guiTools/poetry.lock

@@ -1,5 +1,19 @@
 # This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
 
+[[package]]
+name = "aioconsole"
+version = "0.8.1"
+description = "Asynchronous console and interfaces for asyncio"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "aioconsole-0.8.1-py3-none-any.whl", hash = "sha256:e1023685cde35dde909fbf00631ffb2ed1c67fe0b7058ebb0892afbde5f213e5"},
+    {file = "aioconsole-0.8.1.tar.gz", hash = "sha256:0535ce743ba468fb21a1ba43c9563032c779534d4ecd923a46dbd350ad91d234"},
+]
+
+[package.extras]
+dev = ["pytest", "pytest-asyncio", "pytest-cov", "pytest-repeat", "uvloop"]
+
 [[package]]
 name = "aiodocker"
 version = "0.23.0"
@@ -152,6 +166,30 @@ yarl = ">=1.12.0,<2.0"
 [package.extras]
 speedups = ["Brotli", "aiodns (>=3.2.0)", "brotlicffi"]
 
+[[package]]
+name = "aiomonitor"
+version = "0.7.1"
+description = "Adds monitor and Python REPL capabilities for asyncio applications"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "aiomonitor-0.7.1-py3-none-any.whl", hash = "sha256:10f50418ef8e60cd4b57efb3d2b984f62e01b3a7272772c6916e54f26877fd09"},
+    {file = "aiomonitor-0.7.1.tar.gz", hash = "sha256:beb1f14429bc4a3135bbac32381d242fe2019d74fcf9c86d3f4bd7405dc562e4"},
+]
+
+[package.dependencies]
+aioconsole = ">=0.7.0"
+aiohttp = ">=3.8.5"
+attrs = ">=20"
+click = ">=8.0"
+janus = ">=1.0"
+jinja2 = ">=3.1.2"
+prompt-toolkit = ">=3.0"
+telnetlib3 = ">=2.0.4"
+terminaltables = "*"
+trafaret = ">=2.1.1"
+typing-extensions = ">=4.1"
+
 [[package]]
 name = "aiosignal"
 version = "1.3.1"
@@ -690,6 +728,17 @@ files = [
     {file = "itsdangerous-2.2.0.tar.gz", hash = "sha256:e0050c0b7da1eea53ffaf149c0cfbb5c6e2e2b69c4bef22c81fa6eb73e5f6173"},
 ]
 
+[[package]]
+name = "janus"
+version = "1.1.0"
+description = "Mixed sync-async queue to interoperate between asyncio tasks and classic threads"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "janus-1.1.0-py3-none-any.whl", hash = "sha256:9a3daf0f1a16abda1a7c976e28dc1f6caf3b8d1de9b8c93b2ea84de424de7705"},
+    {file = "janus-1.1.0.tar.gz", hash = "sha256:0634df8b2b31f8afda4311abcf7fea912686fef717d13769eeaa01ae08d2b84c"},
+]
+
 [[package]]
 name = "jinja2"
 version = "3.1.4"
@@ -1095,6 +1144,20 @@ files = [
     {file = "packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002"},
 ]
 
+[[package]]
+name = "prompt-toolkit"
+version = "3.0.48"
+description = "Library for building powerful interactive command lines in Python"
+optional = false
+python-versions = ">=3.7.0"
+files = [
+    {file = "prompt_toolkit-3.0.48-py3-none-any.whl", hash = "sha256:f49a827f90062e411f1ce1f854f2aedb3c23353244f8108b89283587397ac10e"},
+    {file = "prompt_toolkit-3.0.48.tar.gz", hash = "sha256:d6623ab0477a80df74e646bdbc93621143f5caf104206aa29294d53de1a03d90"},
+]
+
+[package.dependencies]
+wcwidth = "*"
+
 [[package]]
 name = "propcache"
 version = "0.2.0"
@@ -1772,6 +1835,43 @@ anyio = ">=3.4.0,<5"
 [package.extras]
 full = ["httpx (>=0.22.0)", "itsdangerous", "jinja2", "python-multipart (>=0.0.7)", "pyyaml"]
 
+[[package]]
+name = "telnetlib3"
+version = "2.0.4"
+description = "Python 3 asyncio Telnet server and client Protocol library"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "telnetlib3-2.0.4-py2.py3-none-any.whl", hash = "sha256:b3c0f984a7fb1b6ee16e6fdaa410c56389b0dc492174a99c6661b1ba4c9d457d"},
+    {file = "telnetlib3-2.0.4.tar.gz", hash = "sha256:dbcbc16456a0e03a62431be7cfefff00515ab2f4ce2afbaf0d3a0e51a98c948d"},
+]
+
+[[package]]
+name = "terminaltables"
+version = "3.1.10"
+description = "Generate simple tables in terminals from a nested list of strings."
+optional = false
+python-versions = ">=2.6"
+files = [
+    {file = "terminaltables-3.1.10-py2.py3-none-any.whl", hash = "sha256:e4fdc4179c9e4aab5f674d80f09d76fa436b96fdc698a8505e0a36bf0804a874"},
+    {file = "terminaltables-3.1.10.tar.gz", hash = "sha256:ba6eca5cb5ba02bba4c9f4f985af80c54ec3dccf94cfcd190154386255e47543"},
+]
+
+[[package]]
+name = "trafaret"
+version = "2.1.1"
+description = "Validation and parsing library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "trafaret-2.1.1-py3-none-any.whl", hash = "sha256:1966f432586797aed663edd54cbc201fd7ba59eed1638f1a7a33f17977b3a569"},
+    {file = "trafaret-2.1.1.tar.gz", hash = "sha256:d9d00800318fbd343fdfb3353e947b2ebb5557159c844696c5ac24846f76d41c"},
+]
+
+[package.extras]
+objectid = ["pymongo (>=2.4.1)"]
+rfc3339 = ["python-dateutil (>=1.5)"]
+
 [[package]]
 name = "typing-extensions"
 version = "4.12.2"
@@ -1985,6 +2085,17 @@ files = [
 [package.dependencies]
 anyio = ">=3.0.0"
 
+[[package]]
+name = "wcwidth"
+version = "0.2.13"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = "*"
+files = [
+    {file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"},
+    {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
+]
+
 [[package]]
 name = "websockets"
 version = "13.1"
@@ -2207,4 +2318,4 @@ propcache = ">=0.2.0"
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.11"
-content-hash = "7607ff77762b700b8f487fd9b5ef6c07e875eccd429feace40047276d2f84280"
+content-hash = "bf8122985963391df3c60a13513784f7533309ec22095a82cac34034b6dae399"

guiTools/pyproject.toml

@@ -14,6 +14,7 @@ sh = "^2.1.0"
 docker = "^7.1.0"
 aiodocker = "^0.23.0"
 numpy = "^2.1.3"
+aiomonitor = "^0.7.1"
 
 [build-system]
 requires = ["poetry-core"]

guiTools/spiri_sdk_guitools/launcher.py

@@ -3,6 +3,7 @@ import subprocess
 from collections import defaultdict
 import docker
 import time
+from loguru import logger
 
 docker_client = docker.from_env()
 
@@ -28,7 +29,6 @@ ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').cl
 
 robots = []
 from spiri_sdk_guitools.sim_drone import robot_types
-import aiodocker
 import asyncio
 
 @ui.page('/')
@@ -68,5 +68,16 @@ async def main():
                     ui.label(f"Add new {name}").classes("text-3xl")
                     await robot.launch_widget(robots_widget)
 
+import aiomonitor
+async def amonitor():
+    #
+    logger.info("Starting aiomonitor")
+    loop = asyncio.get_running_loop()
+    run_forever = loop.create_future()
+    with aiomonitor.start_monitor(loop):
+        await run_forever
+
+app.on_startup(amonitor)
+
 # Start the NiceGUI application
 ui.run(title="Spiri SDK Launcher", port=8923, dark=None)

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -119,7 +119,19 @@ class Spirimu(Robot):
                   ).bind_value(newRobotParams, 'sysid')
         default_robot_compose = ""
         for compose_file in Path("/robots").glob("**/docker-compose.yaml"):
-            default_robot_compose += f"{compose_file} --build \n"
+            specialArgs = ""
+            try:
+                data = yaml.safe_load(compose_file.read_text())
+            except yaml.YAMLError:
+                default_robot_compose += f"#{compose_file} not valid \n"
+                continue
+            specialArgs = data.get("x-spiri-sdk-default-args", "")
+            docstring = data.get("x-spiri-sdk-doc", "")
+            if docstring:
+                for line in docstring.split("\n"):
+                    if line:
+                        default_robot_compose += f"# {line}\n"
+            default_robot_compose += f"{compose_file} {specialArgs}\n"
 
         ui.label("Compose files").classes("text-xl")
         ui.codemirror(value=default_robot_compose, language="bash", theme="basicDark").bind_value(newRobotParams, 'compose_files')
@@ -190,17 +202,28 @@ class Spirimu(Robot):
         with element:
             node_dummy = Node("_ros2cli_dummy_to_show_topic_list")
             scroll_area = ui.scroll_area()
+            def refresh_topics():
                 with scroll_area:
-                while True:
                     scroll_area.clear()
                     #Filter for topics that start with self.robot_name
                     for topic in node_dummy.get_topic_names_and_types():
                         if self.robot_name in topic[0]:
                             ui.label(topic[0])
-                    await asyncio.sleep(10)
+            ui.button("Refresh topics", on_click=refresh_topics).classes("m-2")
 
     async def ui_actions(self, element):
         pass
+        with element:
+            node_dummy = Node("_ros2cli_dummy_to_show_service_list")
+            scroll_area = ui.scroll_area()
+            def refresh_topics():
+                with scroll_area:
+                    scroll_area.clear()
+                    #Filter for topics that start with self.robot_name
+                    for topic in node_dummy.get_action_names_and_types():
+                        if self.robot_name in topic[0]:
+                            ui.label(topic[0])
+            ui.button("Refresh topics", on_click=refresh_topics).classes("m-2")
 
     async def ui(self, element):
         adocker = aiodocker.Docker()
@@ -342,15 +365,13 @@ class Spirimu(Robot):
             cwd=f"/ardupilot_gazebo/models/{DRONE_MODEL}",
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
-            timeout=1,
         )
         ros2_gz_create_proc = subprocess.Popen(
             ROS2_CMD.split(),
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
-            timeout=1,
         )
-        out, err = ros2_gz_create_proc.communicate(timeout=15)
+        out, err = ros2_gz_create_proc.communicate(timeout=3)
         ros2_gz_create_proc.kill()
         return
 
@@ -381,5 +402,5 @@ class Spirimu(Robot):
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
         )
-        out, err = remove_entity_proc.communicate(timeout=15)
+        out, err = remove_entity_proc.communicate(timeout=3)
         remove_entity_proc.kill()

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

@@ -1,3 +1,6 @@
+x-spiri-sdk-doc: |
+  Runs the core services for a simulated Spiri Mu
+
 services:
   ardupilot:
     env_file:

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

@@ -1,4 +1,8 @@
 
+x-spiri-sdk-doc: |
+  Start a virtual camera that can be included in ros
+x-spiri-sdk-default-args: --build
+
 services:
   front-gimbal:
     ipc: host