From f30740fe2d94c0be4e105f5e1ec81245c2ee0b53 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Tue, 5 Nov 2024 10:29:34 -0400 Subject: [PATCH 01/12] Move GUI toolkit from tkinter to nicegui for easier prototyping --- docker-compose.yml | 2 + guiTools/Dockerfile | 16 +- guiTools/README.md | 0 guiTools/poetry.lock | 2035 +++++++++++++++++ guiTools/pyproject.toml | 16 + guiTools/{ => spiri_sdk_guitools}/launcher.py | 29 +- 6 files changed, 2074 insertions(+), 24 deletions(-) create mode 100644 guiTools/README.md create mode 100644 guiTools/poetry.lock create mode 100644 guiTools/pyproject.toml rename guiTools/{ => spiri_sdk_guitools}/launcher.py (53%) diff --git a/docker-compose.yml b/docker-compose.yml index 5e94ec7..a2e0fdf 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -29,6 +29,8 @@ services: # Provide access to GPU devices - /dev/dri:/dev/dri network_mode: host + ports: + - 8923:8923 ipc: host #user: "${UID}:${GID}" privileged: true # Allow privileged access if necessary (e.g., for GPU access) diff --git a/guiTools/Dockerfile b/guiTools/Dockerfile index a063418..90ecd04 100644 --- a/guiTools/Dockerfile +++ b/guiTools/Dockerfile @@ -10,6 +10,10 @@ RUN apt-get -y install qterminal mesa-utils \ gstreamer1.0-plugins-bad \ gstreamer1.0-plugins-ugly +#Install poetry +RUN curl -sSL https://install.python-poetry.org | python3 - +ENV PATH="/root/.local/bin:$PATH" + COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /worlds /ardupilot_gazebo/worlds @@ -20,8 +24,16 @@ ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds COPY ./spawn_drones.sh /spawn_drones.sh RUN chmod +x /spawn_drones.sh -COPY ./launcher.py /launcher.py -CMD python3 /launcher.py +WORKDIR /app + +COPY ./pyproject.toml /app/pyproject.toml +COPY ./poetry.lock /app/poetry.lock + 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+build-backend = "poetry.core.masonry.api" diff --git a/guiTools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py similarity index 53% rename from guiTools/launcher.py rename to guiTools/spiri_sdk_guitools/launcher.py index 01fea0f..d630aad 100644 --- a/guiTools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -1,4 +1,4 @@ -import tkinter as tk +from nicegui import ui import subprocess # Dictionary of applications: key is the button text, value is the command to execute @@ -11,34 +11,19 @@ applications = { # Add more applications here if needed } - # Function to launch an application def launch_app(command): try: subprocess.Popen(command) except FileNotFoundError: - print( - f"{command[0]} not found. Make sure it's installed and accessible in the PATH." - ) + print(f"{command[0]} not found. Make sure it's installed and accessible in the PATH.") - -# Create the main application window -root = tk.Tk() -root.title("Spiri SDK Launcher") - -label = tk.Label(root, text="Spiri Robotics SDK", font=("Arial", 14)) -label.pack(pady=10) +# Create the NiceGUI interface +ui.label("Spiri Robotics SDK").style('font-size: 20px; margin-bottom: 10px;') # Create and place buttons dynamically based on the dictionary for app_name, command in applications.items(): - button = tk.Button( - root, - text=app_name, - command=lambda cmd=command: launch_app(cmd), - width=20, - height=2, - ) - button.pack() + ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') -# Run the Tkinter main loop -root.mainloop() +# Start the NiceGUI application +ui.run(title="Spiri SDK Launcher", port=8923, dark=None) -- 2.40.1 From 15110bd830660dddfb3b6c3d67c2c676839d2094 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Tue, 5 Nov 2024 11:22:15 -0400 Subject: [PATCH 02/12] Add tabs --- docker-compose.yml | 2 ++ guiTools/spiri_sdk_guitools/launcher.py | 28 +++++++++++++++++-------- 2 files changed, 21 insertions(+), 9 deletions(-) diff --git a/docker-compose.yml b/docker-compose.yml index a2e0fdf..37f6d3d 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -25,6 +25,8 @@ services: #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0 # Allow access to the host's GPU - /dev/dri:/dev/dri + #Auto reload on code changes + - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools devices: # Provide access to GPU devices - /dev/dri:/dev/dri diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index d630aad..d2200e9 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -3,11 +3,11 @@ import subprocess # Dictionary of applications: key is the button text, value is the command to execute applications = { - "Launch Terminal": ["qterminal"], - "Launch rqt": ["rqt"], - "Launch rviz2": ["rviz2"], - "Launch Gazebo": ["/spawn_drones.sh"], - "Launch Gazebo Standalone": "gz sim -v4".split(), + "Terminal": ["qterminal"], + "rqt": ["rqt"], + "rviz2": ["rviz2"], + "Gazebo": ["/spawn_drones.sh"], + "Gazebo Standalone": "gz sim -v4".split(), # Add more applications here if needed } @@ -19,11 +19,21 @@ def launch_app(command): print(f"{command[0]} not found. Make sure it's installed and accessible in the PATH.") # Create the NiceGUI interface -ui.label("Spiri Robotics SDK").style('font-size: 20px; margin-bottom: 10px;') +ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').classes('w-full text-center') -# Create and place buttons dynamically based on the dictionary -for app_name, command in applications.items(): - ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') +with ui.tabs().classes('w-full') as tabs: + tab_tools = ui.tab('Tools') + tab_robots = ui.tab('Robots') + # two = ui.tab('Two') +with ui.tab_panels(tabs, value=tab_tools).classes(): + with ui.tab_panel(tab_tools): + # Create and place buttons dynamically based on the dictionary + with ui.grid(columns=3): + for app_name, command in applications.items(): + ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') + with ui.tab_panel(tab_robots): + with ui.card().tight(): + ui.label(f"Robots SysID") # Start the NiceGUI application ui.run(title="Spiri SDK Launcher", port=8923, dark=None) -- 2.40.1 From ec7a53201f5436a716c0045f71f670ddb5cdfb93 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Tue, 5 Nov 2024 14:49:32 -0400 Subject: [PATCH 03/12] Work on moving sim-drone to our user interface --- docker-compose.yml | 5 +- guiTools/Dockerfile | 20 ++++--- guiTools/poetry.lock | 34 +++++++++++- guiTools/pyproject.toml | 7 ++- guiTools/spiri_sdk_guitools/__init__.py | 0 guiTools/spiri_sdk_guitools/launcher.py | 48 +++++++++++----- guiTools/spiri_sdk_guitools/sim_drone.py | 70 ++++++++++++++++++++++++ 7 files changed, 158 insertions(+), 26 deletions(-) create mode 100644 guiTools/spiri_sdk_guitools/__init__.py create mode 100644 guiTools/spiri_sdk_guitools/sim_drone.py diff --git a/docker-compose.yml b/docker-compose.yml index 37f6d3d..b070297 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -26,7 +26,10 @@ services: # Allow access to the host's GPU - /dev/dri:/dev/dri #Auto reload on code changes - - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools + - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/ + # Enable launching the SDK from the SDK + - ./:/app/sdk + - /var/run/docker.sock:/var/run/docker.sock devices: # Provide access to GPU devices - /dev/dri:/dev/dri diff --git a/guiTools/Dockerfile b/guiTools/Dockerfile index 90ecd04..580441a 100644 --- a/guiTools/Dockerfile +++ b/guiTools/Dockerfile @@ -4,15 +4,14 @@ RUN apt-get update RUN apt-get -y install qterminal mesa-utils \ libgstreamer1.0-dev \ libgstreamer-plugins-base1.0-dev \ + python3.12-venv \ + python3-pip \ gstreamer1.0-libav \ gstreamer1.0-gl \ gstreamer1.0-plugins-good \ gstreamer1.0-plugins-bad \ gstreamer1.0-plugins-ugly -#Install poetry -RUN curl -sSL https://install.python-poetry.org | python3 - -ENV PATH="/root/.local/bin:$PATH" COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models @@ -26,14 +25,21 @@ RUN chmod +x /spawn_drones.sh WORKDIR /app -COPY ./pyproject.toml /app/pyproject.toml -COPY ./poetry.lock /app/poetry.lock +RUN python3 -m venv /opt/venv +ENV PATH="/opt/venv/bin:$PATH" + +RUN pip3 install poetry + +COPY ./pyproject.toml ./poetry.lock ./README.md ./ +COPY ./spiri_sdk_guitools ./spiri_sdk_guitools + +RUN poetry env use python3 +RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi -RUN poetry install --no-root -COPY ./spiri_sdk_guitools /app/spiri_sdk_guitools CMD poetry run python3 spiri_sdk_guitools/launcher.py + diff --git a/guiTools/poetry.lock b/guiTools/poetry.lock index 5714b21..9f1f9e8 100644 --- a/guiTools/poetry.lock +++ b/guiTools/poetry.lock @@ -666,6 +666,24 @@ MarkupSafe = ">=2.0" [package.extras] i18n = ["Babel (>=2.7)"] +[[package]] +name = "loguru" +version = "0.7.2" +description = "Python logging made (stupidly) simple" +optional = false +python-versions = ">=3.5" +files = [ + {file = "loguru-0.7.2-py3-none-any.whl", hash = "sha256:003d71e3d3ed35f0f8984898359d65b79e5b21943f78af86aa5491210429b8eb"}, + {file = "loguru-0.7.2.tar.gz", hash = "sha256:e671a53522515f34fd406340ee968cb9ecafbc4b36c679da03c18fd8d0bd51ac"}, +] + +[package.dependencies] +colorama = {version = ">=0.3.4", markers = "sys_platform == \"win32\""} +win32-setctime = {version = ">=1.0.0", markers = "sys_platform == \"win32\""} + +[package.extras] +dev = ["Sphinx (==7.2.5)", "colorama (==0.4.5)", "colorama (==0.4.6)", "exceptiongroup (==1.1.3)", "freezegun (==1.1.0)", "freezegun (==1.2.2)", "mypy (==v0.910)", "mypy (==v0.971)", "mypy (==v1.4.1)", "mypy (==v1.5.1)", "pre-commit (==3.4.0)", "pytest (==6.1.2)", "pytest (==7.4.0)", "pytest-cov (==2.12.1)", "pytest-cov (==4.1.0)", "pytest-mypy-plugins (==1.9.3)", "pytest-mypy-plugins (==3.0.0)", "sphinx-autobuild (==2021.3.14)", "sphinx-rtd-theme (==1.3.0)", "tox (==3.27.1)", "tox (==4.11.0)"] + [[package]] name = "markdown2" version = "2.5.1" @@ -1919,6 +1937,20 @@ files = [ {file = "websockets-13.1.tar.gz", hash = "sha256:a3b3366087c1bc0a2795111edcadddb8b3b59509d5db5d7ea3fdd69f954a8878"}, ] +[[package]] +name = "win32-setctime" +version = "1.1.0" +description = "A small Python utility to set file creation time on Windows" +optional = false +python-versions = ">=3.5" +files = [ + {file = "win32_setctime-1.1.0-py3-none-any.whl", hash = "sha256:231db239e959c2fe7eb1d7dc129f11172354f98361c4fa2d6d2d7e278baa8aad"}, + {file = "win32_setctime-1.1.0.tar.gz", hash = "sha256:15cf5750465118d6929ae4de4eb46e8edae9a5634350c01ba582df868e932cb2"}, +] + +[package.extras] +dev = ["black (>=19.3b0)", "pytest (>=4.6.2)"] + [[package]] name = "wsproto" version = "1.2.0" @@ -2032,4 +2064,4 @@ propcache = ">=0.2.0" [metadata] lock-version = "2.0" python-versions = "^3.11" -content-hash = "cd634ccba7b1059ce9cf2e92503f3ccce24693405aa53f78509482f944c55d5b" +content-hash = "941bf4750c3b8a3045cfd01bb1ab4af7c1e8fd2d5fa54cd85d8ac3a0c8837238" diff --git a/guiTools/pyproject.toml b/guiTools/pyproject.toml index e606a8e..e16ab0a 100644 --- a/guiTools/pyproject.toml +++ b/guiTools/pyproject.toml @@ -1,16 +1,17 @@ [tool.poetry] -name = "spiri-sdk-guitools" +name = "spiri_sdk_guitools" version = "0.1.0" description = "" -authors = ["Alex Davies "] +authors = ["Spiri Robotics"] readme = "README.md" [tool.poetry.dependencies] python = "^3.11" nicegui = "^2.5.0" pywebview = "^5.3.2" - +loguru = "^0.7.2" [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" + diff --git a/guiTools/spiri_sdk_guitools/__init__.py b/guiTools/spiri_sdk_guitools/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index d2200e9..59502f4 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -1,5 +1,6 @@ -from nicegui import ui +from nicegui import ui, binding, app import subprocess +from collections import defaultdict # Dictionary of applications: key is the button text, value is the command to execute applications = { @@ -21,19 +22,38 @@ def launch_app(command): # Create the NiceGUI interface ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').classes('w-full text-center') +robots = [] +from spiri_sdk_guitools.sim_drone import Robot -with ui.tabs().classes('w-full') as tabs: - tab_tools = ui.tab('Tools') - tab_robots = ui.tab('Robots') - # two = ui.tab('Two') -with ui.tab_panels(tabs, value=tab_tools).classes(): - with ui.tab_panel(tab_tools): - # Create and place buttons dynamically based on the dictionary - with ui.grid(columns=3): - for app_name, command in applications.items(): - ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') - with ui.tab_panel(tab_robots): - with ui.card().tight(): - ui.label(f"Robots SysID") +@ui.page('/') +def main(): + + with ui.tabs().classes('w-full') as tabs: + tab_tools = ui.tab('Tools') + tab_robots = ui.tab('Robots') + # two = ui.tab('Two') + with ui.tab_panels(tabs, value=tab_tools).classes(): + with ui.tab_panel(tab_tools): + # Create and place buttons dynamically based on the dictionary + with ui.grid(columns=3): + for app_name, command in applications.items(): + ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') + with ui.tab_panel(tab_robots): + with ui.grid(columns=3): + for robot in robots: + with ui.row(): + ui.label(f"Robot {robot.sys_id}") + ui.button(f"Start Robot {robot.sys_id}", on_click=lambda: robot.start()).style('width: 150px; height: 50px; margin: 5px;') + #Add a new robot + with ui.element(): + ui.label("Add new robot") + newRobotParams = defaultdict(binding.BindableProperty) + ui.number(value=0, label="SysID").bind_value(newRobotParams, 'sysid') + ui.input(value="./sdk/docker-compose.yml", label="Compose files (comma seperated)").bind_value(newRobotParams, 'compose_files') + def new_robot(): + robot = Robot(**newRobotParams) + robots.append(robot) + ui.label(str(robots)) + ui.button("Add", on_click=new_robot) # Start the NiceGUI application ui.run(title="Spiri SDK Launcher", port=8923, dark=None) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py new file mode 100644 index 0000000..e2d615e --- /dev/null +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -0,0 +1,70 @@ +from loguru import logger +from pathlib import Path +import contextlib +from typing import List + +@contextlib.contextmanager +def modified_environ(*remove, **update): + """ + Temporarily updates the ``os.environ`` dictionary in-place. + + The ``os.environ`` dictionary is updated in-place so that the modification + is sure to work in all situations. + + :param remove: Environment variables to remove. + :param update: Dictionary of environment variables and values to add/update. + """ + env = os.environ + update = update or {} + remove = remove or [] + + # List of environment variables being updated or removed. + stomped = (set(update.keys()) | set(remove)) & set(env.keys()) + # Environment variables and values to restore on exit. + update_after = {k: env[k] for k in stomped} + # Environment variables and values to remove on exit. + remove_after = frozenset(k for k in update if k not in env) + + try: + env.update(update) + [env.pop(k, None) for k in remove] + yield + finally: + env.update(update_after) + [env.pop(k) for k in remove_after] + + +class Robot: + def __init__(self, sysid: int, compose_files: List[Path]): + if sysid > 255 or sysid < 0: + raise ValueError("sysid must be between 0 and 255") + self.processes = [] + + def start(self): + """Starts the simulated drone with a given sys_id, + each drone must have it's own unique ID. + """ + instance = self.sysid-1 + with logger.contextualize(syd_id=sys_id): + env = os.environ + with modified_environ( + SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance), + MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * instance), + MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * instance), + FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance), + SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance), + INSTANCE=str(instance), + DRONE_SYS_ID=str(self.sys_id), + ): + logger.info("Starting drone stack, this may take some time") + docker_stack = sh.docker.compose( + "--profile", + "uav-sim", + "-p", + f"spiri-sdk-{sys_id}", + "up", + _out=outputLogger("docker_stack", sys_id), + _err=sys.stderr, + _bg=True, + ) + self.processes.append(docker_stack) -- 2.40.1 From eb8077f8eb69c7b89742b58352dcfa5824272183 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Wed, 6 Nov 2024 12:58:14 -0400 Subject: [PATCH 04/12] Update UI --- guiTools/Dockerfile | 1 + guiTools/poetry.lock | 62 ++++++++++++++++++++- guiTools/pyproject.toml | 2 + guiTools/spiri_sdk_guitools/launcher.py | 63 ++++++++++++++++++--- guiTools/spiri_sdk_guitools/sim_drone.py | 70 +++++++++++++++++++----- sim_drone.py | 2 +- 6 files changed, 174 insertions(+), 26 deletions(-) diff --git a/guiTools/Dockerfile b/guiTools/Dockerfile index 580441a..a27c41a 100644 --- a/guiTools/Dockerfile +++ b/guiTools/Dockerfile @@ -4,6 +4,7 @@ RUN apt-get update RUN apt-get -y install qterminal mesa-utils \ libgstreamer1.0-dev \ libgstreamer-plugins-base1.0-dev \ + docker-compose \ python3.12-venv \ python3-pip \ gstreamer1.0-libav \ diff --git a/guiTools/poetry.lock b/guiTools/poetry.lock index 9f1f9e8..e6cd85c 100644 --- a/guiTools/poetry.lock +++ b/guiTools/poetry.lock @@ -369,6 +369,28 @@ files = [ {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"}, ] +[[package]] +name = "docker" +version = "7.1.0" +description = "A Python library for the Docker Engine API." +optional = false +python-versions = ">=3.8" +files = [ + {file = "docker-7.1.0-py3-none-any.whl", hash = "sha256:c96b93b7f0a746f9e77d325bcfb87422a3d8bd4f03136ae8a85b37f1898d5fc0"}, + {file = "docker-7.1.0.tar.gz", hash = "sha256:ad8c70e6e3f8926cb8a92619b832b4ea5299e2831c14284663184e200546fa6c"}, +] + +[package.dependencies] +pywin32 = {version = ">=304", markers = "sys_platform == \"win32\""} +requests = ">=2.26.0" +urllib3 = ">=1.26.0" + +[package.extras] +dev = ["coverage (==7.2.7)", "pytest (==7.4.2)", "pytest-cov (==4.1.0)", "pytest-timeout (==2.1.0)", "ruff (==0.1.8)"] +docs = ["myst-parser (==0.18.0)", "sphinx (==5.1.1)"] +ssh = ["paramiko (>=2.4.3)"] +websockets = ["websocket-client (>=1.3.0)"] + [[package]] name = "docutils" version = "0.21.2" @@ -1483,6 +1505,33 @@ pyside2 = ["PySide2", "QtPy"] pyside6 = ["PySide6", "QtPy"] qt = ["PyQt5", "QtPy", "pyqtwebengine"] +[[package]] +name = "pywin32" +version = "308" +description = "Python for Window Extensions" +optional = false +python-versions = "*" +files = [ + {file = "pywin32-308-cp310-cp310-win32.whl", hash = "sha256:796ff4426437896550d2981b9c2ac0ffd75238ad9ea2d3bfa67a1abd546d262e"}, + {file = "pywin32-308-cp310-cp310-win_amd64.whl", hash = "sha256:4fc888c59b3c0bef905ce7eb7e2106a07712015ea1c8234b703a088d46110e8e"}, + {file = "pywin32-308-cp310-cp310-win_arm64.whl", hash = "sha256:a5ab5381813b40f264fa3495b98af850098f814a25a63589a8e9eb12560f450c"}, + {file = "pywin32-308-cp311-cp311-win32.whl", hash = "sha256:5d8c8015b24a7d6855b1550d8e660d8daa09983c80e5daf89a273e5c6fb5095a"}, + {file = "pywin32-308-cp311-cp311-win_amd64.whl", hash = "sha256:575621b90f0dc2695fec346b2d6302faebd4f0f45c05ea29404cefe35d89442b"}, + {file = "pywin32-308-cp311-cp311-win_arm64.whl", hash = "sha256:100a5442b7332070983c4cd03f2e906a5648a5104b8a7f50175f7906efd16bb6"}, + {file = "pywin32-308-cp312-cp312-win32.whl", hash = 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"sha256:13dcb914ed4347019fbec6697a01a0aec61019c1046c2b905410d197856326a6"}, + {file = "pywin32-308-cp38-cp38-win32.whl", hash = "sha256:5794e764ebcabf4ff08c555b31bd348c9025929371763b2183172ff4708152f0"}, + {file = "pywin32-308-cp38-cp38-win_amd64.whl", hash = "sha256:3b92622e29d651c6b783e368ba7d6722b1634b8e70bd376fd7610fe1992e19de"}, + {file = "pywin32-308-cp39-cp39-win32.whl", hash = "sha256:7873ca4dc60ab3287919881a7d4f88baee4a6e639aa6962de25a98ba6b193341"}, + {file = "pywin32-308-cp39-cp39-win_amd64.whl", hash = "sha256:71b3322d949b4cc20776436a9c9ba0eeedcbc9c650daa536df63f0ff111bb920"}, +] + [[package]] name = "pyyaml" version = "6.0.2" @@ -1583,6 +1632,17 @@ urllib3 = ">=1.21.1,<3" socks = ["PySocks (>=1.5.6,!=1.5.7)"] use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] +[[package]] +name = "sh" +version = "2.1.0" +description = "Python subprocess replacement" +optional = false +python-versions = "<4.0,>=3.8.1" +files = [ + {file = "sh-2.1.0-py3-none-any.whl", hash = "sha256:bf5e44178dd96a542126c2774e9b7ab1d89bfe0e2ef84d92e6d0ed7358d63d01"}, + {file = "sh-2.1.0.tar.gz", hash = "sha256:7e27301c574bec8ca5bf6f211851357526455ee97cd27a7c4c6cc5e2375399cb"}, +] + [[package]] name = "simple-websocket" version = "1.1.0" @@ -2064,4 +2124,4 @@ propcache = ">=0.2.0" [metadata] lock-version = "2.0" python-versions = "^3.11" -content-hash = "941bf4750c3b8a3045cfd01bb1ab4af7c1e8fd2d5fa54cd85d8ac3a0c8837238" +content-hash = "1735aa5be80786db18fc032b6442a3cc1f9dcdbf0187d207080401e87de421ce" diff --git a/guiTools/pyproject.toml b/guiTools/pyproject.toml index e16ab0a..94f0d63 100644 --- a/guiTools/pyproject.toml +++ b/guiTools/pyproject.toml @@ -10,6 +10,8 @@ python = "^3.11" nicegui = "^2.5.0" pywebview = "^5.3.2" loguru = "^0.7.2" +sh = "^2.1.0" +docker = "^7.1.0" [build-system] requires = ["poetry-core"] diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index 59502f4..d1d447d 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -1,6 +1,10 @@ from nicegui import ui, binding, app import subprocess from collections import defaultdict +import docker +import time + +docker_client = docker.from_env() # Dictionary of applications: key is the button text, value is the command to execute applications = { @@ -25,6 +29,31 @@ ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').cl robots = [] from spiri_sdk_guitools.sim_drone import Robot +@ui.refreshable +def show_robots(): + + with ui.element().classes('w-full'): + for robot in robots: + @ui.refreshable + def container_status(robot): + ui.label("Containers") + for container in robot.containers(): + ui.label(f"{container.name} {container.status}") + with ui.card().style('margin: 10px;').classes('w-full'): + ui.label(f"{robot.robot_type}") + ui.label(f"""Sysid: {robot.sysid}""") + ui.button("Start", on_click=robot.start) + ui.button("Stop", on_click=robot.stop) + def delete_robot(): + robot.stop() + robots.remove(robot) + show_robots.refresh() + ui.button("Delete", on_click=delete_robot) + with ui.expansion("Details").style('margin: 10px;').classes('w-full'): + container_status(robot) + ui.timer(1, container_status.refresh) + logwidget = ui.expansion("Logs").style('margin: 10px;').classes('w-full') + @ui.page('/') def main(): @@ -32,28 +61,44 @@ def main(): tab_tools = ui.tab('Tools') tab_robots = ui.tab('Robots') # two = ui.tab('Two') - with ui.tab_panels(tabs, value=tab_tools).classes(): + with ui.tab_panels(tabs, value=tab_tools).classes("w-full"): with ui.tab_panel(tab_tools): # Create and place buttons dynamically based on the dictionary with ui.grid(columns=3): for app_name, command in applications.items(): ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') with ui.tab_panel(tab_robots): - with ui.grid(columns=3): - for robot in robots: - with ui.row(): - ui.label(f"Robot {robot.sys_id}") - ui.button(f"Start Robot {robot.sys_id}", on_click=lambda: robot.start()).style('width: 150px; height: 50px; margin: 5px;') + #Add a new robot with ui.element(): ui.label("Add new robot") newRobotParams = defaultdict(binding.BindableProperty) - ui.number(value=0, label="SysID").bind_value(newRobotParams, 'sysid') - ui.input(value="./sdk/docker-compose.yml", label="Compose files (comma seperated)").bind_value(newRobotParams, 'compose_files') + ui.number(value=1, label="SysID", min=1, max=254, + ).bind_value(newRobotParams, 'sysid') + ui.textarea(value="./sdk/docker-compose.yml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files') def new_robot(): robot = Robot(**newRobotParams) + # robot.start() robots.append(robot) - ui.label(str(robots)) + newRobotParams['sysid'] += 1 + show_robots.refresh() ui.button("Add", on_click=new_robot) + with ui.element(): + ui.label("Debug") + def cleanup_all_containers(): + #Find all containers that start with spiri-sdk + containers = docker_client.containers.list(all=True) + removal_count = 0 + for container in containers: + if container.name.startswith("robot-sim-"): + container.remove(force=True) + removal_count += 1 + ui.label(f"Removed {removal_count} containers") + ui.button("Cleanup all containers", on_click=cleanup_all_containers) + + + ui.separator() + ui.label("Current robots") + robotwidget = show_robots() # Start the NiceGUI application ui.run(title="Spiri SDK Launcher", port=8923, dark=None) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index e2d615e..1d12fdd 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -2,6 +2,13 @@ from loguru import logger from pathlib import Path import contextlib from typing import List +import os +import sh +import subprocess +from nicegui import ui + +import docker +docker_client = docker.from_env() @contextlib.contextmanager def modified_environ(*remove, **update): @@ -34,18 +41,38 @@ def modified_environ(*remove, **update): [env.pop(k) for k in remove_after] + class Robot: - def __init__(self, sysid: int, compose_files: List[Path]): + robot_type = "spiri-mu" + def __init__(self, sysid: int, compose_files: List[Path] | str ): if sysid > 255 or sysid < 0: raise ValueError("sysid must be between 0 and 255") + self.sysid = int(sysid) + if isinstance(compose_files, str): + compose_files = [ Path(file) for file in compose_files.replace("\n",",").split(",") ] + self.compose_files = compose_files self.processes = [] + def stop(self): + #Signal all processes to stop + for process in self.processes: + process.terminate() + process.kill() + self.processes = [] + for container in self.containers(): + container.stop() + container.remove(force=True) + + def containers(self): + return docker_client.containers.list(all=True, filters={"name": f"robot-sim-{self.robot_type}-{self.sysid}"}) + def start(self): - """Starts the simulated drone with a given sys_id, + """Starts the simulated drone with a given sysid, each drone must have it's own unique ID. """ instance = self.sysid-1 - with logger.contextualize(syd_id=sys_id): + sysid = self.sysid + with logger.contextualize(syd_id=sysid): env = os.environ with modified_environ( SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance), @@ -54,17 +81,30 @@ class Robot: FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance), SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance), INSTANCE=str(instance), - DRONE_SYS_ID=str(self.sys_id), + DRONE_SYS_ID=str(self.sysid), ): logger.info("Starting drone stack, this may take some time") - docker_stack = sh.docker.compose( - "--profile", - "uav-sim", - "-p", - f"spiri-sdk-{sys_id}", - "up", - _out=outputLogger("docker_stack", sys_id), - _err=sys.stderr, - _bg=True, - ) - self.processes.append(docker_stack) + for compose_file in self.compose_files: + if not isinstance(compose_file, Path): + compose_file = Path(compose_file) + if not compose_file.exists(): + raise FileNotFoundError(f"File {compose_file} does not exist") + ui.label(f"Starting drone stack {compose_file}") + args = [ + "docker-compose", + "--profile", + "uav-sim", + "-p", + f"robot-sim-{self.robot_type}-{sysid}", + "-f", + compose_file.as_posix(), + "up", + ] + command = " ".join(args) + + logger.info(f"Starting drone stack with command: {command}") + docker_stack = subprocess.Popen( + args, + stdout=subprocess.PIPE, + stderr=subprocess.PIPE, + ) diff --git a/sim_drone.py b/sim_drone.py index 14d40f4..45f8945 100644 --- a/sim_drone.py +++ b/sim_drone.py @@ -109,7 +109,7 @@ def start(instance: int = 0, sys_id: int = 1): "--profile", "uav-sim", "-p", - f"spiri-sdk-{sys_id}", + f"robot-sim-{sys_id}", "up", _out=outputLogger("docker_stack", sys_id), _err=sys.stderr, -- 2.40.1 From a272fdff0f29f09e01063873f162ce3249abd68b Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Wed, 6 Nov 2024 15:44:18 -0400 Subject: [PATCH 05/12] We now cleantly show logs and new robots. --- guiTools/poetry.lock | 36 ++++++++++++- guiTools/pyproject.toml | 2 + guiTools/spiri_sdk_guitools/launcher.py | 68 ++++++++---------------- guiTools/spiri_sdk_guitools/sim_drone.py | 57 +++++++++++++++++++- 4 files changed, 115 insertions(+), 48 deletions(-) diff --git a/guiTools/poetry.lock b/guiTools/poetry.lock index e6cd85c..e1a440d 100644 --- a/guiTools/poetry.lock +++ b/guiTools/poetry.lock @@ -1,5 +1,24 @@ # This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +[[package]] +name = "aiodocker" +version = "0.23.0" +description = "A simple Docker HTTP API wrapper written with asyncio and aiohttp." +optional = false +python-versions = ">=3.8.0" +files = [ + {file = "aiodocker-0.23.0-py3-none-any.whl", hash = "sha256:8c7ff2fc9e557898ae77bc9c1af8916f269285f230aedf1abbb81436054baed4"}, + {file = "aiodocker-0.23.0.tar.gz", hash = "sha256:45ede291063c7d1c24e78a766013c25e85b354a3bdcca68fe2bca64348e4dee2"}, +] + +[package.dependencies] +aiohttp = ">=3.8" + +[package.extras] +ci = ["aiohttp (==3.10.5)", "async-timeout (==4.0.3)", "multidict (==6.0.5)", "yarl (==1.11.1)"] +dev = ["async-timeout (==4.0.3)", "codecov (==2.1.13)", "mypy (==1.11.2)", "packaging (==24.1)", "pre-commit (>=3.5.0)", "pytest (==8.3.2)", "pytest-asyncio (==0.24.0)", "pytest-cov (==5.0.0)", "pytest-sugar (==1.0.0)", "ruff (==0.6.3)", "ruff-lsp (==0.0.54)", "towncrier (==24.8.0)"] +doc = ["alabaster (==1.0.0)", "sphinx (==8.0.2)", "sphinx-autodoc-typehints (==2.4.4)", "sphinxcontrib-asyncio (==0.3.0)"] + [[package]] name = "aiofiles" version = "24.1.0" @@ -158,6 +177,21 @@ files = [ {file = "annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"}, ] +[[package]] +name = "ansi2html" +version = "1.9.2" +description = "Convert text with ANSI color codes to HTML or to LaTeX" +optional = false +python-versions = ">=3.7" +files = [ + {file = "ansi2html-1.9.2-py3-none-any.whl", hash = "sha256:dccb75aa95fb018e5d299be2b45f802952377abfdce0504c17a6ee6ef0a420c5"}, + {file = "ansi2html-1.9.2.tar.gz", hash = "sha256:3453bf87535d37b827b05245faaa756dbab4ec3d69925e352b6319c3c955c0a5"}, +] + +[package.extras] +docs = ["mkdocs", "mkdocs-material", "mkdocs-material-extensions", "mkdocstrings", "mkdocstrings-python", "pymdown-extensions"] +test = ["pytest", "pytest-cov"] + [[package]] name = "anyio" version = "4.6.2.post1" @@ -2124,4 +2158,4 @@ propcache = ">=0.2.0" [metadata] lock-version = "2.0" python-versions = "^3.11" -content-hash = "1735aa5be80786db18fc032b6442a3cc1f9dcdbf0187d207080401e87de421ce" +content-hash = "fb89def5cebe48bacf2ecf52d3a52988c2ca964a523857d34ea037ff287120c6" diff --git a/guiTools/pyproject.toml b/guiTools/pyproject.toml index 94f0d63..ad579cd 100644 --- a/guiTools/pyproject.toml +++ b/guiTools/pyproject.toml @@ -12,6 +12,8 @@ pywebview = "^5.3.2" loguru = "^0.7.2" sh = "^2.1.0" docker = "^7.1.0" +aiodocker = "^0.23.0" +ansi2html = "^1.9.2" [build-system] requires = ["poetry-core"] diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index d1d447d..4ec9b4a 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -1,10 +1,12 @@ -from nicegui import ui, binding, app +from nicegui import ui, binding, app, run import subprocess from collections import defaultdict import docker import time docker_client = docker.from_env() +from ansi2html import Ansi2HTMLConverter +conv = Ansi2HTMLConverter() # Dictionary of applications: key is the button text, value is the command to execute applications = { @@ -28,35 +30,11 @@ ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').cl robots = [] from spiri_sdk_guitools.sim_drone import Robot - -@ui.refreshable -def show_robots(): - - with ui.element().classes('w-full'): - for robot in robots: - @ui.refreshable - def container_status(robot): - ui.label("Containers") - for container in robot.containers(): - ui.label(f"{container.name} {container.status}") - with ui.card().style('margin: 10px;').classes('w-full'): - ui.label(f"{robot.robot_type}") - ui.label(f"""Sysid: {robot.sysid}""") - ui.button("Start", on_click=robot.start) - ui.button("Stop", on_click=robot.stop) - def delete_robot(): - robot.stop() - robots.remove(robot) - show_robots.refresh() - ui.button("Delete", on_click=delete_robot) - with ui.expansion("Details").style('margin: 10px;').classes('w-full'): - container_status(robot) - ui.timer(1, container_status.refresh) - logwidget = ui.expansion("Logs").style('margin: 10px;').classes('w-full') +import aiodocker +import asyncio @ui.page('/') -def main(): - +async def main(): with ui.tabs().classes('w-full') as tabs: tab_tools = ui.tab('Tools') tab_robots = ui.tab('Robots') @@ -68,21 +46,7 @@ def main(): for app_name, command in applications.items(): ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') with ui.tab_panel(tab_robots): - - #Add a new robot - with ui.element(): - ui.label("Add new robot") - newRobotParams = defaultdict(binding.BindableProperty) - ui.number(value=1, label="SysID", min=1, max=254, - ).bind_value(newRobotParams, 'sysid') - ui.textarea(value="./sdk/docker-compose.yml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files') - def new_robot(): - robot = Robot(**newRobotParams) - # robot.start() - robots.append(robot) - newRobotParams['sysid'] += 1 - show_robots.refresh() - ui.button("Add", on_click=new_robot) + new_robot_widget = ui.element() with ui.element(): ui.label("Debug") def cleanup_all_containers(): @@ -96,9 +60,23 @@ def main(): ui.label(f"Removed {removal_count} containers") ui.button("Cleanup all containers", on_click=cleanup_all_containers) - ui.separator() ui.label("Current robots") - robotwidget = show_robots() + robots_widget = ui.element() + + #Add a new robot + with new_robot_widget: + ui.label("Add new robot") + newRobotParams = defaultdict(binding.BindableProperty) + ui.number(value=1, label="SysID", min=1, max=254, + ).bind_value(newRobotParams, 'sysid') + ui.textarea(value="./sdk/docker-compose.yml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files') + async def new_robot(): + robot = Robot(**newRobotParams) + asyncio.tasks.create_task(robot.ui(robots_widget)) + + newRobotParams['sysid'] += 1 + ui.button("Add", on_click=new_robot) + # Start the NiceGUI application ui.run(title="Spiri SDK Launcher", port=8923, dark=None) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 1d12fdd..4a03dbe 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -5,9 +5,11 @@ from typing import List import os import sh import subprocess -from nicegui import ui +from nicegui import ui, run import docker +import aiodocker +import asyncio docker_client = docker.from_env() @contextlib.contextmanager @@ -40,7 +42,15 @@ def modified_environ(*remove, **update): env.update(update_after) [env.pop(k) for k in remove_after] +robots = set() +async def container_logs(container, element): + adocker = aiodocker.Docker() + with element: + acontainer = await adocker.containers.get(container.id) + async for log in acontainer.log(stdout=True, stderr=True, follow=True): + ui.label(log) + # ui.html(conv.convert(log) class Robot: robot_type = "spiri-mu" @@ -52,6 +62,49 @@ class Robot: compose_files = [ Path(file) for file in compose_files.replace("\n",",").split(",") ] self.compose_files = compose_files self.processes = [] + robots.add(self) + + async def async_stop(self): + return await run.io_bound(self.stop) + + async def ui(self, element): + adocker = aiodocker.Docker() + with element: + robot_ui = ui.element() + with robot_ui: + ui.label(f"{self.robot_type}") + ui.label(f"""Sysid: {self.sysid}""") + ui.button("Start", on_click=self.start) + ui.button("Stop", on_click=self.async_stop) + async def delete_robot(): + await self.async_stop() + robots.remove(self) + element.remove(robot_ui) + ui.button("Delete", on_click=delete_robot) + docker_elements = {} + container_status = {} + while True: + #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() + with docker_elements[container]: + ui.label().bind_text(container_status, container) + logelement = ui.expansion("Logs").style('margin: 10px;').classes('w-full') + 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: + robot_ui.remove(docker_elements[container]) + docker_elements.pop(container) + await asyncio.sleep(1) + def stop(self): #Signal all processes to stop @@ -60,7 +113,7 @@ class Robot: process.kill() self.processes = [] for container in self.containers(): - container.stop() + # container.stop() container.remove(force=True) def containers(self): -- 2.40.1 From 5f5aa7f830f39aa2a307924a31a153d6acf0eac7 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Wed, 6 Nov 2024 15:59:04 -0400 Subject: [PATCH 06/12] Some minor UI tweaks --- guiTools/spiri_sdk_guitools/launcher.py | 2 +- guiTools/spiri_sdk_guitools/sim_drone.py | 13 ++++++------- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index 4ec9b4a..6d53bf0 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -62,7 +62,7 @@ async def main(): ui.separator() ui.label("Current robots") - robots_widget = ui.element() + robots_widget = ui.element().classes("w-full") #Add a new robot with new_robot_widget: diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 4a03dbe..904d8ed 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -64,23 +64,20 @@ class Robot: self.processes = [] robots.add(self) - async def async_stop(self): - return await run.io_bound(self.stop) - async def ui(self, element): adocker = aiodocker.Docker() with element: - robot_ui = ui.element() + robot_ui = ui.element().classes("w-full outline p-4") with robot_ui: ui.label(f"{self.robot_type}") ui.label(f"""Sysid: {self.sysid}""") - ui.button("Start", on_click=self.start) - ui.button("Stop", on_click=self.async_stop) + ui.button("Start", on_click=self.start).classes("m-2") + ui.button("Stop", on_click=self.async_stop).classes("m-2") async def delete_robot(): await self.async_stop() robots.remove(self) element.remove(robot_ui) - ui.button("Delete", on_click=delete_robot) + ui.button("Delete", on_click=delete_robot).classes("m-2") docker_elements = {} container_status = {} while True: @@ -105,6 +102,8 @@ class Robot: docker_elements.pop(container) await asyncio.sleep(1) + async def async_stop(self): + return await run.io_bound(self.stop) def stop(self): #Signal all processes to stop -- 2.40.1 From 2a252cb6a6c5d6e6397d66ee0953ee8bbcb3f4ae Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Wed, 6 Nov 2024 16:27:25 -0400 Subject: [PATCH 07/12] Minore UI tweaks --- guiTools/poetry.lock | 17 +---------------- guiTools/pyproject.toml | 1 - guiTools/spiri_sdk_guitools/launcher.py | 2 -- guiTools/spiri_sdk_guitools/sim_drone.py | 6 +++--- 4 files changed, 4 insertions(+), 22 deletions(-) diff --git a/guiTools/poetry.lock b/guiTools/poetry.lock index e1a440d..a9a45e8 100644 --- a/guiTools/poetry.lock +++ b/guiTools/poetry.lock @@ -177,21 +177,6 @@ files = [ {file = "annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"}, ] -[[package]] -name = "ansi2html" -version = "1.9.2" -description = "Convert text with ANSI color codes to HTML or to LaTeX" -optional = false -python-versions = ">=3.7" -files = [ - {file = "ansi2html-1.9.2-py3-none-any.whl", hash = "sha256:dccb75aa95fb018e5d299be2b45f802952377abfdce0504c17a6ee6ef0a420c5"}, - {file = "ansi2html-1.9.2.tar.gz", hash = "sha256:3453bf87535d37b827b05245faaa756dbab4ec3d69925e352b6319c3c955c0a5"}, -] - -[package.extras] -docs = ["mkdocs", "mkdocs-material", "mkdocs-material-extensions", "mkdocstrings", "mkdocstrings-python", "pymdown-extensions"] -test = ["pytest", "pytest-cov"] - [[package]] name = "anyio" version = "4.6.2.post1" @@ -2158,4 +2143,4 @@ propcache = ">=0.2.0" [metadata] lock-version = "2.0" python-versions = "^3.11" -content-hash = "fb89def5cebe48bacf2ecf52d3a52988c2ca964a523857d34ea037ff287120c6" +content-hash = "e6d65a92946717f8c239c1920193c45a350d163ec22316a8218828b4580c072f" diff --git a/guiTools/pyproject.toml b/guiTools/pyproject.toml index ad579cd..876be04 100644 --- a/guiTools/pyproject.toml +++ b/guiTools/pyproject.toml @@ -13,7 +13,6 @@ loguru = "^0.7.2" sh = "^2.1.0" docker = "^7.1.0" aiodocker = "^0.23.0" -ansi2html = "^1.9.2" [build-system] requires = ["poetry-core"] diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index 6d53bf0..c44ddeb 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -5,8 +5,6 @@ import docker import time docker_client = docker.from_env() -from ansi2html import Ansi2HTMLConverter -conv = Ansi2HTMLConverter() # Dictionary of applications: key is the button text, value is the command to execute applications = { diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 904d8ed..8cf519d 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -49,8 +49,9 @@ async def container_logs(container, element): with element: acontainer = await adocker.containers.get(container.id) async for log in acontainer.log(stdout=True, stderr=True, follow=True): - ui.label(log) - # ui.html(conv.convert(log) + for line in log.splitlines(): + ui.label(line) + # ui.html(conv.convert(bytes(log,'utf-8').decode('utf-8', 'xmlcharrefreplace'), full=False)) class Robot: robot_type = "spiri-mu" @@ -141,7 +142,6 @@ class Robot: compose_file = Path(compose_file) if not compose_file.exists(): raise FileNotFoundError(f"File {compose_file} does not exist") - ui.label(f"Starting drone stack {compose_file}") args = [ "docker-compose", "--profile", -- 2.40.1 From e42b5f1740d6ed29134c4f2353a03e9b20b57610 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Wed, 6 Nov 2024 16:40:07 -0400 Subject: [PATCH 08/12] A few more style tweaks --- guiTools/spiri_sdk_guitools/launcher.py | 4 ++-- guiTools/spiri_sdk_guitools/sim_drone.py | 11 ++++++----- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index c44ddeb..45eae63 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -44,8 +44,8 @@ async def main(): for app_name, command in applications.items(): ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;') with ui.tab_panel(tab_robots): - new_robot_widget = ui.element() - with ui.element(): + new_robot_widget = ui.element().classes("w-1/2") + with ui.element().classes("w-1/2"): ui.label("Debug") def cleanup_all_containers(): #Find all containers that start with spiri-sdk diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 8cf519d..1717775 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -47,11 +47,12 @@ robots = set() async def container_logs(container, element): adocker = aiodocker.Docker() with element: - acontainer = await adocker.containers.get(container.id) - async for log in acontainer.log(stdout=True, stderr=True, follow=True): - for line in log.splitlines(): - ui.label(line) - # ui.html(conv.convert(bytes(log,'utf-8').decode('utf-8', 'xmlcharrefreplace'), full=False)) + with ui.scroll_area(): + acontainer = await adocker.containers.get(container.id) + async for log in acontainer.log(stdout=True, stderr=True, follow=True): + for line in log.splitlines(): + ui.label(line) + # ui.html(conv.convert(bytes(log,'utf-8').decode('utf-8', 'xmlcharrefreplace'), full=False)) class Robot: robot_type = "spiri-mu" -- 2.40.1 From b8a353b9af08688ea2fb986aba682d9d5c43bd3b Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Thu, 7 Nov 2024 09:45:08 -0400 Subject: [PATCH 09/12] Moved robot container listing to own tab and method for better composability --- guiTools/spiri_sdk_guitools/sim_drone.py | 59 ++++++++++++++---------- 1 file changed, 34 insertions(+), 25 deletions(-) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 1717775..6283820 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -66,11 +66,38 @@ class Robot: self.processes = [] robots.add(self) + async def ui_containers(self, element): + docker_elements = {} + 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" + + 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) + logelement = ui.expansion("Logs").style('margin: 10px;').classes('w-full') + 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) + async def ui(self, element): adocker = aiodocker.Docker() + with element: - robot_ui = ui.element().classes("w-full outline p-4") - with robot_ui: + self.robot_ui = ui.element().classes("w-full outline p-4") + with self.robot_ui: ui.label(f"{self.robot_type}") ui.label(f"""Sysid: {self.sysid}""") ui.button("Start", on_click=self.start).classes("m-2") @@ -80,29 +107,11 @@ class Robot: robots.remove(self) element.remove(robot_ui) ui.button("Delete", on_click=delete_robot).classes("m-2") - docker_elements = {} - container_status = {} - while True: - #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() - with docker_elements[container]: - ui.label().bind_text(container_status, container) - logelement = ui.expansion("Logs").style('margin: 10px;').classes('w-full') - 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: - robot_ui.remove(docker_elements[container]) - docker_elements.pop(container) - await asyncio.sleep(1) + with ui.tabs() as tabs: + tab_containers = ui.tab('Containers') + with ui.tab_panels(tabs, value=tab_containers): + tab = ui.tab_panel(tab_containers).classes("w-full") + asyncio.create_task(self.ui_containers(tab)) async def async_stop(self): return await run.io_bound(self.stop) -- 2.40.1 From 4ae96ff8b9bf13537cb0a7eaf286e968061a83e3 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Thu, 7 Nov 2024 10:03:14 -0400 Subject: [PATCH 10/12] Fixed bug preventing deleting robots --- guiTools/spiri_sdk_guitools/sim_drone.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 6283820..c7dfadb 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -105,7 +105,7 @@ class Robot: async def delete_robot(): await self.async_stop() robots.remove(self) - element.remove(robot_ui) + element.remove(self.robot_ui) ui.button("Delete", on_click=delete_robot).classes("m-2") with ui.tabs() as tabs: tab_containers = ui.tab('Containers') @@ -116,6 +116,7 @@ class Robot: async def async_stop(self): return await run.io_bound(self.stop) + def stop(self): #Signal all processes to stop for process in self.processes: -- 2.40.1 From 1a409a063af6f011304cba3f39f5b8cede0775b4 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Thu, 7 Nov 2024 12:18:53 -0400 Subject: [PATCH 11/12] Moved robot config to own folder structure --- docker-compose.yml | 103 +---------------------- guiTools/spiri_sdk_guitools/launcher.py | 8 +- guiTools/spiri_sdk_guitools/sim_drone.py | 6 +- robots/spiri-mu/core/.env | 19 +++++ robots/spiri-mu/core/docker-compose.yaml | 95 +++++++++++++++++++++ 5 files changed, 123 insertions(+), 108 deletions(-) create mode 100644 robots/spiri-mu/core/.env create mode 100644 robots/spiri-mu/core/docker-compose.yaml diff --git a/docker-compose.yml b/docker-compose.yml index b070297..4490905 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -28,7 +28,8 @@ services: #Auto reload on code changes - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/ # Enable launching the SDK from the SDK - - ./:/app/sdk + # - ./:/app/sdk + - ./robots:/robots - /var/run/docker.sock:/var/run/docker.sock devices: # Provide access to GPU devices @@ -41,7 +42,6 @@ services: privileged: true # Allow privileged access if necessary (e.g., for GPU access) # restart: unless-stopped # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2" # Replace with the actual command to run Gazebo Ignition - profiles: [ui] deploy: resources: reservations: @@ -50,102 +50,3 @@ services: device_ids: - nvidia.com/gpu=all - ardupilot: - env_file: - - .env - image: git.spirirobotics.com/spiri/ardupilot:spiri-master - command: - - /bin/bash - - -c - - | - ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \ - --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE - profiles: - - uav-sim - stdin_open: true - tty: true - network_mode: host - - mavproxy: - env_file: - - .env - image: git.spirirobotics.com/spiri/services-mavproxy:main - command: > - mavproxy.py --non-interactive - --master tcp:127.0.0.1:$SERIAL0_PORT - --out udpout:0.0.0.0:$MAVROS2_PORT - --out udpout:0.0.0.0:$MAVROS1_PORT - --sitl 127.0.0.1:$SITL_PORT - --out udp:0.0.0.0:$GCS_PORT - profiles: - - uav-sim - ipc: host - network_mode: host - restart: always - - mavros2: - env_file: - - .env - image: git.spirirobotics.com/spiri/services-ros2-mavros:main - command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID" - profiles: - - uav-sim - ipc: host - network_mode: host - restart: always - depends_on: - ardupilot: - condition: service_started - mavproxy: - condition: service_started - deploy: - resources: - limits: - # cpus: '0.01' - memory: 200M - ulimits: - nofile: - soft: 1024 - hard: 524288 - mavros: - #This service bridges our mavlink-based robot-coprosessor into ROS - #In this example it connects to a simulated coprocessor. - env_file: - - .env - image: git.spirirobotics.com/spiri/services-ros1-mavros:master - command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID" - profiles: - - uav-sim - ipc: host - network_mode: host - restart: always - deploy: - resources: - limits: - # cpus: '0.01' - memory: 200M - ulimits: - nofile: - soft: 1024 - hard: 524288 - - ros-master: - env_file: - - .env - image: git.spirirobotics.com/spiri/services-ros1-core:main - command: stdbuf -o L roscore - profiles: - - ros-master - ipc: host - network_mode: host - restart: always - deploy: - resources: - limits: - memory: 1G - # Madness, setting a low ulimit here fixes memory leaks - # https://answers.ros.org/question/336963/rosout-high-memory-usage/ - ulimits: - nofile: - soft: 1024 - hard: 524288 diff --git a/guiTools/spiri_sdk_guitools/launcher.py b/guiTools/spiri_sdk_guitools/launcher.py index 45eae63..3f87e6a 100644 --- a/guiTools/spiri_sdk_guitools/launcher.py +++ b/guiTools/spiri_sdk_guitools/launcher.py @@ -46,7 +46,7 @@ async def main(): with ui.tab_panel(tab_robots): new_robot_widget = ui.element().classes("w-1/2") with ui.element().classes("w-1/2"): - ui.label("Debug") + ui.label("Debug").classes("text-xl") def cleanup_all_containers(): #Find all containers that start with spiri-sdk containers = docker_client.containers.list(all=True) @@ -59,16 +59,16 @@ async def main(): ui.button("Cleanup all containers", on_click=cleanup_all_containers) ui.separator() - ui.label("Current robots") + ui.label("Current robots").classes("text-3xl") robots_widget = ui.element().classes("w-full") #Add a new robot with new_robot_widget: - ui.label("Add new robot") + ui.label("Add new robot").classes("text-3xl") newRobotParams = defaultdict(binding.BindableProperty) ui.number(value=1, label="SysID", min=1, max=254, ).bind_value(newRobotParams, 'sysid') - ui.textarea(value="./sdk/docker-compose.yml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files') + ui.textarea(value="/robots/spiri-mu/core/docker-compose.yaml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files') async def new_robot(): robot = Robot(**newRobotParams) asyncio.tasks.create_task(robot.ui(robots_widget)) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index c7dfadb..947ea4b 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -82,8 +82,8 @@ class Robot: 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) - logelement = ui.expansion("Logs").style('margin: 10px;').classes('w-full') + ui.label().bind_text(container_status, container).classes("text-lg") + 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()) @@ -98,7 +98,7 @@ class Robot: with element: self.robot_ui = ui.element().classes("w-full outline p-4") with self.robot_ui: - ui.label(f"{self.robot_type}") + ui.label(f"{self.robot_type} {self.sysid}").classes("text-2xl") ui.label(f"""Sysid: {self.sysid}""") ui.button("Start", on_click=self.start).classes("m-2") ui.button("Stop", on_click=self.async_stop).classes("m-2") diff --git a/robots/spiri-mu/core/.env b/robots/spiri-mu/core/.env new file mode 100644 index 0000000..5ba047f --- /dev/null +++ b/robots/spiri-mu/core/.env @@ -0,0 +1,19 @@ +DRONE_SYS_ID=1 +INSTANCE=0 +SERIAL0_PORT=5760 +SITL_PORT=5501 +MAVROS2_PORT=14560 +MAVROS1_PORT=14561 +FDM_PORT_IN=9002 +GSTREAMER_UDP_PORT=5600 +ROS_MASTER_URI="http://0.0.0.0:11311" + + +ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill" +WORLD_FILE_NAME="citadel_hill_world.sdf" +WORLD_NAME="citadel_hill" +DRONE_MODEL="spiri_mu" + + +SIM_DRONE_COUNT=1 +GCS_PORT=14550 \ No newline at end of file diff --git a/robots/spiri-mu/core/docker-compose.yaml b/robots/spiri-mu/core/docker-compose.yaml new file mode 100644 index 0000000..ca0348d --- /dev/null +++ b/robots/spiri-mu/core/docker-compose.yaml @@ -0,0 +1,95 @@ +services: + ardupilot: + env_file: + - .env + image: git.spirirobotics.com/spiri/ardupilot:spiri-master + command: + - /bin/bash + - -c + - | + ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \ + --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE + stdin_open: true + tty: true + network_mode: host + + mavproxy: + env_file: + - .env + image: git.spirirobotics.com/spiri/services-mavproxy:main + command: > + mavproxy.py --non-interactive + --master tcp:127.0.0.1:$SERIAL0_PORT + --out udpout:0.0.0.0:$MAVROS2_PORT + --out udpout:0.0.0.0:$MAVROS1_PORT + --sitl 127.0.0.1:$SITL_PORT + --out udp:0.0.0.0:$GCS_PORT + ipc: host + network_mode: host + restart: always + + mavros2: + env_file: + - .env + image: git.spirirobotics.com/spiri/services-ros2-mavros:main + command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID" + ipc: host + network_mode: host + restart: always + depends_on: + ardupilot: + condition: service_started + mavproxy: + condition: service_started + deploy: + resources: + limits: + # cpus: '0.01' + memory: 200M + ulimits: + nofile: + soft: 1024 + hard: 524288 + + mavros: + #This service bridges our mavlink-based robot-coprosessor into ROS + #In this example it connects to a simulated coprocessor. + env_file: + - .env + image: git.spirirobotics.com/spiri/services-ros1-mavros:master + command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID" + profiles: + - ros1 + ipc: host + network_mode: host + restart: always + deploy: + resources: + limits: + # cpus: '0.01' + memory: 200M + ulimits: + nofile: + soft: 1024 + hard: 524288 + + ros-master: + env_file: + - .env + image: git.spirirobotics.com/spiri/services-ros1-core:main + command: stdbuf -o L roscore + profiles: + - ros1-master + ipc: host + network_mode: host + restart: always + deploy: + resources: + limits: + memory: 1G + # Madness, setting a low ulimit here fixes memory leaks + # https://answers.ros.org/question/336963/rosout-high-memory-usage/ + ulimits: + nofile: + soft: 1024 + hard: 524288 -- 2.40.1 From f4f5b0890edb039f674e05c9470c58773ad5a644 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Thu, 7 Nov 2024 12:45:08 -0400 Subject: [PATCH 12/12] Added stub ros topics in preperation for future ros tooling --- guiTools/poetry.lock | 66 +++++++++++++++++++++++- guiTools/pyproject.toml | 1 + guiTools/spiri_sdk_guitools/sim_drone.py | 31 ++++++++++- 3 files changed, 96 insertions(+), 2 deletions(-) diff --git a/guiTools/poetry.lock b/guiTools/poetry.lock index a9a45e8..a1990a2 100644 --- 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a/guiTools/pyproject.toml b/guiTools/pyproject.toml index 876be04..13d226f 100644 --- a/guiTools/pyproject.toml +++ b/guiTools/pyproject.toml @@ -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"] diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 947ea4b..8bc0a03 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -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) -- 2.40.1