adds simulation script to run simulation

Signed-off-by: frederik <[email protected]>

.github/workflows/model-download.yml

@@ -0,0 +1,32 @@
+name: Model Download
+
+on:
+    workflow_dispatch:
+    push:
+        branches:
+            - '*'
+
+jobs:
+    test:
+        runs-on: ubuntu-latest
+
+        steps:
+        - name: Checkout repository
+          uses: actions/checkout@v4
+
+        - name: Set up Python
+          uses: actions/setup-python@v3
+          with:
+            python-version: 3.9
+
+        - name: Install dependencies
+          run: |
+            python -m pip install --upgrade pip
+            pip install pytest
+
+        - name: Run pytest
+          run: |
+            pytest -v -s tests/test_model.py
+
+
+

models/OakD-Lite/model.sdf

@@ -78,4 +78,4 @@
       <render_engine>ogre2</render_engine>
     </plugin> -->
   </model>
-</sdf>
+</sdf>

simulation-gazebo

@@ -0,0 +1,113 @@
+#!/usr/bin/env python3
+
+import platform
+import argparse
+import subprocess
+import os
+import shutil
+
+DEFAULT_DOWNLOAD_DIR = "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip"
+
+
+def run(cmd):
+    subprocess.run(['bash', '-c', cmd], cwd='.')
+
+
+def main():
+    is_windows = platform.system() == 'Windows'
+
+    if is_windows:
+        print('Windows is not supported at this time.')
+        exit(1)
+
+    parser = argparse.ArgumentParser(description='Gazebo simulation')
+
+    parser.add_argument('--world', help='World to run in Gazebo', required=False, default="default")
+    parser.add_argument('--gz_partition', help='Gazebo partition to run in', required=False)
+    parser.add_argument('--gz_ip', help='Outgoing network interface to use for traffic',required=False)
+    parser.add_argument('--interactive',help='Run in interactive mode', required=False, default=False, action='store_true')
+    parser.add_argument('--model_download_source', help='Path to directory containing model files', required=False, default=DEFAULT_DOWNLOAD_DIR)
+    parser.add_argument('--model_store', help='Path to model storage directory', required=False, default="~/.simulation-gazebo")
+    parser.add_argument('--overwrite', help='Overwrite existing model directories', required=False, default=False, action='store_true')
+    parser.add_argument('--dryrun', help='Test in dryrun. Do not launch gazebo', required=False, default=False, action='store_true')
+
+    args = parser.parse_args()
+
+    # Set up environment variables to look for models for simulation
+    args.model_store = os.path.expanduser(args.model_store)
+
+    # Check whether the model storage directory exists.
+    if not os.path.exists(args.model_store):
+        print("Making model storage directory")
+        os.makedirs(args.model_store)
+
+
+    model_count = int(subprocess.check_output(f'find {args.model_store} -type f | wc -l', shell=True, text=True))
+    models_exist = True if model_count > 0 else False
+    print(f"Found: {model_count} files in {args.model_store}")
+
+    if models_exist and not args.overwrite:
+        print("Models directory not empty. Overwrite not set. Not downloading models.")
+
+    elif args.overwrite and models_exist:
+        try:
+            subdirectories = [os.path.join(args.model_store, d) for d in os.listdir(args.model_store) if os.path.isdir(os.path.join(args.model_store, d))]
+            for directory in subdirectories:
+                shutil.rmtree(directory)
+            print("Overwrite set. Removed existing model subdirectories.")
+        except:
+            print("No models dir present, overwrite did not remove a directory.")
+
+
+    if ((not models_exist) or args.overwrite):
+        # Download model from model_download_source to model_store
+        if args.interactive and not args.dryrun:
+
+            input_a = input("Interactive mode set. Would you like to provide a custom download directory? (Y/N): ")
+            if "y" in input_a.lower():
+                args.model_download_source = input("Enter download path (specify zip file): ")
+                print(f"Using custom download directory: {args.model_download_source}")
+
+                if args.model_download_source.startswith("http"):
+                    os.system(f'curl -L -o {args.model_store}/resources.zip {args.model_download_source}')
+                else:
+                    print(f'Using local file system: {args.model_download_source}')
+                    os.system(f'cp -r {args.model_download_source} {args.model_store}/resources.zip')
+
+            else:
+                print(f"Using default download directory: {DEFAULT_DOWNLOAD_DIR}")
+                os.system(f'curl -L -o {args.model_store}/resources.zip {DEFAULT_DOWNLOAD_DIR}')
+
+        if not args.interactive or args.dryrun:
+            print('Downloading from Github...')
+            os.system(f'curl -L -o {args.model_store}/resources.zip {DEFAULT_DOWNLOAD_DIR}')
+
+
+        try:
+            shutil.unpack_archive(f'{args.model_store}/resources.zip', args.model_store, 'zip')
+        except:
+            print(f'Warning: Could not unzip model files at {args.model_store}/resources.zip. Check model file format.')
+
+        os.system(f'mkdir {args.model_store}/tmp')
+        os.system(f'mv {args.model_store}/PX4-gazebo-models-main/models {args.model_store}/tmp/')
+        os.system(f'mv {args.model_store}/PX4-gazebo-models-main/worlds {args.model_store}/tmp/')
+        os.system(f'rm -rf {args.model_store}/PX4-gazebo-models-main/')
+        os.system(f'rm {args.model_store}/resources.zip')
+        os.system(f'mv {args.model_store}/tmp/models {args.model_store}/models')
+        os.system(f'mv {args.model_store}/tmp/worlds {args.model_store}/worlds')
+        os.system(f'rm -rf {args.model_store}/tmp')
+
+    # Launch gazebo simulation
+    print('> Launching gazebo simulation...')
+    if not args.dryrun:
+        cmd = f'GZ_SIM_RESOURCE_PATH={args.model_store} gz sim -r {args.model_store}/worlds/{args.world}.sdf'
+
+        if args.gz_partition:
+            cmd = f'GZ_PARTITION={args.gz_partition} {cmd}'
+        if args.gz_ip:
+            cmd = f'GZ_IP={args.gz_ip} {cmd}'
+
+        run(cmd)
+
+if __name__ == "__main__":
+    main()

tests/test_model.py

@@ -0,0 +1,202 @@
+import os
+import subprocess
+import pytest
+
+@pytest.mark.parametrize("world, model_download_source, model_store, interactive, overwrite, dryrun",[
+    # Default directory already exists
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", False, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", False, True, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", True, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", True, True, True)
+
+])
+def test_model_exist_default(world, interactive, model_download_source, model_store, overwrite, dryrun):
+    """
+    Test model generation
+    """
+    # Ensure directory exists and has mockfile in it
+    model_store = os.path.expanduser(model_store)
+    if not os.path.exists(model_store):
+        os.makedirs(model_store)
+
+    mock_file_path = os.path.join(model_store, "mock_file.txt")
+    with open(mock_file_path, "w") as f:
+        f.write("This is a mock file")
+
+    output_directory = f"{model_store}/models/x500"
+
+    command = (
+    f"python simulation-gazebo "
+    f"--world {world} "
+    f"--model_download_source {model_download_source} "
+    f"--model_store {model_store} "
+    )
+
+    if interactive:
+        command += "--interactive "
+    if overwrite:
+        command += "--overwrite "
+    if dryrun:
+        command += "--dryrun "
+
+    subprocess.run(command, shell=True, check=True)
+    try:
+        assert os.path.exists(output_directory)
+    except AssertionError:
+        print(f"Output directory not generated correctly: {model_download_source}")
+
+    finally:
+        #Clean up
+        parent_dir = "~/.simulation-gazebo"
+        parent_dir = os.path.expanduser(parent_dir)
+        os.system(f"rm -r {parent_dir}")
+
+
+
+
+@pytest.mark.parametrize("world, model_download_source, model_store, interactive, overwrite, dryrun",[
+
+    # Default directory does not exist
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", False, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", False, True, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", True, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/.simulation-gazebo", True, True, True)
+
+])
+def test_model_not_exist_default(world, interactive, model_download_source, model_store, overwrite, dryrun):
+    """
+    Test model generation
+    """
+    model_store = os.path.expanduser(model_store)
+
+    parent_dir = "~/.simulation-gazebo"
+    parent_dir = os.path.expanduser(parent_dir)
+    try:
+        os.system(f"rm -r {parent_dir}")
+    except:
+        pass
+
+    output_directory = f"{model_store}/models/x500"
+
+    command = (
+    f"python simulation-gazebo "
+    f"--world {world} "
+    f"--model_download_source {model_download_source} "
+    f"--model_store {model_store} "
+    )
+
+    if interactive:
+        command += "--interactive "
+    if overwrite:
+        command += "--overwrite "
+    if dryrun:
+        command += "--dryrun "
+
+    subprocess.run(command, shell=True, check=True)
+    try:
+        assert os.path.exists(output_directory)
+    except AssertionError:
+        print(f"Output directory not generated correctly: {model_download_source}")
+
+    finally:
+        ##Clean up
+        os.system(f"rm -r {parent_dir}")
+
+
+
+@pytest.mark.parametrize("world, model_download_source, model_store, interactive, overwrite, dryrun",[
+    # Custom directory already exists
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", False, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", False, True, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", True, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", True, True, True)
+])
+def test_model_exist_custom(world, interactive, model_download_source, model_store, overwrite, dryrun):
+    """
+    Test model generation
+    """
+    # Ensure directory exists and has mockfile in it
+    model_store = os.path.expanduser(model_store)
+    if not os.path.exists(model_store):
+        os.makedirs(model_store)
+
+    mock_file_path = os.path.join(model_store, "mock_file.txt")
+    with open(mock_file_path, "w") as f:
+        f.write("This is a mock file")
+
+    output_directory = f"{model_store}/models/x500"
+
+    command = (
+    f"python simulation-gazebo "
+    f"--world {world} "
+    f"--model_download_source {model_download_source} "
+    f"--model_store {model_store} "
+    )
+
+    if interactive:
+        command += "--interactive "
+    if overwrite:
+        command += "--overwrite "
+    if dryrun:
+        command += "--dryrun "
+
+    subprocess.run(command, shell=True, check=True)
+    try:
+        assert os.path.exists(output_directory)
+    except AssertionError:
+        print(f"Output directory not generated correctly: {model_download_source}")
+
+    finally:
+        #Clean up
+        parent_dir = "~/simulation-gz-custom-test"
+        parent_dir = os.path.expanduser(parent_dir)
+        os.system(f"rm -r {parent_dir}")
+
+
+
+@pytest.mark.parametrize("world, model_download_source, model_store, interactive, overwrite, dryrun",[
+    # Custom directory does not exist
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", False, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", False, True, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", True, False, True),
+    ("default", "https://github.com/PX4/PX4-gazebo-models/archive/refs/heads/main.zip", "~/simulation-gz-custom-test", True, True, True)
+])
+def test_model_not_exist_custom(world, interactive, model_download_source, model_store, overwrite, dryrun):
+    """
+    Test model generation
+    """
+    model_store = os.path.expanduser(model_store)
+
+    parent_dir = "~/simulation-gz-custom-test"
+    parent_dir = os.path.expanduser(parent_dir)
+    try:
+        os.system(f"rm -r {parent_dir}")
+    except:
+        pass
+
+
+    output_directory = f"{model_store}/models/x500"
+
+    command = (
+    f"python simulation-gazebo "
+    f"--world {world} "
+    f"--model_download_source {model_download_source} "
+    f"--model_store {model_store} "
+    )
+
+    if interactive:
+        command += "--interactive "
+    if overwrite:
+        command += "--overwrite "
+    if dryrun:
+        command += "--dryrun "
+
+    subprocess.run(command, shell=True, check=True)
+    try:
+        assert os.path.exists(output_directory)
+    except AssertionError:
+        print(f"Output directory not generated correctly: {model_download_source}")
+
+    finally:
+        #Clean up
+         os.system(f"rm -r {parent_dir}")