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 \

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 = "sha256:587f3e19696f4bf96fde9d8a57cec74a57021ad5f204c9e627e15c33ff568897"},
+    {file = "pywin32-308-cp312-cp312-win_amd64.whl", hash = "sha256:00b3e11ef09ede56c6a43c71f2d31857cf7c54b0ab6e78ac659497abd2834f47"},
+    {file = "pywin32-308-cp312-cp312-win_arm64.whl", hash = "sha256:9b4de86c8d909aed15b7011182c8cab38c8850de36e6afb1f0db22b8959e3091"},
+    {file = "pywin32-308-cp313-cp313-win32.whl", hash = "sha256:1c44539a37a5b7b21d02ab34e6a4d314e0788f1690d65b48e9b0b89f31abbbed"},
+    {file = "pywin32-308-cp313-cp313-win_amd64.whl", hash = "sha256:fd380990e792eaf6827fcb7e187b2b4b1cede0585e3d0c9e84201ec27b9905e4"},
+    {file = "pywin32-308-cp313-cp313-win_arm64.whl", hash = "sha256:ef313c46d4c18dfb82a2431e3051ac8f112ccee1a34f29c263c583c568db63cd"},
+    {file = "pywin32-308-cp37-cp37m-win32.whl", hash = "sha256:1f696ab352a2ddd63bd07430080dd598e6369152ea13a25ebcdd2f503a38f1ff"},
+    {file = "pywin32-308-cp37-cp37m-win_amd64.whl", hash = "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"

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"]

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.number(value=1, label="SysID", min=1, max=254,
-                ui.input(value="./sdk/docker-compose.yml", label="Compose files (comma seperated)").bind_value(newRobotParams, 'compose_files')
+                          ).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)

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(
+                for compose_file in self.compose_files:
-                    "--profile",
+                    if not isinstance(compose_file, Path):
-                    "uav-sim",
+                        compose_file = Path(compose_file)
-                    "-p",
+                    if not compose_file.exists():
-                    f"spiri-sdk-{sys_id}",
+                        raise FileNotFoundError(f"File {compose_file} does not exist")
-                    "up",
+                    ui.label(f"Starting drone stack {compose_file}")
-                    _out=outputLogger("docker_stack", sys_id),
+                    args = [
-                    _err=sys.stderr,
+                            "docker-compose",
-                    _bg=True,
+                            "--profile",
-                )
+                            "uav-sim",
-                self.processes.append(docker_stack)
+                            "-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,
+                        )

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,