RFC29_Optimize Nano Setup by Removing Unused Services

Services_Documentation.txt

@@ -146,12 +146,7 @@ It also hosts the site design files necessary to draw the Web App.
 6) Vehicle
 -Input 1: Receives data in a JSON format from the Pilot service
 -Input 2: Receives data in a JSON format from the Teleop service
--Function: This process sets up a server that connects to a CARLA simulator and communicates with it to control a self-driving car. Carla is an open-source simulator for autonomous driving research. It is used to simulate the robot’s behavior in a virtual environment.
--Output 1: Sends the data to a server running an instance of CARLA. The data sent will properly represent a segment inside the simulation.
--Output 2: Sends the data to a server running an instance of CARLA. The data sent will properly represent a segment inside the simulation.
--Q1: Is this process exclusively used to send data to the CARLA simulator, and nothing else regarding the driving of the robot?
--Q2: Where is the CARLA simulation hosted?
--Q3: What do the video streams created in the server do exactly?
+-Q1: What do the video streams created in the server do exactly?
 
 7) ROS Node
 -Input 1: Receives data in a JSON format from the Pilot service

docker-compose.yml

@@ -1,7 +1,6 @@
 version: '2'
 volumes:
   volume_zerotier_config:
-  volume_wireguard_config:
   volume_ftpd_config:
   volume_mongodb_config:
   volume_mongodb_data:
@@ -22,20 +21,6 @@ services:
       - CAP_SYS_RAWIO
     volumes:
       - volume_zerotier_config:/var/lib/zerotier-one:rw
-  wireguard:
-    cpuset: '0'
-    image: masipcat/wireguard-go
-    container_name: wireguard
-    restart: always
-    network_mode: host
-    devices:
-      - '/dev/net/tun'
-    cap_add:
-      - SYS_ADMIN
-      - NET_ADMIN
-      - CAP_SYS_RAWIO
-    volumes:
-      - volume_wireguard_config:/etc/wireguard:rw
   httpd:
     cpuset: '0'
     build:
@@ -61,18 +46,6 @@ services:
     volumes:
       - volume_ftpd_config:/etc/pureftpd:rw
       - volume_byodr_sessions:/home/ftpuser:rw
-  rosnode:
-    cpuset: '0'
-    build:
-      context: .
-      dockerfile: rosnode/Dockerfile
-    restart: always
-    command: ['python3', 'app.py', '--name', 'rosnode']
-    network_mode: host
-    stop_signal: SIGKILL
-    volumes:
-      - volume_byodr_sockets:/byodr:rw
-      - volume_byodr_config:/config:ro
   mongodb:
     cpuset: '0'
     build:

pilot/pilot/app.py

@@ -47,7 +47,6 @@ def __init__(self, event, processor, relay, config_dir=os.getcwd(), hz=100):
         self.ipc_server = None
         self.ipc_chatter = None
         self.teleop = None
-        self.ros = None
         self.vehicle = None
         self.inference = None
         self._init(relay)
@@ -101,7 +100,7 @@ def finish(self):
 
     def step(self):
         teleop = self.teleop()
-        commands = (teleop, self.ros(), self.vehicle(), self.inference())
+        commands = (teleop, self.vehicle(), self.inference())
         pilot = self._processor.next_action(*commands)
         # print(pilot)
         self._monitor.step(pilot, teleop)
@@ -127,19 +126,17 @@ def main():
     application = PilotApplication(quit_event, processor=CommandProcessor(route_store), relay=_relay, config_dir=args.config)
 
     teleop = json_collector(url="ipc:///byodr/teleop.sock", topic=b"aav/teleop/input", event=quit_event)
-    ros = json_collector(url="ipc:///byodr/ros.sock", topic=b"aav/ros/input", hwm=10, pop=True, event=quit_event)
     vehicle = json_collector(url="ipc:///byodr/vehicle.sock", topic=b"aav/vehicle/state", event=quit_event)
     inference = json_collector(url="ipc:///byodr/inference.sock", topic=b"aav/inference/state", event=quit_event)
     ipc_chatter = json_collector(url="ipc:///byodr/teleop_c.sock", topic=b"aav/teleop/chatter", pop=True, event=quit_event)
 
     application.teleop = lambda: teleop.get()
-    application.ros = lambda: ros.get()
     application.vehicle = lambda: vehicle.get()
     application.inference = lambda: inference.get()
     application.ipc_chatter = lambda: ipc_chatter.get()
     application.publisher = JSONPublisher(url="ipc:///byodr/pilot.sock", topic="aav/pilot/output")
     application.ipc_server = LocalIPCServer(url="ipc:///byodr/pilot_c.sock", name="pilot", event=quit_event)
-    threads = [teleop, ros, vehicle, inference, ipc_chatter, application.ipc_server, threading.Thread(target=application.run)]
+    threads = [teleop, vehicle, inference, ipc_chatter, application.ipc_server, threading.Thread(target=application.run)]
     if quit_event.is_set():
         return 0
 

pilot/pilot/core.py

@@ -842,25 +842,13 @@ def _cache_safe(self, key, func, *arguments):
             finally:
                 self._cache[key] = 1
 
-    def _process_ros(self, c_ros):
-        # It could be a collection of ros commands.
-        ros_messages = [] if c_ros is None else c_ros if (isinstance(c_ros, tuple) or isinstance(c_ros, list)) else [c_ros]
-        for _msg in ros_messages:
-            if "pilot.driver.set" in _msg:
-                self._cache_safe("ros switch driver", lambda: self._driver.switch_ctl(_msg.get("pilot.driver.set")))
-            if "pilot.maximum.speed" in _msg:
-                self._cache_safe("ros set cruise speed", lambda: self._driver.set_cruise_speed(_msg.get("pilot.maximum.speed")))
-
-    def _process(self, c_teleop, c_ros, c_inference):
+    def _process(self, c_teleop, c_inference):
         # r_action = None if c_external is None else c_external.get('action', None)
         # if r_action == 'resume':
         #     self._cache_safe('external api call', lambda: self._driver.switch_ctl('driver_mode.inference.dnn'))
 
         self._driver.process_navigation(c_teleop, c_inference)
 
-        # Continue with ros instructions which take precedence over a route.
-        self._process_ros(c_ros)
-
         # Zero out max speed on any intervention as a safety rule for ap and to detect faulty controllers.
         # With the left button this behavior can be overridden to allow for steer corrections.
         c_teleop = {} if c_teleop is None else c_teleop
@@ -889,21 +877,20 @@ def _process(self, c_teleop, c_ros, c_inference):
         elif c_teleop.get("arrow_down", 0) == 1:
             self._cache_safe("decrease cruise speed", lambda: self._driver.decrease_cruise_speed())
 
-    def _unpack_commands(self, teleop, ros, vehicle, inference):
+    def _unpack_commands(self, teleop, vehicle, inference):
         _ts = timestamp()
         # Check if the incoming data is within the patience time limit.
         # print("Received teleop data:", teleop)
 
         teleop = teleop if teleop is not None  else None
         vehicle = vehicle if vehicle is not None and (_ts - vehicle.get("time", 0) < self._patience_micro) else None
         inference = inference if inference is not None and (_ts - inference.get("time", 0) < self._patience_micro) else None
-        # ROS commands are processed each time as specified in your existing logic.
-        return teleop, ros, vehicle, inference
+        return teleop, vehicle, inference
 
     def next_action(self, *args):
-        teleop, ros, vehicle, inference = self._unpack_commands(*args)
+        teleop, vehicle, inference = self._unpack_commands(*args)
         # Handle instructions first.
-        self._process(teleop, ros, inference)
+        self._process(teleop, inference)
         # What to do on message timeout depends on which driver is active.
         _ctl = self._driver.get_driver_ctl()
         # Switch off autopilot on internal errors.

pilot/pilot/tests.py

@@ -18,15 +18,13 @@ def test_create_and_setup(tmpdir):
     publisher = CollectPublisher()
     ipc_server = CollectServer()
     teleop = QueueReceiver()
-    ros = QueueReceiver()
     vehicle = QueueReceiver()
     ipc_chatter = QueueReceiver()
     route_store = ReloadableDataSource(FileSystemRouteDataSource(directory=directory, load_instructions=True))
     app = PilotApplication(CommandProcessor(route_store), config_dir=directory)
     app.publisher = publisher
     app.ipc_server = ipc_server
     app.teleop = lambda: teleop.get_latest()
-    app.ros = lambda: ros.get_latest()
     app.vehicle = lambda: vehicle.get_latest()
     app.inference = lambda: None
     app.ipc_chatter = lambda: ipc_chatter.get_latest()