remove nanosaur_home from config file

src/nanosaur/main.py

@@ -42,13 +42,10 @@
 
 
 NANOSAUR_INSTALL_OPTIONS = ['Simple', 'Developer', 'Maintainer']
-NANOSAUR_CONFIG_FILE_NAME = 'nanosaur.yaml'
-NANOSAUR_HOME_NAME = 'nanosaur'
 
 # Define default parameters
 DEFAULT_PARAMS = {
     'nanosaur_branch': 'nanosaur2',
-    'nanosaur_home': NANOSAUR_HOME_NAME,
     'nanosaur_raw_github_repo': 'https://raw.githubusercontent.com/rnanosaur/nanosaur',
     'ws_developer_name': 'ros_ws',
     'ws_perception_name': 'perception_ws',
@@ -99,8 +96,8 @@ def info(platform, params: Params, args):
     print(TerminalFormatter.color_text("\nVersion Information:", bold=True))
     print(f"  {TerminalFormatter.color_text('Nanosaur package:', bold=True)} {__version__}")
     print(f"  {TerminalFormatter.color_text('Nanosaur version (branch):', bold=True)} {params['nanosaur_branch']}")
-    print(f"  {TerminalFormatter.color_text('Nanosaur home:', bold=True)} {TerminalFormatter.clickable_path(get_nanosaur_home(params['nanosaur_home']))}")
-    config_file_path = Params.get_params_file(params['nanosaur_home'], NANOSAUR_CONFIG_FILE_NAME)
+    print(f"  {TerminalFormatter.color_text('Nanosaur home:', bold=True)} {TerminalFormatter.clickable_path(get_nanosaur_home())}")
+    config_file_path = Params.get_params_file()
     print(f"  {TerminalFormatter.color_text('Nanosaur config file:', bold=True)} {TerminalFormatter.clickable_path(config_file_path)}")
 
 
@@ -159,7 +156,7 @@ def robot_control(params, subparsers):
 
 def main():
     # Load the parameters
-    params = Params.load(DEFAULT_PARAMS, home_folder=NANOSAUR_HOME_NAME, params_file_name=NANOSAUR_CONFIG_FILE_NAME)
+    params = Params.load(DEFAULT_PARAMS)
 
     # Extract device information with jtop
     try:
@@ -201,7 +198,7 @@ def main():
         parser_workspace = workspace.parser_workspace_menu(subparsers)
 
     # Subcommand: simulation (with a sub-menu for simulation types)
-    if device_type == 'desktop':
+    if device_type == 'desktop' and 'mode' in params:
         # Add simulation subcommand
         parser_simulation = parser_simulation_menu(subparsers, params)
 

src/nanosaur/ros.py

@@ -50,7 +50,7 @@ def run_dev_script(params, host_workspace_path, workspace_path):
     os.chdir(isaac_ros_common_path)
     print(f"Changed directory to: {isaac_ros_common_path}")
 
-    nanosaur_home_path = get_nanosaur_home(params['nanosaur_home'])
+    nanosaur_home_path = get_nanosaur_home()
 
     # Path to the script you want to run
     command = "./scripts/run_dev.sh"
@@ -266,7 +266,7 @@ def deploy_docker_perception(params: Params, 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(params['nanosaur_home']), 'shared_src'),
+        os.path.join(get_nanosaur_home(), 'shared_src'),
         os.path.join(perception_ws_path, 'src')
     ]
 

src/nanosaur/utilities.py

@@ -44,6 +44,10 @@
 ENGINES_CHOICES = ['vslam', 'nvblox', 'apriltag']
 
 
+NANOSAUR_CONFIG_FILE_NAME = 'nanosaur.yaml'
+NANOSAUR_HOME_NAME = 'nanosaur'
+
+
 class Robot:
 
     @classmethod
@@ -219,22 +223,20 @@ def print_all_robots(self, robot_idx=None):
 class Params:
 
     @classmethod
-    def load(cls, default_params, home_folder, params_file_name):
-        params_file = Params.get_params_file(home_folder, params_file_name)
+    def load(cls, default_params):
+        params_file = Params.get_params_file()
         # Load parameters from YAML file if it exists
         if os.path.exists(params_file):
             with open(params_file, 'r') as file:
                 params_dict = yaml.safe_load(file)
         else:
             params_dict = default_params
 
-        return cls(params_dict, home_folder, params_file)
+        return cls(params_dict)
 
-    def __init__(self, params_dict, home_folder, params_file_name):
+    def __init__(self, params_dict):
         self._params_dict = params_dict
         self._default_params = copy.deepcopy(params_dict)
-        self.home_folder = home_folder
-        self.params_file_name = params_file_name
         for key, value in params_dict.items():
             setattr(self, key, value)
 
@@ -260,19 +262,19 @@ def __repr__(self):
         return str(self._params_dict)
 
     def save(self):
-        params_file = Params.get_params_file(self.home_folder, self.params_file_name)
+        params_file = Params.get_params_file()
         # Save the parameters to the file if they are different from the default
         if params_file and self._params_dict != self._default_params:
             # Get the current nanosaur's home directory
-            create_nanosaur_home(self.home_folder)
+            create_nanosaur_home()
             # Save the parameters to the file
-            print(TerminalFormatter.color_text(f"Saving parameters to {self.params_file_name}", color='yellow'))
+            print(TerminalFormatter.color_text(f"Saving parameters to {params_file}", color='yellow'))
             with open(params_file, 'w') as file:
                 yaml.dump(self._params_dict, file)
 
     @staticmethod
-    def get_params_file(home_folder, params_file_name) -> str:
-        return os.path.join(get_nanosaur_home(home_folder), params_file_name)
+    def get_params_file() -> str:
+        return os.path.join(get_nanosaur_home(), NANOSAUR_CONFIG_FILE_NAME)
 
     def get(self, key, default=None):
         return getattr(self, key, default)
@@ -287,20 +289,19 @@ def items(self):
         return self._params_dict.items()
 
 
-def create_nanosaur_home(nanosaur_home) -> str:
-    # Get the current user's home directory
-    user_home_dir = os.path.expanduser("~")
-    # Create the full path for the workspace folder in the user's home directory
-    nanosaur_home_path = os.path.join(user_home_dir, nanosaur_home)
+def create_nanosaur_home() -> str:
+    # Get the current nanosaur's home directory
+    nanosaur_home_path = get_nanosaur_home()
     # Check if folder exists, if not, create it
     if not os.path.exists(nanosaur_home_path):
         os.makedirs(nanosaur_home_path)
         print(TerminalFormatter.color_text(f"Folder '{nanosaur_home_path}' created.", color='green'))
     return nanosaur_home_path
 
 
-def get_nanosaur_home(nanosaur_home) -> str:
+def get_nanosaur_home() -> str:
     # Get the current user's home directory
+    nanosaur_home = os.getenv('NANOSAUR_HOME', NANOSAUR_HOME_NAME)
     user_home_dir = os.path.expanduser("~")
     return os.path.join(user_home_dir, nanosaur_home)
 

src/nanosaur/workspace.py

@@ -88,7 +88,7 @@ def get_selected_workspace(params, workspace_actions, args):
 
 def clean(platform, params: Params, args):
     """ Clean the workspace """
-    nanosaur_home_path = get_nanosaur_home(params['nanosaur_home'])
+    nanosaur_home_path = get_nanosaur_home()
     workspace_actions = {
         'developer': lambda: clean_workspace(nanosaur_home_path, params['ws_developer_name']),
         'robot': lambda: clean_workspace(nanosaur_home_path, params['ws_robot_name']),
@@ -114,8 +114,8 @@ def clean(platform, params: Params, args):
 def update(platform, params: Params, args):
     """ Update the workspace """
     # Update shared workspace
-    def update_shared_workspace(params):
-        nanosaur_home_path = get_nanosaur_home(params['nanosaur_home'])
+    def update_shared_workspace():
+        nanosaur_home_path = get_nanosaur_home()
         shared_src_path = os.path.join(nanosaur_home_path, "shared_src")
         rosinstall_path = os.path.join(shared_src_path, "shared.rosinstall")
         if os.path.exists(rosinstall_path):
@@ -156,7 +156,7 @@ def update_workspace(params, workspace_type, workspace_name_key, force, skip_ros
     }
     if args.all:
         print(TerminalFormatter.color_text("Updating all workspaces", bold=True))
-        update_shared_workspace(params)
+        update_shared_workspace()
         results = [action() for action in workspace_actions.values()]
         return all(results)
     # Get the workspace
@@ -166,7 +166,7 @@ def update_workspace(params, workspace_type, workspace_name_key, force, skip_ros
     # Update the workspace
     print(TerminalFormatter.color_text(f"Updating {workspace}", bold=True))
     if action := workspace_actions.get(workspace):
-        update_shared_workspace(params)
+        update_shared_workspace()
         return action()
     print(TerminalFormatter.color_text(f"I cannot update this {workspace}", color='red'))
     return False
@@ -251,7 +251,7 @@ def deploy(platform, params: Params, args):
 
 
 def get_workspaces_path(params: Params) -> dict:
-    nanosaur_home_path = get_nanosaur_home(params['nanosaur_home'])
+    nanosaur_home_path = get_nanosaur_home()
     # Add all workspaces that exist in the Nanosaur home folder
     workspaces = {
         'ws_developer_name': params['ws_developer_name'],
@@ -268,7 +268,7 @@ def get_workspaces_path(params: Params) -> dict:
 
 def get_workspace_path(params: Params, ws_name) -> str:
     # Create the Nanosaur home folder
-    nanosaur_home_path = create_nanosaur_home(params['nanosaur_home'])
+    nanosaur_home_path = create_nanosaur_home()
     # Create the full path for the workspace folder in the user's home directory
     workspace_path = os.path.join(nanosaur_home_path, ws_name)
 
@@ -359,10 +359,8 @@ def build_workspace(nanosaur_raw_github_repo, branch, workspace_path, rosinstall
 
 
 def create_developer_workspace(platform, params: Params, args, password=None) -> bool:
-    # 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)
+    nanosaur_home_path = create_nanosaur_home()
     # Create developer workspace
     create_workspace(nanosaur_home_path, params['ws_developer_name'], skip_create_colcon_setting=True)
     return True
@@ -373,11 +371,10 @@ def create_maintainer_workspace(platform, params: Params, args, password=None):
     # determine the device type
     device_type = "robot" if platform['Machine'] == 'jetson' else "desktop"
     # Get the Nanosaur home folder and branch
-    nanosaur_home = params['nanosaur_home']
     nanosaur_raw_github_repo = params['nanosaur_raw_github_repo']
     branch = params['nanosaur_branch']
     # Create the Nanosaur home folder
-    nanosaur_home_path = create_nanosaur_home(nanosaur_home)
+    nanosaur_home_path = create_nanosaur_home()
 
     # Create the shared source folder
     nanosaur_shared_src = os.path.join(nanosaur_home_path, "shared_src")