added feature which automatically sets routes with hector discovery

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 +1,66 @@
+#!/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 +181,13 @@ 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()),
     )