Improve docker control

src/nanosaur/docker.py

@@ -92,9 +92,6 @@ def docker_start(platform, params: Params, args):
     print(TerminalFormatter.color_text(f"robot {robot.name} starting", color='green'))
     # Create a DockerClient object with the docker-compose file
     nanosaur_compose = DockerClient(compose_files=[docker_compose_path])
-    if args.build:
-        print(TerminalFormatter.color_text("Building the Docker container...", color='green'))
-        nanosaur_compose.compose.build()
     # Start the container in detached mode
     try:
         nanosaur_compose.compose.up(detach=args.detach)
@@ -115,27 +112,26 @@ def docker_simulator_start(platform, params: Params, args):
     nanosaur_home_path = get_nanosaur_home()
     # Create the full file path
     docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
-    robot = RobotList.get_robot(params)
 
     # Check which simulation tool is selected
     if 'simulation_tool' not in params:
         print(TerminalFormatter.color_text("No simulation tool selected. Please run simulation set first.", color='red'))
         return False
-
+    # Start the container in detached mode
+    simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
     # Create a DockerClient object with the docker-compose file
     nanosaur_compose = DockerClient(compose_files=[docker_compose_path])
-    if len(nanosaur_compose.compose.ps()) > 0:
-        print(TerminalFormatter.color_text(f"The robot {robot.name} is already running.", color='red'))
-        return False
+
+    #if len(nanosaur_compose.compose.ps()) > 0:
+    #    print(TerminalFormatter.color_text(f"The robot {robot.name} is already running.", color='red'))
+    #    return False
     # Build env file
     if not is_env_file():
         print(TerminalFormatter.color_text("Creating the environment file...", color='green'))
         build_env_file(params)
-    print(TerminalFormatter.color_text(f"robot {robot.name} starting", color='green'))
-    # Start the container in detached mode
-    simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
+    print(TerminalFormatter.color_text(f"Simulator {simulation_tool} starting", color='green'))
     try:
-        nanosaur_compose.compose.up(services=[f'nanosaur_{simulation_tool}'])
+        nanosaur_compose.compose.up(services=[f'nanosaur_{simulation_tool}'], recreate=False)
     except DockerException as e:
         print(TerminalFormatter.color_text(f"Error starting the simulation tool: {e}", color='red'))
         return False

src/nanosaur/main.py

@@ -155,7 +155,8 @@ def main():
     # Create the argument parser
     parser = argparse.ArgumentParser(
         description="Nanosaur CLI - A command-line interface for the Nanosaur package.")
-
+
+    parser.add_argument('--mode', type=str, help="Specify the mode of operation")
     # Define subcommands
     subparsers = parser.add_subparsers(dest='command', help="Available commands")
 
@@ -200,6 +201,9 @@ def main():
 
     # Parse the arguments
     args = parser.parse_args()
+    # Override mode if provided as an argument
+    if args.mode:
+        params.set('mode', args.mode, save=False)
 
     # Handle subcommands without a specific type
     if args.command in ['workspace', 'ws'] and not args.workspace_type:

src/nanosaur/ros.py

@@ -43,6 +43,9 @@
 
 ISAAC_ROS_DISTRO_SUFFIX = "ros2_humble"
 NANOSAUR_DOCKERFILE_SUFFIX = "nanosaur"
+NANOSAUR_DOCKER_PACKAGE_ROBOT = "nanosaur"
+NANOSAUR_DOCKER_PACKAGE_SIMULATION = "simulation"
+NANOSAUR_DOCKER_PACKAGE_PERCEPTION = "perception"
 
 
 def run_dev_script(params, host_workspace_path, workspace_path):
@@ -262,27 +265,29 @@ def run_colcon_build(folder_path) -> bool:
         return False
 
 
-def deploy_docker_simulation(image_name: str, simulation_ws_path: str, all: bool) -> bool:
+def deploy_docker_simulation(docker_user: str, simulation_ws_path: str, all: bool) -> bool:
     # Get the path to the nanosaur_simulations package
     nanosaur_simulations_path = os.path.join(simulation_ws_path, 'src', 'nanosaur_simulations')
     # Build Gazebo sim docker
+    tag_image = f"{docker_user}/{NANOSAUR_DOCKER_PACKAGE_SIMULATION}:gazebo"
     try:
-        print(TerminalFormatter.color_text("Building Gazebo Docker image...", color='magenta', bold=True))
+        print(TerminalFormatter.color_text(f"Building Gazebo simulation docker image {tag_image}", color='magenta', bold=True))
         docker.build(
             get_nanosaur_home(),
             file=f"{nanosaur_simulations_path}/Dockerfile.gazebo",
-            tags="nanosaur/gazebo"
+            tags=tag_image
         )
     except DockerException as e:
         print(TerminalFormatter.color_text(f"Error building Gazebo Docker image: {e}", color='red'))
         return False
     # Build the Docker image for nanosaur bridge
+    tag_image = f"{docker_user}/{NANOSAUR_DOCKER_PACKAGE_ROBOT}:simulation"
     try:
-        print(TerminalFormatter.color_text("Building Nanosaur Docker image...", color='magenta', bold=True))
+        print(TerminalFormatter.color_text(f"Building Nanosaur robot docker image {tag_image}", color='magenta', bold=True))
         docker.build(
             get_nanosaur_home(),
             file=f"{nanosaur_simulations_path}/Dockerfile.nanosaur",
-            tags=image_name
+            tags=tag_image
         )
     except DockerException as e:
         print(TerminalFormatter.color_text(f"Error building Nanosaur Docker image: {e}", color='red'))
@@ -292,20 +297,24 @@ def deploy_docker_simulation(image_name: str, simulation_ws_path: str, all: bool
     return True
 
 
-def deploy_docker_perception(image_name: str, perception_ws_path: str) -> bool:
+def deploy_docker_perception(docker_user: str, perception_ws_path: str) -> bool:
     nanosaur_perception_path = os.path.join(perception_ws_path, 'src', 'nanosaur_perception')
 
     src_folders = [
         os.path.join(get_nanosaur_home(), 'shared_src'),
         os.path.join(perception_ws_path, 'src')
     ]
+
+    tag_image = f"{docker_user}/{NANOSAUR_DOCKER_PACKAGE_PERCEPTION}:simulation"
+    print(TerminalFormatter.color_text(f"Building Nanosaur robot docker image {tag_image}", color='magenta', bold=True))
 
     try:
         os.chdir(nanosaur_perception_path)
         print(f"Changed directory to: {nanosaur_perception_path}")
 
         ws_dir_list = '--ws-src ' + ' --ws-src '.join(src_folders)
-        command = f"scripts/docker_build.sh {ws_dir_list} --image-name {image_name}"
+
+        command = f"scripts/docker_build.sh {ws_dir_list} --image-name {tag_image}"
 
         process = subprocess.Popen(
             command,

src/nanosaur/simulation.py

@@ -161,10 +161,11 @@ def simulation_start_debug(platform, params: Params, args):
 
 
 def simulation_start(platform, params: Params, args):
-    if args.debug:
+    debug_mode = args.debug or params.get('mode', '') in ['Maintainer', 'Raffo']
+    if debug_mode:
         return simulation_start_debug(platform, params, args)
-    else:
-        return docker_simulator_start(platform, params, args)
+    # Run from docker container
+    return docker_simulator_start(platform, params, args)
 
 
 def simulation_set(platform, params: Params, args):

src/nanosaur/utilities.py

@@ -51,6 +51,7 @@
 NANOSAUR_MAIN_GITHUB_URL = 'https://github.com/rnanosaur/nanosaur.git'
 NANOSAUR_MAIN_BRANCH = 'nanosaur2'
 
+NANOSAUR_DOCKER_USER = 'nanosaur'
 
 class Robot:
 
@@ -224,30 +225,6 @@ def print_all_robots(self, robot_idx=None):
                 print(f"  {TerminalFormatter.color_text(f'Robot {idx}:', bold=True)} {robot}")
 
 
-def is_env_file():
-    nanosaur_home_path = get_nanosaur_home()
-    env_path = os.path.join(nanosaur_home_path, '.env')
-    return os.path.exists(env_path)
-
-
-def build_env_file(params):
-    nanosaur_home_path = get_nanosaur_home()
-    env_path = os.path.join(nanosaur_home_path, '.env')
-    # Get current robot running
-    robot = RobotList.get_robot(params)
-    uid = os.getuid()
-    gid = os.getgid()
-    # Create a .env file and save UID and GID
-    with open(env_path, 'w') as env_file:
-        env_file.write(f"USER_UID={uid}\n")
-        env_file.write(f"USER_GID={gid}\n")
-        # Check which simulation tool is selected and save it in the .env file
-        simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
-        env_file.write(f"SIMULATION={simulation_tool}\n")
-        # Pass robot ros commands
-        env_file.write(f"COMMANDS={robot.config_to_ros()}\n")
-
-
 class Params:
 
     @classmethod
@@ -310,28 +287,63 @@ def get_params_file() -> str:
     def get(self, key, default=None):
         return getattr(self, key, default)
 
-    def set(self, key, value):
+    def set(self, key, value, save=True):
+        self._params_dict[key] = value
         setattr(self, key, value)
         # save the new value in the file
-        self.save()
+        if save:
+            self.save()
         return value
 
     def items(self):
         return self._params_dict.items()
 
 
+def is_env_file():
+    nanosaur_home_path = get_nanosaur_home()
+    env_path = os.path.join(nanosaur_home_path, '.env')
+    return os.path.exists(env_path)
+
+
+def build_env_file(params):
+    nanosaur_home_path = get_nanosaur_home()
+    env_path = os.path.join(nanosaur_home_path, '.env')
+    # Get current robot running
+    robot = RobotList.get_robot(params)
+    uid = os.getuid()
+    gid = os.getgid()
+    # Create a .env file and save UID and GID
+    with open(env_path, 'w') as env_file:
+        env_file.write(f"USER_UID={uid}\n")
+        env_file.write(f"USER_GID={gid}\n")
+        # Check which simulation tool is selected and save it in the .env file
+        simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
+        env_file.write(f"SIMULATION={simulation_tool}\n")
+        # Pass robot ros commands
+        env_file.write(f"COMMANDS={robot.config_to_ros()}\n")
+
+
 def package_info(params: Params, verbose: bool):
     # Print version information
     nanosaur_website = TerminalFormatter.clickable_link(NANOSAUR_WEBSITE_URL)
     print(f"{TerminalFormatter.color_text('Nanosaur website:', bold=True)} {nanosaur_website}")
     nanosaur_home_folder = TerminalFormatter.clickable_link(get_nanosaur_home())
     print(f"{TerminalFormatter.color_text('Nanosaur home:', bold=True)} {nanosaur_home_folder}")
-    if verbose:
-        print(f"{TerminalFormatter.color_text('Nanosaur package:', bold=True)} {__version__}")
-        nanosaur_branch = params.get('nanosaur_branch', NANOSAUR_MAIN_BRANCH)
-        print(f"{TerminalFormatter.color_text('Nanosaur version (branch):', bold=True)} {nanosaur_branch}")
+    # Print verbose information
+    def print_verbose_info(params):
+        nanosaur_docker_user = get_nanosaur_docker_user(params)
+        nanosaur_docker_home = TerminalFormatter.clickable_link(f"https://hub.docker.com/u/{nanosaur_docker_user}")
+        print(f"{TerminalFormatter.color_text('Nanosaur Docker Hub:', bold=True)} {nanosaur_docker_home}")
         config_file_path = TerminalFormatter.clickable_link(Params.get_params_file())
         print(f"{TerminalFormatter.color_text('Nanosaur config file:', bold=True)} {config_file_path}")
+        nanosaur_branch = params.get('nanosaur_branch', NANOSAUR_MAIN_BRANCH)
+        print(f"{TerminalFormatter.color_text('Nanosaur version (branch):', bold=True)} {nanosaur_branch}")
+        print(f"{TerminalFormatter.color_text('Nanosaur package:', bold=True)} {__version__}")
+    if verbose:
+        print_verbose_info(params)
+
+def get_nanosaur_docker_user(params: Params) -> str:
+    return params.get('nanosaur_docker_user', NANOSAUR_DOCKER_USER)
 
 
 def get_nanosaur_raw_github_url(params: Params) -> str:

src/nanosaur/workspace.py

@@ -30,7 +30,7 @@
 from nanosaur.prompt_colors import TerminalFormatter
 from nanosaur import ros
 from nanosaur.simulation import simulation_robot_start_debug
-from nanosaur.utilities import Params, get_nanosaur_raw_github_url, get_nanosaur_home, create_nanosaur_home, require_sudo_password
+from nanosaur.utilities import Params, get_nanosaur_raw_github_url, get_nanosaur_home, create_nanosaur_home, require_sudo_password, get_nanosaur_docker_user
 import inquirer
 
 
@@ -48,10 +48,6 @@
 DEFAULT_WORKSPACE_ROBOT = 'robot_ws'
 DEFAULT_WORKSPACE_DEVELOPER = 'ros_ws'
 
-DEFAULT_DOCKER_PERCEPTION_IMAGE = 'nanosaur/perception'
-DEFAULT_DOCKER_SIMULATION_IMAGE = 'nanosaur/simulation'
-DEFAULT_DOCKER_ROBOT_IMAGE = 'nanosaur/nanosaur'
-
 
 def workspaces_info(params: Params, verbose: bool):
     """Print information about the workspaces."""
@@ -258,10 +254,11 @@ def debug(platform, params: Params, args):
 
 
 def deploy(platform, params: Params, args):
+    nanosaur_docker_user = get_nanosaur_docker_user(params)
     """ Deploy the workspace """
     workspace_actions = {
-        'simulation': lambda: ros.deploy_docker_simulation(DEFAULT_DOCKER_SIMULATION_IMAGE, get_workspace_path(params, 'ws_simulation_name'), args.all),
-        'perception': lambda: ros.deploy_docker_perception(DEFAULT_DOCKER_PERCEPTION_IMAGE, get_workspace_path(params, 'ws_perception_name')),
+        'simulation': lambda: ros.deploy_docker_simulation(nanosaur_docker_user, get_workspace_path(params, 'ws_simulation_name'), args.all),
+        'perception': lambda: ros.deploy_docker_perception(nanosaur_docker_user, get_workspace_path(params, 'ws_perception_name')),
     }
     if args.all:
         print(TerminalFormatter.color_text("Deploying all workspaces", bold=True))