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Run from cli #562
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,99 +1,7 @@ | ||
| import logging | ||
| import time | ||
| from logging import Logger | ||
| from threading import Thread | ||
| from typing import List | ||
| # This file is added for backwards-compability for versions 1.19.2 and older. | ||
| # It can be removed in the next minor bump (1.20.0) | ||
|
|
||
| from injector import Injector | ||
|
|
||
| from isar.apis.api import API | ||
| from isar.config.keyvault.keyvault_service import Keyvault | ||
| from isar.config.log import setup_loggers | ||
| from isar.config.settings import settings | ||
| from isar.models.communication.queues.queues import Queues | ||
| from isar.modules import get_injector | ||
| from isar.services.service_connections.mqtt.mqtt_client import MqttClient | ||
| from isar.services.service_connections.mqtt.robot_heartbeat_publisher import ( | ||
| RobotHeartbeatPublisher, | ||
| ) | ||
| from isar.services.service_connections.mqtt.robot_info_publisher import ( | ||
| RobotInfoPublisher, | ||
| ) | ||
| from isar.state_machine.state_machine import StateMachine, main | ||
| from isar.storage.uploader import Uploader | ||
| from robot_interface.robot_interface import RobotInterface | ||
| from isar.script import start | ||
|
|
||
| if __name__ == "__main__": | ||
| injector: Injector = get_injector() | ||
|
|
||
| keyvault_client = injector.get(Keyvault) | ||
| setup_loggers(keyvault=keyvault_client) | ||
| logger: Logger = logging.getLogger("main") | ||
|
|
||
| state_machine: StateMachine = injector.get(StateMachine) | ||
| uploader: Uploader = injector.get(Uploader) | ||
| robot: RobotInterface = injector.get(RobotInterface) | ||
| queues: Queues = injector.get(Queues) | ||
|
|
||
| threads: List[Thread] = [] | ||
|
|
||
| state_machine_thread: Thread = Thread( | ||
| target=main, name="ISAR State Machine", args=[state_machine], daemon=True | ||
| ) | ||
| threads.append(state_machine_thread) | ||
|
|
||
| uploader_thread: Thread = Thread( | ||
| target=uploader.run, name="ISAR Uploader", daemon=True | ||
| ) | ||
| threads.append(uploader_thread) | ||
| if settings.MQTT_ENABLED: | ||
| mqtt_client: MqttClient = MqttClient(mqtt_queue=queues.mqtt_queue) | ||
|
|
||
| mqtt_thread: Thread = Thread( | ||
| target=mqtt_client.run, name="ISAR MQTT Client", daemon=True | ||
| ) | ||
| threads.append(mqtt_thread) | ||
|
|
||
| robot_info_publisher: RobotInfoPublisher = RobotInfoPublisher( | ||
| mqtt_queue=queues.mqtt_queue | ||
| ) | ||
| robot_info_thread: Thread = Thread( | ||
| target=robot_info_publisher.run, | ||
| name="ISAR Robot Info Publisher", | ||
| daemon=True, | ||
| ) | ||
| threads.append(robot_info_thread) | ||
|
|
||
| robot_heartbeat_publisher: RobotHeartbeatPublisher = RobotHeartbeatPublisher( | ||
| mqtt_queue=queues.mqtt_queue | ||
| ) | ||
|
|
||
| robot_heartbeat_thread: Thread = Thread( | ||
| target=robot_heartbeat_publisher.run, | ||
| name="ISAR Robot Heartbeat Publisher", | ||
| daemon=True, | ||
| ) | ||
| threads.append(robot_heartbeat_thread) | ||
|
|
||
| publishers: List[Thread] = robot.get_telemetry_publishers( | ||
| queue=queues.mqtt_queue, | ||
| robot_name=settings.ROBOT_NAME, | ||
| isar_id=settings.ISAR_ID, | ||
| ) | ||
| if publishers: | ||
| threads.extend(publishers) | ||
|
|
||
| api: API = injector.get(API) | ||
| api_thread: Thread = Thread(target=api.run_app, name="ISAR API", daemon=True) | ||
| threads.append(api_thread) | ||
|
|
||
| for thread in threads: | ||
| thread.start() | ||
| logger.info(f"Started thread: {thread.name}") | ||
|
|
||
| while True: | ||
| for thread in threads: | ||
| if not thread.is_alive(): | ||
| logger.critical("Thread '%s' failed - ISAR shutting down", thread.name) | ||
| exit(1) | ||
| time.sleep(state_machine.sleep_time) | ||
| start() | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| import logging | ||
| import time | ||
| from logging import Logger | ||
| from threading import Thread | ||
| from typing import Any, List | ||
|
|
||
| from injector import Injector | ||
|
|
||
| import isar | ||
| from isar.apis.api import API | ||
| from isar.config.keyvault.keyvault_service import Keyvault | ||
| from isar.config.log import setup_loggers | ||
| from isar.config.settings import settings | ||
| from isar.models.communication.queues.queues import Queues | ||
| from isar.modules import get_injector | ||
| from isar.services.service_connections.mqtt.mqtt_client import MqttClient | ||
| from isar.services.service_connections.mqtt.robot_heartbeat_publisher import ( | ||
| RobotHeartbeatPublisher, | ||
| ) | ||
| from isar.services.service_connections.mqtt.robot_info_publisher import ( | ||
| RobotInfoPublisher, | ||
| ) | ||
| from isar.state_machine.state_machine import StateMachine, main | ||
| from isar.storage.uploader import Uploader | ||
| from robot_interface.robot_interface import RobotInterface | ||
|
|
||
|
|
||
| def print_setting( | ||
| setting: str = "", value: Any = "", fillchar: str = " ", width: int = 48 | ||
| ): | ||
| separator = ": " if value != "" else "" | ||
| text = setting.ljust(22, fillchar) + separator + str(value) | ||
| print("*", text.ljust(width - 4, fillchar), "*") | ||
|
|
||
|
|
||
| def print_startup_info(): | ||
| print( | ||
| """ | ||
| __ ________ ___ ________ | ||
| / / / ______/ / | / ____ / | ||
| / / / /_____ / /| | / /___/ / | ||
| / / /_____ / / __ | / __ __/ | ||
| / / ______/ / / / | | / / | | | ||
| /_/ /_______/ /_/ |_| /_/ |_| | ||
|
|
||
| """ | ||
| ) | ||
|
|
||
| WIDTH = 48 | ||
|
|
||
| def print_setting(setting: str = "", value: Any = "", fillchar: str = " "): | ||
| separator = ": " if value != "" else "" | ||
| text = setting.ljust(22, fillchar) + separator + str(value) | ||
| print("*", text.ljust(WIDTH - 4, fillchar), "*") | ||
|
|
||
| print("Integration and Supervisory control".center(WIDTH, " ")) | ||
| print("of Autonomous Robots".center(WIDTH, " ")) | ||
| print() | ||
| print(f"Version: {isar.__version__}\n".center(WIDTH, " ")) | ||
|
|
||
| print_setting(fillchar="*") | ||
| print_setting("ISAR settings") | ||
| print_setting(fillchar="-") | ||
| print_setting("Robot package", settings.ROBOT_PACKAGE) | ||
| print_setting("Robot name", settings.ROBOT_NAME) | ||
| print_setting("Run mission stepwise", settings.RUN_MISSION_STEPWISE) | ||
| print_setting("Running on port", settings.API_PORT) | ||
| print_setting("Mission planner", settings.MISSION_PLANNER) | ||
| print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED) | ||
| print_setting("Using blob storage", settings.STORAGE_BLOB_ENABLED) | ||
| print_setting("Using SLIMM storage", settings.STORAGE_SLIMM_ENABLED) | ||
| print_setting("Plant code", settings.PLANT_CODE) | ||
| print_setting("Plant name", settings.PLANT_NAME) | ||
| print_setting("Plant shortname", settings.PLANT_SHORT_NAME) | ||
| print_setting(fillchar="*") | ||
| print() | ||
|
|
||
|
|
||
| def start(): | ||
| injector: Injector = get_injector() | ||
|
|
||
| keyvault_client = injector.get(Keyvault) | ||
| setup_loggers(keyvault=keyvault_client) | ||
| logger: Logger = logging.getLogger("main") | ||
|
|
||
| print_startup_info() | ||
|
|
||
| state_machine: StateMachine = injector.get(StateMachine) | ||
| uploader: Uploader = injector.get(Uploader) | ||
| robot: RobotInterface = injector.get(RobotInterface) | ||
| queues: Queues = injector.get(Queues) | ||
|
|
||
| threads: List[Thread] = [] | ||
|
|
||
| state_machine_thread: Thread = Thread( | ||
| target=main, name="ISAR State Machine", args=[state_machine], daemon=True | ||
| ) | ||
| threads.append(state_machine_thread) | ||
|
|
||
| uploader_thread: Thread = Thread( | ||
| target=uploader.run, name="ISAR Uploader", daemon=True | ||
| ) | ||
| threads.append(uploader_thread) | ||
| if settings.MQTT_ENABLED: | ||
| mqtt_client: MqttClient = MqttClient(mqtt_queue=queues.mqtt_queue) | ||
|
|
||
| mqtt_thread: Thread = Thread( | ||
| target=mqtt_client.run, name="ISAR MQTT Client", daemon=True | ||
| ) | ||
| threads.append(mqtt_thread) | ||
|
|
||
| robot_info_publisher: RobotInfoPublisher = RobotInfoPublisher( | ||
| mqtt_queue=queues.mqtt_queue | ||
| ) | ||
| robot_info_thread: Thread = Thread( | ||
| target=robot_info_publisher.run, | ||
| name="ISAR Robot Info Publisher", | ||
| daemon=True, | ||
| ) | ||
| threads.append(robot_info_thread) | ||
|
|
||
| robot_heartbeat_publisher: RobotHeartbeatPublisher = RobotHeartbeatPublisher( | ||
| mqtt_queue=queues.mqtt_queue | ||
| ) | ||
|
|
||
| robot_heartbeat_thread: Thread = Thread( | ||
| target=robot_heartbeat_publisher.run, | ||
| name="ISAR Robot Heartbeat Publisher", | ||
| daemon=True, | ||
| ) | ||
| threads.append(robot_heartbeat_thread) | ||
|
|
||
| publishers: List[Thread] = robot.get_telemetry_publishers( | ||
| queue=queues.mqtt_queue, | ||
| robot_name=settings.ROBOT_NAME, | ||
| isar_id=settings.ISAR_ID, | ||
| ) | ||
| if publishers: | ||
| threads.extend(publishers) | ||
|
|
||
| api: API = injector.get(API) | ||
| api_thread: Thread = Thread(target=api.run_app, name="ISAR API", daemon=True) | ||
| threads.append(api_thread) | ||
|
|
||
| for thread in threads: | ||
| thread.start() | ||
| logger.info(f"Started thread: {thread.name}") | ||
|
|
||
| while True: | ||
| for thread in threads: | ||
| if not thread.is_alive(): | ||
| logger.critical("Thread '%s' failed - ISAR shutting down", thread.name) | ||
| exit(1) | ||
| time.sleep(state_machine.sleep_time) |
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If this file is removed the Dockerfile implementation will break as this runs main.py directly. Is there a solution to tell Docker to run this cli command?
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Yes, that is the idea. i want to remove the Dockerfile and image altogether from ISAR and just build it from isar-robot (and the other sup-repos). Those already have isar available as the library and does not need the isar image