-full outline outline-1").style("margin: 10px;"):
env_widget = ui.codemirror("\n".join(container.attrs["Config"]["Env"]), language="bash",theme="basicDark")
env_widget.enabled = False
logelement = (
ui.expansion("Logs")
.style("margin: 10px;")
.classes("w-full outline outline-1")
)
asyncio.create_task(container_logs(container, logelement))
with ui.expansion("Full details").classes("w-full outline outline-1").style("margin: 10px;"):
details_widget = ui.codemirror(yaml.dump(container.attrs), language="yaml",theme="basicDark")
details_widget.enabled = False
# Check for containers that have been removed
removed = set(docker_elements.keys()) - set(self.containers())
for container in removed:
self.robot_ui.remove(docker_elements[container])
docker_elements.pop(container)
await asyncio.sleep(1)
async def ui_ros(self, element):
with element:
@ -138,7 +148,7 @@ class Robot:
scroll_area.clear()
#Filter for topics that start with self.robot_name
for topic in node_dummy.get_topic_names_and_types():
if topic[0].startswith(f"/{self.robot_name}/") or topic[0].startswith(f"/world/{self.world_name}/model/{self.robot_name}/"):
if self.robot_name in topic[0]:
ui.label(topic[0])
await asyncio.sleep(10)
@ -221,6 +231,11 @@ class Robot:
self.spawn_gz_model()
logger.info("Starting drone stack, this may take some time")
for compose_file in self.compose_files:
arguments = compose_file.split(" ")
arguments = [arg.strip() for arg in arguments]
compose_file = arguments[0]
arguments = arguments[1:]
if not isinstance(compose_file, Path):
compose_file = Path(compose_file)
if not compose_file.exists():
@ -236,15 +251,17 @@ class Robot:
"-f",
compose_file.as_posix(),
"up",
*arguments,
]
command = " ".join(args)
logger.info(f"Starting drone stack with command: {command}")
docker_stack = subprocess.Popen(
args,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE,
# stdout=subprocess.PIPE,
# stderr=subprocess.PIPE,
)
logger.info(f"Started drone stack with PID: {docker_stack.pid}")
@logger.catch
def spawn_gz_model(self):

5
robots/spiri-mu/virtual_camera/Dockerfile
View File

@ -1,5 +1,8 @@
FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
RUN apt-get update
RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge ros-${ROS_DISTRO}-compressed-image-transport ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
ros-${ROS_DISTRO}-ros-gz-image \
ros-${ROS_DISTRO}-compressed-image-transport \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp

5
robots/spiri-mu/virtual_camera/docker-compose.yaml
View File

@ -4,7 +4,10 @@ services:
ipc: host
network_mode: host
# image: git.spirirobotics.com/spiri/services-ros2-mavros:main
#Build the iamge, give it a name, don't try to pull the image
build: ./
image: spirisdk-virtual_camera
pull_policy: never
environment:
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image
command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image