support multiple robots end to end in simulation

Makefile

@@ -1,29 +1,40 @@
 LOCAL_IMAGE = acorn_docker:1.0
 REMOTE_IMAGE = merlinran/acorn_docker
+ACORN_NAMES ?= simulation-1
 
 .PHONY: list
 list:
 	@echo "Welcome! You may want to try one of the following:\n---"; \
 	grep "^.PHONY:" Makefile | grep "#" | cut -d ":" -f 2- | sed "s/\w*#/\t#/g" | sed "s/^/make/"
 
-.PHONY: simulation # Run the vehicle and server containers in simulation mode.
+.PHONY: simulation # Run the vehicle and server containers in simulation mode. Use envvar ACORN_NAMES to set the name of each simulated vehicle.
 simulation: docker-image
-	@DOCKER_COMPOSE_FILE=docker-compose-simulation.yml make restart-docker-compose &&\
+	@docker-compose -f docker-compose-server.yml up -d && \
+	export server_ip=`docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' acorn_server`; \
+	for name in $(ACORN_NAMES); do \
+		NAME=$${name} SERVER_IP=$${server_ip} envsubst < docker-compose-simulation.yml | COMPOSE_IGNORE_ORPHANS=true docker-compose --file /dev/stdin --project-directory . up -d; \
+	done &&\
 	echo "Please visit http://localhost"
 
-.PHONY: attach-vehicle # Attach to the shell of the vehicle container. It creates the container if it doesn't exist.
+.PHONY: attach-vehicle # Attach to the shell of the first vehicle container. It creates the container if it doesn't exist.
 attach-vehicle:
-	@test -z `docker ps -f "name=acorn_vehicle" -q` && make docker-vehicle; \
-	docker exec -it acorn_vehicle /bin/sh
+	@first_container=`docker ps --filter "name=acorn_*" -q | head -1`; \
+	if [[ -z "$${first_container}" ]]; then \
+		make docker-vehicle; \
+	fi; \
+	docker exec -it $${first_container} /bin/sh
 
 .PHONY: attach-server # Attach to the shell of the server container. It creates the container if it doesn't exist.
 attach-server:
 	@test -z `docker ps -f "name=acorn_server" -q` && make docker-server; \
 	docker exec -it acorn_server /bin/sh
 
-.PHONY: stop # Stop both the vehicle and server containers.
+.PHONY: stop # Stop all the vehicle and server containers.
 stop:
-	@docker-compose -f docker-compose-simulation.yml down --remove-orphans
+	@containers=`docker ps --filter "name=acorn_*" -q`; \
+	if [[ -n "$${containers}" ]]; then \
+		docker stop $${containers} && docker rm $${containers}; \
+	fi \
 
 .PHONY: docker-test # Start the vehicle container in test mode and run the tests in it.
 docker-test: docker-image
@@ -52,8 +63,8 @@ docker-server: docker-image
 
 .PHONY: restart-docker-compose
 restart-docker-compose:
-	@docker-compose -f $${DOCKER_COMPOSE_FILE} down --remove-orphans; \
-	docker-compose -f $${DOCKER_COMPOSE_FILE} up -d
+	@docker-compose -f $${DOCKER_COMPOSE_FILE} down --remove-orphans
+	@COMPOSE_IGNORE_ORPHANS=true docker-compose -f $${DOCKER_COMPOSE_FILE} up -d
 
 .PHONY: docker-image
 docker-image: Dockerfile

docker-compose-simulation.yml

@@ -1,16 +1,16 @@
 version: "3.7"
 
 services:
-  acorn_vehicle:
+  acorn_vehicle_${NAME}:
     extends:
       file: docker-compose-vehicle.yml
       service: acorn_vehicle
+    container_name: acorn_vehicle_${NAME}
+    environment:
+      VEHICLE_NAME: ${NAME}
     volumes:
       - .:/home/pi/
       - ./.bashrc:/home/pi/.bashrc
     command: sh -c /home/pi/vehicle/autolaunch_vehicle_sim.sh
+    network_mode: "bridge"
     ipc: host
-  acorn_server:
-    extends:
-      file: docker-compose-server.yml
-      service: acorn_server

docker-compose-test.yml

@@ -3,11 +3,9 @@ version: "3.7"
 services:
   acorn_vehicle_test:
     extends:
-      file: docker-compose-simulation.yml
+      file: docker-compose-vehicle.yml
       service: acorn_vehicle
+    volumes:
+      - .:/home/pi/
+      - ./.bashrc:/home/pi/.bashrc
     command: sleep infinity
-  # acorn_server:
-  #   extends:
-  #     file: docker-compose-simulation.yml
-  #     service: acorn_server
-  #   command: sleep infinity

server/server.py

@@ -67,7 +67,7 @@ def map_test():
 
 def date_handler(obj):
     if isinstance(obj, (datetime.datetime, datetime.date)):
-        return obj.isoformat() + "-07:00"
+        return obj.isoformat() + "+00:00"
     else:
         return None
 

server/zmq_server.py

@@ -177,7 +177,12 @@ def handle_command(r, command, key, msg):
         command_key = redis_utils.get_robot_command_key(key)
         # if not command_key:
         #     print("Error. Command key is none. Key was:")
-        command_object = pickle.loads(r.get(command_key))
+        raw = r.get(command_key)
+        if not raw:
+            print("Robot {} is not found. Assuming a new one".format(command_key))
+            command_object = RobotCommand()
+        else:
+            command_object = pickle.loads(raw)
 
         # If the object changed definition we need to create a new one.
         if len(dir(RobotCommand())) != len(dir(command_object)):

vehicle/autolaunch_vehicle_sim.sh

@@ -2,6 +2,8 @@ echo $PWD
 echo Sleep 5...
 sleep 5
 echo Start Sessions...
+gateway_ip=`ip route show 0.0.0.0/0 | cut -d\  -f3`
+export SERVER_IP=${gateway_ip}
 tmux new-session -d -s "main" sh /home/pi/vehicle/start_main.sh --sim &
 tmux new-session -d -s "motors" sh /home/pi/vehicle/start_motors.sh --simulated_hardware &
 echo Started. Begin infinite loop.

vehicle/master_process.py

@@ -90,14 +90,9 @@ def __init__(self, simulation, debug):
         self.logger = logging.getLogger('main')
         config_logging(self.logger, self.debug)
 
-    def setup(self, config):
+    def setup(self, name, server, site):
         # Initialize robot object.
-        name = str(config["vehicle_name"])
-        server = str(config["server"])
-        if ":" not in server:
-            server += ":5570"  # back compatibility to old server config files.
-        site = str(config["site"])
-        self.logger.info("Using server from yaml {}".format(server))
+        self.logger.info("Using server {}".format(server))
         self.acorn = model.Robot(self.simulation, self.logger)
         self.acorn.setup(name, server, site)
 
@@ -193,15 +188,15 @@ def run(self, stop_signal):
 
             updated_object |= self.update_from_remote_control(gps_count, remote_to_main_lock, remote_to_main_string)
             # print("6666")
-            seconds_since_update = (datetime.now() - self.acorn.time_stamp).total_seconds()
+            seconds_since_update = (datetime.utcnow() - self.acorn.time_stamp).total_seconds()
 
             if self.simulation:
                 period = _SIMULATION_UPDATE_PERIOD
             else:
                 period = _UPDATE_PERIOD
 
             if updated_object and seconds_since_update > period:
-                self.acorn.time_stamp = datetime.now()
+                self.acorn.time_stamp = datetime.utcnow()
                 try:
                     self.server_comms_parent_conn.send([_CMD_UPDATE_ROBOT, self.acorn.key, pickle.dumps(self.acorn)])
                     self.acorn.energy_segment_list = []
@@ -407,7 +402,10 @@ def run_main(simulation, debug):
         else:
             yaml_path = _YAML_NAME_RASPBERRY
     config = load_yaml_config(yaml_path)
-    main_process.setup(config)
+    name = os.getenv('VEHICLE_NAME', config.get('vehicle_name', 'noname'))
+    server = os.getenv('SERVER_IP', config.get('server', '127.0.0.1'))
+
+    main_process.setup(name, "{}:5570".format(server), config.get('site', 'nosite'))
     stop_signal = mp.Event()
     try:
         main_process.run(stop_signal)

vehicle/model.py

@@ -50,7 +50,7 @@ def __init__(self, simulated_data=False, logger=None):
         self.record_gps_command = GPS_RECORDING_CLEAR
         self.activate_autonomy = False
         self.autonomy_velocity = 0
-        self.time_stamp = datetime.now()
+        self.time_stamp = datetime.utcnow()
         self.debug_points = None
         self.wifi_strength = None
         self.wifi_ap_name = None

vehicle/remote_control_process.py

@@ -1026,8 +1026,8 @@ def write_errors(self, error_messages):
         with open("error_log.txt", 'a+') as file1:
             file1.write("~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\r\n")
             file1.write("Disegagement Log\r\n")
-            file1.write(datetime.datetime.now().strftime(
-                "%a %b %d, %I:%M:%S %p\r\n"))
+            file1.write(datetime.datetime.utcnow().strftime(
+                "%a %b %d, %I:%M:%S %p+00:00\r\n"))
             file1.write("Last Wifi signal strength: {} dbm\r\n".format(
                 self.robot_object.wifi_strength))
             file1.write("Last Wifi AP associated: {}\r\n".format(

vehicle/server_config.yaml

@@ -1,5 +1,5 @@
 vehicle_name: acorn1
 #server: 192.168.1.152
-server: 192.168.1.170:5570
+server: 192.168.1.170
 #server: 192.168.86.69
 site: twistedfields

vehicle/server_config_sim.yaml

@@ -1,3 +1,2 @@
-vehicle_name: acorn1
-server: 127.0.0.1:5570
+server: 127.0.0.1
 site: twistedfields

vehicle/tests/test_main_process.py

@@ -41,16 +41,11 @@ def mock_motors():
                 obj = pickle.loads(motors_socket.recv_pyobj())
                 assert obj is not None, "should have sent the commands to motor"
 
-    cfg = """
-    vehicle_name: acorn1
-    server: 127.0.0.1:{}
-    site: twistedfields
-    """.format(server_port)
     server_thread = threading.Thread(target=mock_server, daemon=True)
     server_thread.start()
 
     main_process = MainProcess(simulation=True, debug=True)
-    main_process.setup(yaml.safe_load(cfg))
+    main_process.setup("test", "127.0.0.1:{}".format(server_port), "test-site")
     stop_signal = mp.Event()
     main_thread = threading.Thread(target=lambda: main_process.run(stop_signal), daemon=True)
     main_thread.start()