guiTools/spiri_sdk_guitools/launcher.py

@@ -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')

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -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):

robots/spiri-mu/virtual_camera/Dockerfile

@@ -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
 

robots/spiri-mu/virtual_camera/docker-compose.yaml

@@ -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