add rviz command

.gitignore

@@ -1,4 +1,5 @@
 .vscode/
 logs_and_video/
+rviz/
 *.pyc
 downloads*

README.md

@@ -85,6 +85,12 @@ With RVIZ you can visualise the vehicle orientation, vectors of the applied forc
 
 <img src="https://github.com/ZilantRobotics/innopolis_vtol_dynamics/wiki/assets/welcome/use_case_2_rviz.gif" alt="drawing" width="800"/>
 
+How to run:
+
+```bash
+./scripts/sim.py rviz vtol_T_300
+```
+
 **Tool 3. 3D-simulator**
 
 > 3D-simulator demo is in process...

scripts/command.py

@@ -5,16 +5,30 @@
 import yaml
 from mode import SimMode
 
+REPO_DIR = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))
+VEHICLES_DIR = os.path.join(REPO_DIR, "configs", "vehicles")
+
 @dataclass
 class SimCommand:
     name: str
     alias: Optional[str]
     mode: SimMode
     info: Optional[str]
     sim_config: Optional[str] = None
+    args: Optional[list] = None
+
+    def check(self, command: str) -> bool:
+        if isinstance(command, str):
+            name = command
+        elif isinstance(command, list):
+            name = command[0]
+        else:
+            raise ValueError("The 'name' argument must be a string or a list of strings.")
 
-    def check(self, name: str) -> bool:
-        return name in [self.name, self.alias]
+        res = name in [self.name, self.alias]
+        if res:
+            self.args = command[1:]
+        return res
 
     @staticmethod
     def create_from_yaml_file(file_path: str):
@@ -43,3 +57,11 @@ def create_list_from_directory(dir_with_yaml_files) -> list:
             if cmd is not None:
                 commands.append(cmd)
         return commands
+
+COMMANDS = [
+    SimCommand(name="build", alias='b', mode=None, info="Build the Docker image"),
+    SimCommand(name="kill", alias='', mode=None, info="Kill the running Docker container"),
+    SimCommand(name="monitor", alias='', mode=None, info="Just monitor"),
+    SimCommand(name="rviz", alias='', mode=None, info="Run RVIZ"),
+    *SimCommand.create_list_from_directory(dir_with_yaml_files=VEHICLES_DIR)
+]

scripts/sim.py

@@ -18,12 +18,13 @@
 import time
 import logging
 import datetime
+import subprocess
 from typing import Optional
 from pathlib import Path
 from argparse import ArgumentParser, RawTextHelpFormatter
 from autopilot_tools.configurator import AutopilotConfigurator
 
-from command import SimCommand
+from command import SimCommand, COMMANDS
 from docker_wrapper import DockerWrapper
 from model import SimModel
 
@@ -35,28 +36,24 @@
 LOG_PATH = os.path.join(LOGS_DIR, LOG_FILENAME)
 ISSUES_URL = "https://github.com/ZilantRobotics/innopolis_vtol_dynamics/issues"
 
-COMMANDS = [
-    SimCommand(name="build", alias='b', mode=None, info="Build the Docker image"),
-    SimCommand(name="kill", alias='', mode=None, info="Kill the running Docker container"),
-    SimCommand(name="monitor", alias='', mode=None, info="Just monitor"),
-    *SimCommand.create_list_from_directory(dir_with_yaml_files=VEHICLES_DIR)
-]
-
 logger = logging.getLogger(__name__)
 
 class SimCommander:
     def __init__(self, model: SimModel) -> None:
         assert isinstance(model, SimModel)
         self._model = model
+        self.command = None
 
     def __del__(self):
-        self._kill()
+        if self.command.name not in ['rviz']:
+            self._kill()
 
     def execute(self,
                 command: SimCommand,
                 need_upload_firmware: bool,
                 need_load_parameters: bool) -> None:
         assert isinstance(command, SimCommand)
+        self.command = command
 
         if command.name == "kill":
             self._kill()
@@ -66,6 +63,10 @@ def execute(self,
             self._build()
             sys.exit(0)
 
+        if command.name == "rviz":
+            SimCommander._rviz(command.args)
+            sys.exit(0)
+
         if need_upload_firmware or need_load_parameters:
             config_path = f"{VEHICLES_DIR}/{command.name}.yaml"
             AutopilotConfigurator.configure_with_yaml_file(config_path,
@@ -102,6 +103,33 @@ def _kill(self) -> None:
     def _build(self) -> None:
         DockerWrapper.build(self._model.full_image_name)
 
+    @staticmethod
+    def _rviz(args: list) -> None:
+        rviz_dir = "rviz"
+        repo_url = "[email protected]:PonomarevDA/rviz_docker.git"
+        if not os.path.exists(rviz_dir) or not os.listdir(rviz_dir):
+            logger.info("Cloning repository from %s into %s...", repo_url, rviz_dir)
+            try:
+                subprocess.run(["git", "clone", repo_url, rviz_dir], check=True)
+            except subprocess.CalledProcessError:
+                logger.critical("Failed to clone repository from %s. Exiting.", repo_url)
+                sys.exit(1)
+        if not os.path.exists(rviz_dir):
+            logger.critical("The directory 'rviz' does not exist after cloning. Exiting.")
+            sys.exit(1)
+
+        scripts = ['build.sh', 'run.sh']
+        for script in scripts:
+            script_path = os.path.join(rviz_dir, script)
+            if not os.path.isfile(script_path):
+                print(f"Error: {script_path} not found. Exiting.")
+                sys.exit(1)
+            try:
+                subprocess.run(["bash", script_path, *args], check=True)
+            except subprocess.CalledProcessError:
+                logger.critical("Script %s failed. Exiting.", script)
+                sys.exit(1)
+
 class SimView:
     def __init__(self, model: SimModel) -> None:
         assert isinstance(model, SimModel)
@@ -148,7 +176,7 @@ def main():
 
     command_help = f'{"Command":<36} {"Alias":<10} {"Info"}\n'
     command_help += '\n'.join([f"{cmd.name:<36} {cmd.alias:<10} {cmd.info}" for cmd in COMMANDS])
-    parser.add_argument('command', help=command_help)
+    parser.add_argument('command', help=command_help, nargs='+')
 
     upload_help = "upload the required firmware"
     parser.add_argument("--upload", help=upload_help, default=False, action='store_true')