added feature which automatically sets routes with hector discovery

Author: FrederikBark

scripts/discovery.py

@@ -115,7 +115,7 @@ def main():
                     f"Hook {hook} does not contain a valid on_discovery_updated method."
                 )
                 continue
-            on_discovery_updated()
+            on_discovery_updated(robots=robots, selected_robots=selected_robots)
         elif hook.endswith(".bash") or hook.endswith(".sh"):
             executable = "bash" if hook.endswith(".bash") else "sh"
             subprocess.run([executable, hook], cwd=get_workspace_root())

scripts/hooks/discovery/20.add_routes.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+from pyroute2 import IPRoute
+import subprocess
+
+def on_discovery_updated(robots, selected_robots, **_):
+  ip = IPRoute()
+
+  routes_to_add = ""
+
+  for robot_name, robot in robots.items():
+    if robot_name not in selected_robots:
+      continue
+
+    for pc_name in robot.remote_pcs:
+      pc = robot.remote_pcs[pc_name]
+      if not pc.address:
+        print(f"Robot {pc.name} has no address configured for its , skipping pc")
+        continue
+      else:
+        pc_ip = pc.address
+        netmask = pc.netmask
+        break
+    
+    if not pc_ip:
+      print(f"Robot {robot_name} has no address configured for its pcs, skipping robot")
+      continue
+    parts = pc_ip.split('.')[:-1]
+    net_ip = '.'.join(parts + ['0'])
+    host_ip = '.'.join(parts[:2] + ['0', parts[2]])
+    
+    existing_routes = ip.get_routes(dst=net_ip + '/' + str(netmask))
+
+    valid_route = False
+    if existing_routes:
+      gateway = next((value for key, value in existing_routes[0]['attrs'] if key == 'RTA_GATEWAY'), None)
+      if gateway == host_ip:
+        valid_route = True
+      
+    if not valid_route:
+      print(f"Adding route to {net_ip}/{netmask} via host pc")
+      command = f"ip.route('add', dst='{net_ip}/{netmask}', gateway='{host_ip}')\n"
+      routes_to_add += command
+  
+  if routes_to_add != "":
+    ip_route_code = f"""from pyroute2 import IPRoute
+ip = IPRoute()
+{routes_to_add}
+"""
+    print("Privilege escalation required to add routes, running commands with sudo...")
+    subprocess.run(
+        ["sudo", "python3", "-c", ip_route_code],
+        check=True
+    )
+
+ 

scripts/hooks/discovery/90.restart_daemon.py

@@ -3,7 +3,7 @@
 from tuda_workspace_scripts.print import *
 
 
-def on_discovery_updated():
+def on_discovery_updated(**_):
     print_header("Restarting ROS2 daemon")
     if is_daemon_running(args=[]):
         if not shutdown_daemon(args=[], timeout=10):

tuda_workspace_scripts/robots.py

@@ -37,12 +37,16 @@ class RemotePC:
     def __init__(
         self,
         name: str,
+        address: str,
         hostname: str,
         user: str,
         commands: list[Command],
         port: int = 22,
+        netmask: int = 24,
     ):
         self.name = name
+        self.address = address
+        self.netmask = netmask
         self.hostname = hostname
         self.user = user
         self.port = port
@@ -166,6 +170,8 @@ def _load_pc_from_yaml(
         raise ValueError(f"User not specified for remote PC {pc_name}")
     user = config["user"]
     hostname = config["hostname"] if "hostname" in config else pc_name
+    address = config["address"] if "address" in config else None
+    netmask = config["netmask"] if "netmask" in config else 24
     port = config["port"] if "port" in config else 22
     commands = dict(shared_commands)
     if "commands" in config:
@@ -175,7 +181,7 @@ def _load_pc_from_yaml(
                 continue
             commands[name] = _load_command_from_yaml(name, config["commands"][name])
     return RemotePC(
-        pc_name, hostname, user, port=port, commands=list(commands.values())
+        pc_name, address, hostname, user, port=port, netmask=netmask, commands=list(commands.values())
     )