Dev/startup refactor

compose/.env

@@ -0,0 +1,5 @@
+KAMERA_CORE_IMAGE=kitware/kamera:core
+KAMERA_KAMERAD_IMAGE=kitware/kamera:kamerad
+KAMERA_VIAME_IMAGE=kitware/kamera:viame
+KAMERA_POSTPROC_IMAGE=kitware/kamera:postproc
+KAMERA_GUI_IMAGE=kitware/kamera:gui

compose/cam_ir.yml

@@ -1,10 +1,9 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   cam_ir:
     container_name: "cam-ir-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"

compose/cam_param_monitor.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   cam_param_monitor:
     container_name: cam_param_monitor
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"

compose/cam_rgb.yml

@@ -1,11 +1,10 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   cam_rgb:
     container_name: "cam-rgb-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"

compose/cam_uv.yml

@@ -1,11 +1,10 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   cam_uv:
     container_name: "cam-uv-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"

compose/daq.yml

@@ -1,10 +1,9 @@
 ---
 ## Bring up the core nodes (aside from roscore)
-version: '3.7'
 services:
   daq:
     container_name: daq
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     devices:
       - "${MCC_DAQ}:${MCC_DAQ}"

compose/detections.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   detections:
-    image: kitware/kamera:postproc
+    image: ${KAMERA_POSTPROC_IMAGE}
     network_mode: host
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/detector.yml

@@ -1,13 +1,12 @@
 ---
 ## container configuration for viame interactive building
 # use compose v2 to use runtime config
-version: '2.4'
 
 services:
 ## ========================== viame =============================
   detector:
     container_name: "viame-${CAM_FOV}"
-    image: kitware/kamera:viame
+    image: ${KAMERA_VIAME_IMAGE}
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/flight_summary.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   flight_summary:
-    image: kitware/kamera:postproc
+    image: ${KAMERA_POSTPROC_IMAGE}
     network_mode: host
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/fps_monitor.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   fps_monitor:
     container_name: fps_monitor
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"

compose/gui.yml

@@ -1,11 +1,10 @@
 ---
 ## container configuration for GUI
-version: '3.7'
 services:
 ## =========================== gui =============================
   gui:
     container_name: gui
-    image: kitware/kamera:gui
+    image: ${KAMERA_GUI_IMAGE}
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/homography.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   homography:
-    image: kitware/kamera:postproc
+    image: ${KAMERA_POSTPROC_IMAGE}
     network_mode: host
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/image_manager.yml

@@ -1,11 +1,10 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   image_manager:
     container_name: "image_manager"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/imageview.yml

@@ -1,9 +1,8 @@
 ---
-version: '3.7'
 services:
   imageview:
     container_name: "imageview-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/ins.yml

@@ -1,10 +1,9 @@
 ---
 ## Bring up the core nodes (aside from roscore)
-version: '3.7'
 services:
   ins:
     container_name: ins
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     devices:
       - "${PULSE_TTY}:${PULSE_TTY}"

compose/kamerad.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   kamerad:
-    image: kitware/kamera:kamerad
+    image: ${KAMERA_KAMERAD_IMAGE}
     network_mode: host
     build: ../src/core/kamerad
     tty: true

compose/nodelist.yml

@@ -4,7 +4,7 @@ services:
   ## =========================== headless nodes =============================
   nodelist:
     container_name: nodelist
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     network_mode: host
     environment:

compose/postproc.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   postproc:
-    image: kitware/kamera:postproc
+    image: ${KAMERA_POSTPROC_IMAGE}
     network_mode: host
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/registry.yml

@@ -1,4 +1,3 @@
-version: "3"
 services:
   registry:
     restart: always

compose/roscore.yml

@@ -1,11 +1,10 @@
 ---
 ## Bring up the core nodes
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   roscore:
     container_name: roscore
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     network_mode: host
     environment:

compose/shapefile_monitor.yml

@@ -1,10 +1,9 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   shapefile_monitor:
     container_name: shapefile_monitor
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"

compose/spoof_events.yml

@@ -1,10 +1,9 @@
 ---
 ## Bring up the core nodes (aside from roscore)
-version: '3.7'
 services:
   spoof_events:
     container_name: spoof_events
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
     tty: true
     devices:
       - "${PULSE_TTY}:${PULSE_TTY}"

compose/sync_msg_publisher.yml

@@ -1,10 +1,9 @@
 ---
-version: "3.7"
 ## =======================image sync publisher===================
 services:
   sync-publisher:
     container_name: "sync-publisher-${CAM_FOV}"
-    image: kitware/kamera:viame
+    image: ${KAMERA_VIAME_IMAGE}
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"

provision/ansible/playbooks/cas/configure.yml

@@ -5,15 +5,15 @@
 
   - name: Crewed system tasks
     block:
-      - name: Clone kamera repo
-        git:
-          repo: "git@github.com:Kitware/kamera.git"
-          dest: "{{ kamera_dir }}"
-          version: main
-          recursive: True
-          accept_hostkey: True
-          update: True
-          force: True
+      # - name: Clone kamera repo
+      #   git:
+      #     repo: "git@github.com:Kitware/kamera.git"
+      #     dest: "{{ kamera_dir }}"
+      #     version: main
+      #     recursive: True
+      #     accept_hostkey: True
+      #     update: True
+      #     force: True
 
       - name: "Set redis configuration to {{ kamera_dir }}/src/cfg/redis.conf"
         become: True
@@ -100,13 +100,13 @@
           dest: /etc/netplan/{{ inventory_hostname }}-netplan.yaml
           owner: root
 
-      - name: Add mappings to /etc/hosts
-        become: True
-        copy:
-          src: "{{ kamera_dir }}/src/cfg/{{ config_dir }}/{{ inventory_hostname }}/hosts"
-          remote_src: true
-          dest: /etc/hosts
-          owner: root
+      # - name: Add mappings to /etc/hosts
+      #   become: True
+      #   copy:
+      #     src: "{{ kamera_dir }}/src/cfg/{{ config_dir }}/{{ inventory_hostname }}/hosts"
+      #     remote_src: true
+      #     dest: /etc/hosts
+      #     owner: root
 
         # Overwrite default, this is for our 10G cameras
       - name: Add sysctl rmem params.
@@ -196,12 +196,6 @@
         when: follower or leader or gui
         shell: sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
 
-      - name: Create ~/.tmuxinator if it does not exist
-        file:
-          path: ~/.tmuxinator
-          state: directory
-          mode: '0755'
-
       - name: Create udev rule for mcc_daq
         become: True
         when: leader

src/cfg/nayak/supervisord.conf

@@ -12,6 +12,7 @@ port=0.0.0.0:9001
 logfile=/var/log/supervisor/supervisord.log ; (main log file;default $CWD/supervisord.log)
 pidfile=/var/run/supervisord.pid ; (supervisord pidfile;default supervisord.pid)
 childlogdir=/var/log/supervisor            ; ('AUTO' child log dir, default $TEMP)
+environment=HOME="/home/user"
 
 ; the below section must remain in the config file for RPC
 ; (supervisorctl/web interface) to work, additional interfaces may be

src/cfg/taiga/supervisord.conf

@@ -12,6 +12,7 @@ port=0.0.0.0:9001
 logfile=/var/log/supervisor/supervisord.log ; (main log file;default $CWD/supervisord.log)
 pidfile=/var/run/supervisord.pid ; (supervisord pidfile;default supervisord.pid)
 childlogdir=/var/log/supervisor            ; ('AUTO' child log dir, default $TEMP)
+environment=HOME="/home/user"
 
 ; the below section must remain in the config file for RPC
 ; (supervisorctl/web interface) to work, additional interfaces may be

src/cfg/uas/supervisord.conf

@@ -0,0 +1,27 @@
+; supervisor config file
+
+[unix_http_server]
+file=/var/run/supervisor.sock   ; (the path to the socket file)
+chmod=0700                       ; sockef file mode (default 0700)
+chown=user:user
+
+[inet_http_server]
+port=0.0.0.0:9001
+
+[supervisord]
+logfile=/var/log/supervisor/supervisord.log ; (main log file;default $CWD/supervisord.log)
+pidfile=/var/run/supervisord.pid ; (supervisord pidfile;default supervisord.pid)
+childlogdir=/var/log/supervisor            ; ('AUTO' child log dir, default $TEMP)
+environment=HOME="/home/user"
+
+; the below section must remain in the config file for RPC
+; (supervisorctl/web interface) to work, additional interfaces may be
+; added by defining them in separate rpcinterface: sections
+[rpcinterface:supervisor]
+supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface
+
+[supervisorctl]
+serverurl=unix:///var/run/supervisor.sock ; use a unix:// URL  for a unix socket
+
+[include]
+files = /etc/supervisor/conf.d/*.conf

tmux/nayak/env.sh

@@ -15,16 +15,19 @@ export REDIS_HOST=$(cq ".redis_host")
 # (without nuvo0, 1, etc. hooked up)
 # export REDIS_HOST="localhost"
 
-RESP=$(redis-cli -h ${REDIS_HOST} ping)
-while [ "$RESP" != "PONG" ]
-do
-    echo "Got '$RESP', wanted 'PONG'."
-    echo "Waiting for redis host $REDIS_HOST to come online..."
-    RESP=$(redis-cli -h ${REDIS_HOST} ping)
-    sleep 1;
+_redis_elapsed=0
+RESP=$(redis-cli -h "${REDIS_HOST}" ping 2>/dev/null)
+while [ "$RESP" != "PONG" ]; do
+    if [ $((_redis_elapsed % 30)) -eq 0 ]; then
+        echo "Waiting for Redis at ${REDIS_HOST} (${_redis_elapsed}s elapsed, got '${RESP}')..."
+    fi
+    sleep 1
+    _redis_elapsed=$((_redis_elapsed + 1))
+    RESP=$(redis-cli -h "${REDIS_HOST}" ping 2>/dev/null)
 done
+unset _redis_elapsed
 
-echo "Redis successfully connected at $REDIS_HOST, starting."
+echo "Redis successfully connected at ${REDIS_HOST}, starting."
 
 export ROS_MASTER="$(cq .master_host)"
 export NODE_HOSTNAME=$(hostname)