Improve nanosaur commands

src/nanosaur/main.py

@@ -27,6 +27,8 @@
 import argparse
 import argcomplete
 import sys
+import inquirer
+from inquirer.themes import GreenPassion
 from jtop import jtop, JtopException
 
 from nanosaur import __version__
@@ -37,10 +39,11 @@
 from nanosaur.swarm import parser_swarm_menu
 from nanosaur.prompt_colors import TerminalFormatter
 from nanosaur.utilities import RobotList
-import inquirer
 
+
+NANOSAUR_INSTALL_OPTIONS = ['Simple', 'Developer', 'Maintainer']
 NANOSAUR_CONFIG_FILE_NAME = 'nanosaur.yaml'
-NANOSAUR_HOME_NAME = 'nanosaur_test'
+NANOSAUR_HOME_NAME = 'nanosaur'
 
 # Define default parameters
 DEFAULT_PARAMS = {
@@ -106,23 +109,38 @@ def install_old(platform, params: Params, args, password=None):
 
 
 def install(platform, params: Params, args, password=None):
+    # Determine the device type
+    device_type = "robot" if platform['Machine'] == 'jetson' else "desktop"
+    # Questions to ask the user
     questions = [
         inquirer.List(
             'choice',
             message="What would you like to install?",
-            choices=['Developer Workspace', 'Simulation Tools', 'Robot Configuration'],
+            choices=NANOSAUR_INSTALL_OPTIONS,
         ),
+        inquirer.Confirm(
+            'confirm',
+            message="Are you sure you want to install this?",
+            default=False
+        )
     ]
-
-    answers = inquirer.prompt(questions)
-
-    if answers['choice'] == 'Developer Workspace':
+    # Ask the user to select an install type
+    answers = inquirer.prompt(questions, theme=GreenPassion())
+    if answers is None:
+        return False
+    # Check if the user wants to continue
+    if answers['confirm'] is False:
+        print(TerminalFormatter.color_text("Installation cancelled", color='red'))
+        return False
+    # Get the selected install type
+    install_type = answers['choice']
+    print(f"Installing {install_type} workspace...")
+    if install_type == 'Developer':
         workspace.create_developer_workspace(platform, params, args)
-    elif answers['choice'] == 'Simulation Tools':
-        print(TerminalFormatter.color_text("Simulation Tools installation is not implemented yet", color='red'))
-    elif answers['choice'] == 'Robot Configuration':
-        print(TerminalFormatter.color_text("Robot Configuration installation is not implemented yet", color='red'))
-
+    elif install_type == 'Maintainer':
+        workspace.create_maintainer_workspace(platform, params, args)
+    elif install_type == 'Simple':
+        print(TerminalFormatter.color_text(f"Not implemented yet {device_type}", color='red'))
 
 def main():
     # Load the parameters

src/nanosaur/ros.py

@@ -44,9 +44,7 @@
 NANOSAUR_DOCKERFILE_SUFFIX = "nanosaur"
 
 
-def run_dev_script(platform, params: Params, args):
-
-    perception_path = get_workspace_path(params, params['ws_perception_name'])
+def run_dev_script(params, perception_path):
     isaac_ros_common_path = os.path.join(perception_path, 'src', 'isaac_ros_common')
     # Get the path to the Isaac ROS common package
     os.chdir(isaac_ros_common_path)

src/nanosaur/workspace.py

@@ -60,14 +60,24 @@ def add_workspace_subcommand(name, help_text, func):
     # Add workspace clean subcommand
     add_workspace_subcommand('clean', "Clean the workspace", clean)
     add_workspace_subcommand('update', "Update the workspace", update)
+    add_workspace_subcommand('run', "Run the workspace", run_developer_workspace)
     add_workspace_subcommand('deploy', "Deploy workspace to docker image", deploy)
-    # Add workspace perception subcommand
-    parser_workspace_perception = workspace_subparsers.add_parser(
-        'perception', help="Start the Isaac ROS docker container")
-    parser_workspace_perception.set_defaults(func=ros.run_dev_script)
     return parser_workspace
 
 
+def run_developer_workspace(platform, params: Params, args, password=None):
+    if args.workspace is not None:
+        workspace = args.workspace
+    else:
+        workspace = "robot" if platform['Machine'] == 'jetson' else "desktop"
+
+    if workspace == 'perception':
+        perception_ws_name = params['ws_perception_name']
+        perception_ws_path = get_workspace_path(params, perception_ws_name)
+        ros.run_dev_script(params, perception_ws_path)
+    else:
+        print(TerminalFormatter.color_text(f"I cannot run {workspace}", color='red'))
+
 def get_workspaces_path(params: Params) -> bool:
     nanosaur_home_path = get_nanosaur_home(params['nanosaur_home'])
     # Add all workspaces that exist in the Nanosaur home folder
@@ -91,7 +101,7 @@ def get_workspace_path(params: Params, ws_name) -> str:
         return None
 
 
-def create_workspace(nanosaur_home_path, ws_name) -> str:
+def create_workspace(nanosaur_home_path, ws_name, skip_create_colcon_setting=False) -> str:
     ws_name_path = os.path.join(nanosaur_home_path, ws_name)
     ws_name_path_src = os.path.join(ws_name_path, "src")
     # Check if folder exists, if not, create it
@@ -101,8 +111,9 @@ def create_workspace(nanosaur_home_path, ws_name) -> str:
     else:
         print(TerminalFormatter.color_text(f"Workspace '{ws_name}' already exists.", color='yellow'))
     # Save the default colcon settings
-    with open(f"{ws_name_path}/colcon_defaults.yaml", 'w') as file:
-        yaml.dump(COLCON_DEFAULTS, file)
+    if not skip_create_colcon_setting:
+        with open(f"{ws_name_path}/colcon_defaults.yaml", 'w') as file:
+            yaml.dump(COLCON_DEFAULTS, file)
     return ws_name_path
 
 
@@ -195,6 +206,15 @@ def build_workspace(nanosaur_raw_github_repo, branch, workspace_path, rosinstall
     return True
 
 
+def create_developer_workspace(platform, params: Params, args, password=None):
+    # Get the Nanosaur home folder and branch
+    nanosaur_home = params['nanosaur_home']
+    # Create the Nanosaur home folder
+    nanosaur_home_path = create_nanosaur_home(nanosaur_home)
+    # Create developer workspace
+    create_workspace(nanosaur_home_path, params['ws_developer_name'], skip_create_colcon_setting=True)
+
+
 @require_sudo_password
 def create_maintainer_workspace(platform, params: Params, args, password=None):
     # determine the device type
@@ -243,7 +263,7 @@ def create_maintainer_workspace(platform, params: Params, args, password=None):
 
     # Make the perception workspace
     ws_name_path = create_workspace(nanosaur_home_path, params['ws_perception_name'])
-    build_workspace(branch, ws_name_path, 'perception', password, skip_rosdep=True, skip_build=True)
+    build_workspace(nanosaur_raw_github_repo, branch, ws_name_path, 'perception', password, skip_rosdep=True, skip_build=True)
     # Set params in maintainer mode
     params['mode'] = 'maintainer'