Improve script with multiple workspaces

src/nanosaur/main.py

@@ -35,14 +35,18 @@
 from nanosaur import workspace
 from nanosaur import simulation
 from nanosaur import robot
-from nanosaur.workspace import get_workspace_path
+from nanosaur.utilities import require_sudo_password
 from nanosaur.prompt_colors import TerminalFormatter
 
-NANOSAUR_CONFIG_FILE = 'nanosaur.yaml'
+NANOSAUR_CONFIG_FILE_NAME = 'nanosaur.yaml'
+NANOSAUR_HOME_NAME = 'nanosaur'
 
 # Define default parameters
 DEFAULT_PARAMS = {
-    'nanosaur_workspace_name': 'nanosaur_ws',
+    'nanosaur_home': NANOSAUR_HOME_NAME,
+    'robot_ws_name': 'robot_ws',
+    'simulation_ws_name': 'simulation_ws',
+    'perception_ws_name': 'perception_ws',
     'nanosaur_branch': 'nanosaur2',
 }
 
@@ -60,14 +64,11 @@ def info(platform, params: Params, args):
     for key, value in platform.items():
         print(f"  {key}: {value}")
 
-
-def install(platform, params: Params, args):
-    device_type = "robot" if platform['Machine'] == 'jetson' else "desktop"
-    print(TerminalFormatter.color_text(f"Installing Nanosaur for {device_type}...", color='green'))
-    if device_type == 'desktop':
-        simulation.simulation_install(platform, params, args)
-    elif device_type == 'robot':
-        print(TerminalFormatter.color_text("Robot installation not supported yet.", color='red'))
+def install(platform, params: Params, args, password=None):
+    if args.developer:
+        workspace.create_developer_workspace(platform, params, args)
+    else:
+        print(TerminalFormatter.color_text("Not implemented yet", color='red'))
 
 
 def parser_workspace_menu(subparsers: argparse._SubParsersAction) -> argparse.ArgumentParser:
@@ -78,14 +79,24 @@ def parser_workspace_menu(subparsers: argparse._SubParsersAction) -> argparse.Ar
     # Add workspace clean subcommand
     parser_workspace_clean = workspace_subparsers.add_parser(
         'clean', help="Clean the workspace")
+    parser_workspace_clean.add_argument(
+        'workspace', type=str, nargs='?', help="Specify the workspace to clean")
     parser_workspace_clean.add_argument(
         '--force', action='store_true', help="Force the workspace clean")
+    parser_workspace_clean.add_argument(
+        '--all-platforms', '--all', action='store_true', help="Clean all workspaces")
+    parser_workspace_clean.add_argument(
+        '--perception', action='store_true', help="Clean the perception workspace")
     parser_workspace_clean.set_defaults(func=workspace.clean)
     # Add workspace update subcommand
     parser_workspace_update = workspace_subparsers.add_parser(
         'update', help="Update the workspace")
+    parser_workspace_update.add_argument(
+        'workspace', type=str, nargs='?', help="Specify the workspace to clean")
     parser_workspace_update.add_argument(
         '--force', action='store_true', help="Force the update")
+    parser_workspace_update.add_argument(
+        '--all-platforms', '--all', action='store_true', help="Clean all workspaces")
     parser_workspace_update.set_defaults(func=workspace.update)
     return parser_workspace
 
@@ -133,8 +144,7 @@ def parser_swarm_menu(subparsers: argparse._SubParsersAction, params: Params) ->
 
 def main():
     # Load the parameters
-    user_home_dir = os.path.expanduser("~")
-    params = Params.load(DEFAULT_PARAMS, params_file=f'{user_home_dir}/{NANOSAUR_CONFIG_FILE}')
+    params = Params.load(DEFAULT_PARAMS, home_folder=NANOSAUR_HOME_NAME, params_file_name=NANOSAUR_CONFIG_FILE_NAME)
 
     # Extract device information with jtop
     try:
@@ -160,24 +170,26 @@ def main():
     parser_info.set_defaults(func=info)
 
     # Subcommand: install (hidden if workspace already exists)
-    if get_workspace_path(params['nanosaur_workspace_name']) is None:
+    #if get_workspace_path(params['nanosaur_workspace_name']) is None:
+    if 'developer_mode' not in params and not params['developer_mode']:
         parser_install = subparsers.add_parser('install', help="Install the Nanosaur workspace")
     else:
         parser_install = subparsers.add_parser('install')
     # Add simulation install subcommand
-    parser_install.add_argument('--developer', action='store_true', help="Install developer workspace")
+    parser_install.add_argument('--developer', '--dev', action='store_true', help="Install developer workspace")
     parser_install.add_argument('--force', action='store_true', help="Force the update")
+    parser_install.add_argument('--all-platforms', action='store_true', help="Install for all platforms")
     parser_install.set_defaults(func=install)
 
     # Subcommand: workspace (with a sub-menu for workspace operations)
-    if get_workspace_path(params['nanosaur_workspace_name']) is not None:
+    if 'developer_mode' in params and params['developer_mode']:
         # Add workspace subcommand
         parser_workspace = parser_workspace_menu(subparsers)
 
     # Subcommand: simulation (with a sub-menu for simulation types)
-    if device_type == 'desktop' and get_workspace_path(params['nanosaur_workspace_name']) is not None:
-        # Add simulation subcommand
-        parser_simulation = parser_simulation_menu(subparsers, params)
+    #if device_type == 'desktop' and get_workspace_path(params['nanosaur_workspace_name']) is not None:
+    #    # Add simulation subcommand
+    parser_simulation = parser_simulation_menu(subparsers, params)
 
     # Subcommand: robot (with a sub-menu for robot operations)
     robot_data = robot.RobotList.get_robot(params)

src/nanosaur/utilities.py

@@ -30,24 +30,25 @@
 import getpass
 from nanosaur.prompt_colors import TerminalFormatter
 
-
 class Params:
 
     @classmethod
-    def load(cls, default_params, params_file=None):
+    def load(cls, default_params, home_folder, params_file_name):
+        params_file = Params.get_params_file(home_folder, params_file_name)
         # 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, params_file)
+        return cls(params_dict, home_folder, params_file)
 
-    def __init__(self, params_dict, params_file=None):
+    def __init__(self, params_dict, home_folder, params_file_name):
         self._params_dict = params_dict
         self._default_params = copy.deepcopy(params_dict)
-        self.params_file = params_file
+        self.home_folder = home_folder
+        self.params_file_name = params_file_name
         for key, value in params_dict.items():
             setattr(self, key, value)
 
@@ -73,11 +74,20 @@ def __repr__(self):
         return str(self._params_dict)
 
     def save(self):
-        if self.params_file and self._params_dict != self._default_params:
-            print(TerminalFormatter.color_text(f"Saving parameters to {self.params_file}", color='yellow'))
-            with open(self.params_file, 'w') as file:
+        params_file = Params.get_params_file(self.home_folder, self.params_file_name)
+        # 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)
+            # Save the parameters to the file
+            print(TerminalFormatter.color_text(f"Saving parameters to {self.params_file_name}", 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):
+        return os.path.join(get_nanosaur_home(home_folder), params_file_name)
+
     def get(self, key, default=None):
         return getattr(self, key, default)
 
@@ -90,6 +100,21 @@ def set(self, key, value):
     def items(self):
         return self._params_dict.items()
 
+def create_nanosaur_home(nanosaur_home):
+    # 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)
+    # 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):
+    # Get the current user's home directory
+    user_home_dir = os.path.expanduser("~")
+    return os.path.join(user_home_dir, nanosaur_home)
 
 def require_sudo(func):
     def wrapper(*args, **kwargs):