Merge pull request #331 from rapyuta-robotics/devel

🎉 release: v7.6.0

Pipfile

@@ -24,7 +24,7 @@ graphlib-backport = ">=1.0.3"
 jinja2 = ">=3.0.1"
 munch = ">=2.4.0"
 pyyaml = ">=5.4.1"
-rapyuta-io = ">=1.15.1"
+rapyuta-io = ">=1.16.0"
 tabulate = ">=0.8.0"
 pyrfc3339 = ">=1.1"
 directory-tree = ">=0.0.3.1"

docs/source/hwil.rst

@@ -0,0 +1,10 @@
+Hardware-in-Loop
+================
+
+.. toctree::
+   :maxdepth: 3
+   :caption: Contents:
+
+.. click:: riocli.hwil:hwildevice
+   :prog: rio hwil
+   :nested: full

docs/source/index.rst

@@ -65,6 +65,7 @@ Rapyuta CLI has commands for all rapyuta.io resources. You can read more about t
    Deployment <deployment>
    Device <device>
    Disk <disk>
+   Hardware-in-Loop <hwil>
    ManagedService <managedservice>
    Network <network>
    Organization <organization>

riocli/apply/manifests/device.yaml

@@ -4,13 +4,20 @@ metadata:
   name: "device-docker" # Required
   project: "project-guid"
   labels:
+    custom_label_1: label1
+    custom_label_2: label2
+    custom_label_3: label3
     app: test
 spec:
   python: "3"
   rosDistro: "melodic" # Options: ["kinetic", "melodic" (default), "noetic"]
   docker:
     enabled: True # Required
     rosbagMountPath: "/opt/rapyuta/volumes/rosbag"
+  configVariables:
+    custom_config_variable_1: value1
+    custom_config_variable_2: value2
+
 ---
 apiVersion: "apiextensions.rapyuta.io/v1"
 kind: "Device"
@@ -42,4 +49,33 @@ spec:
     rosbagMountPath: "/opt/rapyuta/volumes/rosbag"
   preinstalled:
     enabled: True
-    catkinWorkspace: "/home/rapyuta/catkin_ws"
+    catkinWorkspace: "/home/rapyuta/catkin_ws"
+
+---
+apiVersion: "apiextensions.rapyuta.io/v1"
+kind: "Device"
+metadata:
+  name: "virtual-device-docker" # Required
+  project: "project-guid"
+  labels:
+    custom_label_1: label1
+    custom_label_2: label2
+    custom_label_3: label3
+    app: test
+spec:
+  python: "3"
+  rosDistro: "melodic" # Options: ["kinetic", "melodic" (default), "noetic"]
+  virtual:
+    enabled: True # Required
+    product: "sootballs" # Required Options: ["sootballs", "flaptter", "oks"]
+    arch: "amd64" # Options: ["amd64" (default), "arm64" ]
+    os: "ubuntu" # Options: ["ubuntu" (default), "debian" ]
+    codename: "focal" # Options: ["bionic", "focal" (default), "jammy", "bullseye"]
+    highperf: False # Optional [True, False (default)]
+  docker:
+    enabled: True # Required
+    rosbagMountPath: "/opt/rapyuta/volumes/rosbag"
+  configVariables:
+    custom_config_variable_1: value1
+    custom_config_variable_2: value2
+

riocli/bootstrap.py

@@ -28,6 +28,7 @@
 from riocli.completion import completion
 from riocli.config import Configuration
 from riocli.configtree import config_trees
+from riocli.hwil import hwildevice
 from riocli.constants import Colors, Symbols
 from riocli.deployment import deployment
 from riocli.device import device
@@ -138,3 +139,4 @@ def update(silent: bool) -> None:
 cli.add_command(vpn)
 cli.add_command(usergroup)
 cli.add_command(config_trees)
+cli.add_command(hwildevice)

riocli/config/__init__.py

@@ -39,6 +39,13 @@ def new_v2_client(config_inst: Configuration = None, with_project: bool = True):
     return config_inst.new_v2_client(with_project=with_project)
 
 
+def new_hwil_client(config_inst: Configuration = None):
+    if not config_inst:
+        config_inst = Configuration()
+
+    return config_inst.new_hwil_client()
+
+
 def get_config_from_context(ctx: click.Context) -> Configuration:
     config_obj = ctx.obj
 

riocli/config/config.py

@@ -23,7 +23,8 @@
 from click import get_app_dir
 from rapyuta_io import Client
 
-from riocli.exceptions import LoggedOut, NoOrganizationSelected, NoProjectSelected
+from riocli.exceptions import LoggedOut, NoOrganizationSelected, NoProjectSelected, HwilLoggedOut
+from riocli.hwilclient import Client as HwilClient
 from riocli.v2client import Client as v2Client
 
 
@@ -43,12 +44,13 @@ class Configuration(object):
     """
     APP_NAME = 'rio-cli'
     PIPING_SERVER = 'https://piping-server-v0-rapyuta-infra.apps.okd4v2.okd4beta.rapyuta.io'
+    DIFF_TOOL = 'diff'
+    MERGE_TOOL = 'vimdiff'
 
     def __init__(self, filepath: Optional[str] = None):
         self._filepath = filepath
         self.exists = True
 
-
         # If config file does not exist, then initialize an empty dictionary instead.
         if not os.path.exists(self.filepath):
             self.exists = False
@@ -109,6 +111,17 @@ def new_v2_client(self: Configuration, with_project: bool = True) -> v2Client:
 
         return v2Client(self, auth_token=token, project=project)
 
+    def new_hwil_client(self: Configuration) -> HwilClient:
+        if 'hwil_auth_token' not in self.data:
+            raise HwilLoggedOut
+
+        if 'environment' in self.data:
+            os.environ['RIO_CONFIG'] = self.filepath
+
+        token = self.data.get('hwil_auth_token', None)
+
+        return HwilClient(auth_token=token)
+
     def get_auth_header(self: Configuration) -> dict:
         if not ('auth_token' in self.data and 'project_id' in self.data):
             raise LoggedOut
@@ -155,6 +168,14 @@ def organization_guid(self: Configuration) -> str:
     def piping_server(self: Configuration):
         return self.data.get('piping_server', self.PIPING_SERVER)
 
+    @property
+    def diff_tool(self: Configuration):
+        return self.data.get('diff_tool', self.DIFF_TOOL)
+
+    @property
+    def merge_tool(self: Configuration):
+        return self.data.get('merge_tool', self.MERGE_TOOL)
+
     @property
     def machine_id(self: Configuration):
         if 'machine_id' not in self.data:

riocli/configtree/__init__.py

@@ -14,6 +14,9 @@
 import click
 from click_help_colors import HelpColorsGroup
 
+from riocli.configtree.diff import diff_revisions
+from riocli.configtree.export_keys import export_keys
+from riocli.configtree.merge import merge_revisions
 from riocli.configtree.revision import revision
 from riocli.configtree.tree import clone_tree, create_config_tree, delete_config_tree, list_config_tree_keys, list_config_trees, list_tree_revisions, set_tree_revision
 from riocli.configtree.import_keys import import_keys
@@ -39,6 +42,9 @@ def config_trees() -> None:
 config_trees.add_command(list_config_tree_keys)
 config_trees.add_command(clone_tree)
 config_trees.add_command(import_keys)
+config_trees.add_command(export_keys)
 config_trees.add_command(set_tree_revision)
 config_trees.add_command(list_tree_revisions)
 config_trees.add_command(revision)
+config_trees.add_command(diff_revisions)
+config_trees.add_command(merge_revisions)