Merge pull request #2 from purduerov/phoenix

Phoenix

.devcontainer/Dockerfile

@@ -0,0 +1,11 @@
+# Specify base image
+FROM ros:humble
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install system dependencies
+RUN apt-get -y update
+RUN apt-get -y install python3-pip
+
+# Install python dependencies
+COPY requirements.txt requirements.txt
+RUN pip3 install -r requirements.txt

.devcontainer/devcontainer.json

@@ -0,0 +1,27 @@
+{
+    "name": "X17 Dev Container",
+    "build": {
+        "dockerfile": "Dockerfile",
+        "context": ".."
+    },
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-iot.vscode-ros",          // ROS extension
+                "ms-python.python",           // Python extension (if needed)
+                "ms-azuretools.vscode-docker" // Docker extension
+            ],
+            "settings": {
+                "terminal.integrated.shell.linux": "/bin/bash"
+            }
+        }
+    },
+    "mounts": [
+        "source=${localWorkspaceFolder}/,target=/workspace,type=bind"
+    ],
+    "runArgs": [
+        "--network", "host"     // Use host network
+    ],
+    "remoteUser": "root",
+    "postCreateCommand": "echo 'source /opt/ros/humble/setup.bash' >> /root/.bashrc"
+}

.gitignore

@@ -1,4 +1,9 @@
 __pycache__/
 ui/__pycache__
 log/
-.env
+.env
+build
+install
+.vscode/
+.idea/
+.DS_Store

CHANGES.md

@@ -0,0 +1,46 @@
+# X17-Surface PHOENIX BRANCH
+
+This is the phoenix branch for X17-Surface. It is a rewrite of the previous X17-Surface codebase, with a focus on readability and maintainability. I will try to remove as much unnecessary complexity as possible while still maintaining the core functionality.
+
+> [!WARNING]
+> This branch is still a work in progress and is not yet fully functional. Do not merge into main until sufficient testing has been completed.
+
+### Changes Made
+
+#### 1. New .devcontainer setup
+This will allow for easier development in a consistent environment.
+Requires the following components to be installed on your machine:
+- Docker Desktop
+- Visual Studio Code
+- Visual Studio Code Dev Containers extension
+
+When all of the above are installed, you can open the project in Visual Studio Code and it will prompt you to reopen in a container. If you are not prompted, you can use the command palette (Ctrl+Shift+P) and select "Dev-Containers: Rebuild and Reopen in Container".
+
+#### 2. xml -> yaml conversion
+The configuration files have been converted from XML to YAML format for better readability and ease of use. I plan on doing the same for the CORE repo as well.
+
+#### 3. New script directory
+A new directory has been created for scripts, making it easier to manage and organize scripts related to the project. (Running, building, etc.)
+
+#### 4. New launch configuration
+There is a new launch configuration. It is intended to create more parity between the surface and core functionality. This can be found in the `ui` directory. Now to launch the surface, you can use the following command (Does not work yet, just a template):
+
+```
+ros2 launch ui surface_launch.yaml
+```
+> Note: Make sure to build and source your workspace before running the launch command.
+
+After the launch command, the interface should be accessable at `http://127.0.0.1:5000`. I have run into some issues when trying to access the interface via `localhost` (which is where vscode will try to send you if you click on the link), so it is currently recommended to use the IP address directly. I have only had this issue on MacOS so far.
+
+### Known working platforms
+> Format: Device (Architecture) - OS Version (Date tested)
+- M3 MacBook Pro (ARM) - MacOS Sequoia 15.0 (9/19/2024)
+- Adam's Desktop (x86) - WSL2 on Windows 11  (9/20/2024)
+
+### Known issues
+- You cannot access any hardware yet (gamepad, etc.)
+
+### Updates
+
+9/19/2024: Initial commit. Implemented new .devcontainer setup, converted XML to YAML, created new script directory, and added new launch configuration. 
+The only nodes that are launched with the above launch command are the 'ui' node (Flask application) and the gamepad. I have not tested with the actual hardware yet so who knows if it will work.

requirements.txt

@@ -4,6 +4,6 @@ numpy==1.21.5
 opencv_python==4.7.0.68
 paramiko==3.4.0
 pygame==2.5.2
-PyQt5==5.15.10
 python-dotenv==1.0.1
 setuptools==59.6.0
+flask==3.0.3

ros/gamepad/src/sender.py

@@ -168,7 +168,7 @@ def process_event(event):
     # If the gamepad is disconnected, try to reconnect it
     elif event.type == pygame.JOYDEVICEREMOVED:
         if not reconnect_gamepad():
-            print("\nNo gamepad found, exiting")
+            node.get_logger().info("\nNo gamepad found, exiting")
             pygame.quit()
             rclpy.shutdown()
             sys.exit(0)
@@ -203,7 +203,7 @@ def reconnect_gamepad():
     i = GAMEPAD_TIMEOUT
     while i >= 0 and not reconnected:
         try:
-            print('Gamepad disconnected, reconnect within {:2} seconds'.format(i), end='\r')
+            node.get_logger().info('Gamepad disconnected, reconnect within {:2} seconds'.format(i))
             pygame.init()
             pygame.joystick.init()
             # make sure there is only one joystick
@@ -220,30 +220,32 @@ def reconnect_gamepad():
             i -= 1
 
     if reconnected:
-        print('\nGamepad reconnected')
+        node.get_logger().info('\nGamepad reconnected')
         joystick = pygame.joystick.Joystick(0)
 
     return reconnected
 
 
 if __name__ == '__main__':
-    global pub, pub_tools, data_thread, gamepad_thread
+    global pub, pub_tools, data_thread, gamepad_thread, node
 
+    # Initialize the ros node
+    rclpy.init()
+    node = rclpy.create_node('gp_pub')
+
     try:
         init_pygame()
     except:
-        print('No gamepad found, please connect a gamepad')
+        node.get_logger().info('No gamepad found, please connect a gamepad')
         if not reconnect_gamepad():
-            print("\nNo gamepad found, exiting")
+            node.get_logger().info("\nNo gamepad found, exiting")
             pygame.quit()
             sys.exit(0)
 
-    # Initialize the ros node
-    rclpy.init()
-    node = rclpy.create_node('gp_pub')
+
 
     # Create the publishers
-    pub = node.create_publisher(RovVelocityCommand, 'rov_velocity', 10)
+    pub = node.create_publisher(RovVelocityCommand, '/rov_velocity', 10)
     pub_tools = node.create_publisher(ToolsCommandMsg, 'tools', 10)
 
     # Create the timers

scripts/build.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/bash
+
+source /opt/ros/humble/setup.bash
+colcon build
+. install/setup.bash
+export ROS_DOMAIN_ID=69

scripts/clean.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# Define directories to be removed
+directories=("log" "install" "build")
+
+# Loop through each directory and remove it if it exists
+for dir in "${directories[@]}"; do
+    if [ -d "$dir" ]; then
+        echo "Removing directory: $dir"
+        rm -rf "$dir"
+    else
+        echo "Directory $dir does not exist."
+    fi
+done
+
+source /opt/ros/humble/setup.bash
+
+echo "Cleanup complete."

scripts/run.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/bash
+
+. install/setup.bash
+export ROS_DOMAIN_ID=69
+ros2 launch ui surface_launch.yaml

ui/CMakeLists.txt

@@ -16,20 +16,18 @@ find_package(rclpy REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 install(PROGRAMS
-  src/runner.py
-  src/streams.py
-  src/ssh.py
-  src/main.py
-  src/interface.py
-  src/gamepad.py
-  src/subscribers/ThrustersSurface.py
-  src/subscribers/DepthSurface.py
-  src/subscribers/GamepadListener.py
-  src/subscribers/GamepadSender.py
-  src/subscribers/config.py
-  src/subscribers/TempListener.py
-  src/subscribers/LeakListener.py
+  src/app.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  src/templates
   DESTINATION lib/${PROJECT_NAME}
 )
 

ui/launch/surface_launch.yaml

@@ -0,0 +1,11 @@
+launch:
+
+- node:
+    pkg: ui
+    exec: app.py
+    namespace: rov
+
+- node:
+    pkg: gamepad
+    exec: sender.py
+    namespace: rov

ui/src/app.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import os
+from flask import Flask, render_template, request, redirect, url_for
+# Import rlcpy for logging
+import rclpy
+
+app = Flask(__name__)
+
+@app.route('/')
+def index():
+    return render_template('index.html')
+
+if __name__ == "__main__":
+    # Initialize the ros node
+    rclpy.init()
+    node = rclpy.create_node('flask_server')
+    node.get_logger().info("Flask server started")
+
+    # Run the flask app
+    app.run(host='0.0.0.0', port=5000)