improve docker and simulation control

src/nanosaur/docker.py

@@ -24,8 +24,8 @@
 # EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 # https://gabrieldemarmiesse.github.io/python-on-whales/
-from python_on_whales import docker, DockerClient
-from nanosaur.utilities import Params, RobotList, Robot, get_nanosaur_raw_github_url, get_nanosaur_home
+from python_on_whales import docker, DockerClient, DockerException
+from nanosaur.utilities import Params, RobotList, get_nanosaur_raw_github_url, get_nanosaur_home, build_env_file, is_env_file
 from nanosaur.prompt_colors import TerminalFormatter
 import os
 import requests
@@ -66,20 +66,6 @@ def create_simple(platform, params: Params, args) -> bool:
     return True
 
 
-def build_env_file(params, env_path, robot: Robot):
-    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 docker_start(platform, params: Params, args):
     """Start the docker container."""
 
@@ -92,19 +78,67 @@ def docker_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)
-    env_path = os.path.join(nanosaur_home_path, '.env')
-
     robot = RobotList.get_robot(params)
+
+    # Check which simulation tool is selected only if robot.simulation is true
+    if robot.simulation and 'simulation_tool' not in params:
+        print(TerminalFormatter.color_text("No simulation tool selected. Please run simulation set first.", color='red'))
+        return False
+
     # Build env file
-    build_env_file(params, env_path, robot)
+    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'))
     # 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
-    nanosaur_compose.compose.up(detach=args.detach)
+    try:
+        nanosaur_compose.compose.up(detach=args.detach)
+    except DockerException as e:
+        print(TerminalFormatter.color_text(f"Error starting the robot: {e}", color='red'))
+        return False
+
+
+def docker_simulator_start(platform, params: Params, args):
+    """Start the simulation tools."""
+
+    if not docker.compose.is_installed():
+        print(TerminalFormatter.color_text("Please install Docker and Docker Compose before running the simulation.", color='red'))
+        return False
+
+    workspace_type = "robot" if platform['Machine'] == 'jetson' else "simulation"
+    docker_compose = f"docker-compose.{workspace_type}.yml"
+    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
+
+    # 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
+    # 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(' ', '_')
+    try:
+        nanosaur_compose.compose.up(services=[f'nanosaur_{simulation_tool}'])
+    except DockerException as e:
+        print(TerminalFormatter.color_text(f"Error starting the simulation tool: {e}", color='red'))
+        return False
 
 
 def docker_stop(platform, params: Params, args):

src/nanosaur/simulation.py

@@ -28,8 +28,9 @@
 import argparse
 import subprocess
 from nanosaur import workspace
+from nanosaur.docker import docker_simulator_start
 from nanosaur.prompt_colors import TerminalFormatter
-from nanosaur.utilities import Params, RobotList
+from nanosaur.utilities import Params, RobotList, build_env_file, is_env_file
 
 
 # Dictionary of simulation tools and their commands
@@ -57,6 +58,8 @@ def parser_simulation_menu(subparsers: argparse._SubParsersAction, params: Param
     # Add simulation start subcommand
     parser_simulation_start = simulation_subparsers.add_parser(
         'start', help="Start the selected simulation")
+    parser_simulation_start.add_argument(
+        '--debug', action='store_true', help="Start the simulation in debug mode")
     parser_simulation_start.set_defaults(func=simulation_start)
 
     # Add simulation set subcommand
@@ -66,7 +69,7 @@ def parser_simulation_menu(subparsers: argparse._SubParsersAction, params: Param
     return parser_simulation
 
 
-def start_robot_simulation(params):
+def simulation_robot_start_debug(params):
     nanosaur_ws_path = workspace.get_workspace_path(params, 'ws_simulation_name')
     bash_file = f'{nanosaur_ws_path}/install/setup.bash'
     # Check which simulation tool is selected
@@ -112,7 +115,7 @@ def start_robot_simulation(params):
         return False
 
 
-def simulation_start(platform, params: Params, args):
+def simulation_start_debug(platform, params: Params, args):
     """Install the simulation tools."""
     nanosaur_ws_path = workspace.get_workspace_path(params, 'ws_simulation_name')
     bash_file = f'{nanosaur_ws_path}/install/setup.bash'
@@ -157,6 +160,13 @@ def simulation_start(platform, params: Params, args):
         return False
 
 
+def simulation_start(platform, params: Params, args):
+    if args.debug:
+        return simulation_start_debug(platform, params, args)
+    else:
+        return docker_simulator_start(platform, params, args)
+
+
 def simulation_set(platform, params: Params, args):
     """Set the simulation tools."""
 

src/nanosaur/utilities.py

@@ -224,6 +224,28 @@ 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
@@ -272,9 +294,11 @@ def save(self):
             # Get the current nanosaur's home directory
             create_nanosaur_home()
             # Save the parameters to the file
-            print(TerminalFormatter.color_text(f"Saving parameters to {params_file}", color='yellow'))
+            print(TerminalFormatter.color_text(f"Saving parameters to {params_file} and update .env file", color='yellow'))
             with open(params_file, 'w') as file:
                 yaml.dump(self._params_dict, file)
+            # Make a env file
+            build_env_file(self._params_dict)
 
     @staticmethod
     def get_params_file() -> str:

src/nanosaur/workspace.py

@@ -29,7 +29,7 @@
 import argparse
 from nanosaur.prompt_colors import TerminalFormatter
 from nanosaur import ros
-from nanosaur.simulation import start_robot_simulation
+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
 import inquirer
 
@@ -243,7 +243,7 @@ def debug(platform, params: Params, args):
     """ Debug the workspace """
     workspace_actions = {
         'developer': lambda: ros.run_dev_script(params, get_workspace_path(params, 'ws_developer_name'), params.get('ws_developer_name', DEFAULT_WORKSPACE_DEVELOPER)),
-        'simulation': lambda: start_robot_simulation(params),
+        'simulation': lambda: simulation_robot_start_debug(params),
         'perception': lambda: ros.run_dev_script(params, get_workspace_path(params, 'ws_perception_name'), params.get('ws_perception_name', DEFAULT_WORKSPACE_PERCEPTION))
     }
     workspace = get_selected_workspace(params, workspace_actions, args)