feat: Use static volume mount destinations instead of parameters. Have phyto-arm use new config organization

Author: figuernd

Diff for: configs/example.yaml

@@ -1,14 +1,13 @@
 name: Example
 
 docker_image: whoi/phyto-arm:latest
+log_dir: /data/roslogs/
 
 processes:
     main:
         enabled: true
-        volumes:
-            log_dir: /data/roslogs/
-            rosbag_dir: /data/rosbags/
         launch_args:
+            rosbag_dir: /data/rosbags/
             rosbag_prefix: phyto-arm
             classifier: false
         tcp_ports:
@@ -18,11 +17,10 @@ processes:
         enabled: true
         launch_args:
             ifcb_winch: false
-        devices:
-            ctd_path: /dev/ttyS1
-        volumes:
             routines_dir: /home/ifcb/IFCBacquire/Host/Routines
             data_dir: /data/ifcbdata
+        devices:
+            ctd_path: /dev/ttyS1
     arm_chanos:
         enabled: false
         launch_args:

Diff for: pa

@@ -28,16 +28,41 @@ def get_running_containers(client: docker.DockerClient) -> Dict[str, Container]:
     containers = client.containers.list(filters={"name": "phyto-arm-"})
     return {c.name.replace('phyto-arm-', ''): c for c in containers}
 
+# This is here to wire up arguments to volume mounts to ROS launch parameters.
+# The alternative is to generate a mount automatically and pass the paths as
+# arguments to their respective launch files.
+def handle_special_volumes_by_process(process_name: str, process_config: dict) -> dict:
+    volumes = {}
+    if process_name == "main":
+        volumes[process_config['launch_args']['rosbag_dir']] = {
+            "bind": "/app/volumes/rosbags", # Must match launch file
+            "mode": "rw"
+        }
+    if process_name == "arm_ifcb":
+        volumes[process_config['launch_args']['routines_dir']] = {
+            "bind": "/app/volumes/routines", # Must match launch file
+            "mode": "ro"
+        }
+        volumes[process_config['launch_args']['data_dir']] = {
+            "bind": "/app/volumes/ifcbdata", # Must match launch file
+            "mode": "rw"
+        }
+    return volumes
+
 def start_container(
     client: docker.DockerClient,
     network: docker.models.networks.Network,
     config_path: Path,
     process_name: str,
-    process_config: dict,
-    image_name: str
+    config: dict
 ) -> Container:
     """Start a single PhytO-ARM container"""
+
+    process_config = config['processes'][process_name]
+    image_name = config['docker_image']
     container_name = f"phyto-arm-{process_name}"
+    log_dir = config['log_dir']
+    log_mount = "/app/volumes/roslogs"
 
     # Base volumes that all containers need
     volumes = {
@@ -48,16 +73,16 @@ def start_container(
         str(config_path.parent.absolute()): {
             "bind": "/app/configs",
             "mode": "ro"
+        },
+        log_dir: {
+            "bind": log_mount,
+            "mode": "rw"
         }
     }
 
     # Add process-specific volumes
-    for vol_name, host_path in process_config.get('volumes', {}).items():
-        Path(host_path).mkdir(parents=True, exist_ok=True)
-        volumes[host_path] = {
-            "bind": f"/app/volumes/{vol_name}",
-            "mode": "rw"
-        }
+    special_volumes = handle_special_volumes_by_process(process_name, process_config)
+    volumes.update(special_volumes)
 
     # Handle devices
     devices = [
@@ -85,7 +110,8 @@ def start_container(
         "ports": ports,
         "environment": {
             "DONT_SCREEN": "1", # screen is not needed within containers
-            "ROS_MASTER_URI": "http://phyto-arm-main:11311"
+            "ROS_MASTER_URI": "http://phyto-arm-main:11311",
+            "ROS_LOG_DIR": log_mount
         }
     }
 
@@ -143,8 +169,7 @@ def start_processes(config_path: Path, process_names: Optional[list[str]] = None
     # Always start main first if it's in the list
     if 'main' in processes:
         start_container(
-            client, network, config_path, 'main',
-            processes['main'], config['docker_image']
+            client, network, config_path, 'main', config
         )
 
         # Wait for ROS master to start
@@ -157,8 +182,7 @@ def start_processes(config_path: Path, process_names: Optional[list[str]] = None
     for name, process_config in processes.items():
         if process_config.get('enabled', True):
             start_container(
-                client, network, config_path, name,
-                process_config, config['docker_image']
+                client, network, config_path, name, config
             )
 
         # If process is not enabled in the config, but was requested, print a warning

Diff for: phyto-arm

@@ -65,13 +65,18 @@ def prep_roslaunch(config, env, package, launchfile):
     ]
     rl_args.append(f'config_file:={os.path.abspath(args.config)}')
 
-    for launch_arg, value in config.get('launch_args', {}).items():
+    # Get process-specific launch args if they exist
+    process_config = config.get('processes', {}).get(args.launch_name, {})
+    launch_args = process_config.get('launch_args', {})
+    
+    # Add any process-specific launch args
+    for launch_arg, value in launch_args.items():
         rl_args.append(f'{launch_arg}:={value}')
 
     # Allow the config to set a launch prefix (like gdb) for nodes. We have to
     # use an environment variable for this because roslaunch will error if an
     # argument is unset, while an environment variable is option.
-    launch_prefix = config.get('launch_args', {}).get('launch_prefix')
+    launch_prefix = launch_args.get('launch_prefix')
     if launch_prefix is not None:
         env = dict(env)  # copy first
         env['LAUNCH_PREFIX'] = launch_prefix

Diff for: src/phyto_arm/launch/arm_ifcb.launch

@@ -3,8 +3,8 @@
     <rosparam command="load" file="$(arg config_file)" />
 
     <node name="ifcb" pkg="ifcb" type="ifcb">
-        <param name="routines_dir" value="$(arg routines_dir)" />
-        <param name="data_dir" value="$(arg data_dir)" />
+        <param name="routines_dir" value="/app/volumes/routines" />
+        <param name="data_dir" value="/app/volumes/ifcbdata" />
     </node>
 
     <node name="ifcb_logfilter" pkg="ifcb" type="ifcb_logfilter" />

Diff for: src/phyto_arm/launch/rosbag.launch

@@ -8,7 +8,7 @@ In the future, we might process inactive rosbags to, for example, correct
 timestamps, or generate reports. See http://wiki.ros.org/rosbag/Cookbook
 -->
 <launch>
-    <arg name="rosbag_dir" default="/data/rosbags/" />
+    <arg name="rosbag_dir" default="/app/volumes/rosbags/" />
     <arg name="rosbag_prefix" default="phyto-arm" />
     <arg name="rosbag_size" default="1024" />
     <arg name="rosbag_duration" default="60m" />