Initial webpage and backend

toid_cli/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>toid_cli</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+pimpest@users.noreply.github.com">petar</maintainer>
+  <license>MIT</license>
+
+  <depend>python3-fastapi</depend>
+  <depend>python3-pydantic</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

toid_cli/setup.cfg.old

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+[develop]
+script_dir=$base/lib/toid_cli
+[install]
+install_scripts=$base/lib/toid_cli

toid_cli/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'toid_cli'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='pimpest',
+    maintainer_email='82343504+pimpest@users.noreply.github.com',
+    description='TODO: Package description',
+    license='MIT',
+    entry_points={
+        'console_scripts': [
+            'toid_cli = toid_cli.main:main'
+        ],
+    },
+)

toid_cli/toid_cli/main.py

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+import subprocess
+import uuid
+import os
+import signal
+from fastapi import FastAPI
+from pydantic import BaseModel
+import uvicorn
+from fastapi.middleware.cors import CORSMiddleware
+
+app = FastAPI()
+app.add_middleware(
+    CORSMiddleware,
+    allow_origins=[
+        "*"
+    ],
+    allow_credentials=True,
+    allow_methods=["*"],
+    allow_headers=["*"],
+)
+# store running launch processes
+launch_processes = {}
+
+
+class LaunchRequest(BaseModel):
+    package: str
+    launch_file: str
+    args: dict = {}
+
+
+@app.post("/launch/start")
+def start_launch(req: LaunchRequest):
+    launch_id = str(uuid.uuid4())
+
+    cmd = ["ros2", "launch", req.package, req.launch_file]
+
+    for k, v in req.args.items():
+        cmd.append(f"{k}:={v}")
+
+    log_dir = "log"
+
+    os.makedirs(log_dir, exist_ok=True)
+
+    stdout_file = open(f"{log_dir}/{launch_id}_stdout.log", "w")
+    stderr_file = open(f"{log_dir}/{launch_id}_stderr.log", "w")
+
+    proc = subprocess.Popen(
+        cmd,
+        stdout=stdout_file,
+        stderr=stderr_file,
+        preexec_fn=os.setsid
+    )
+
+    launch_processes[launch_id] = proc
+
+    return {
+        "launch_id": launch_id,
+        "pid": proc.pid,
+        "command": " ".join(cmd)
+    }
+
+
+@app.get("/launch/list")
+def list_launches():
+    running = {}
+
+    for lid, proc in launch_processes.items():
+        running[lid] = {
+            "pid": proc.pid,
+            "running": proc.poll() is None
+        }
+
+    return running
+
+
+@app.post("/launch/stop/{launch_id}")
+def stop_launch(launch_id: str):
+
+    if launch_id not in launch_processes:
+        return {"error": "launch id not found"}
+
+    proc = launch_processes[launch_id]
+
+    if proc.poll() is None:
+        os.killpg(os.getpgid(proc.pid), signal.SIGTERM)
+
+    return {"stopped": launch_id}
+
+
+@app.post("/launch/stop_all")
+def stop_all():
+
+    for proc in launch_processes.values():
+        if proc.poll() is None:
+            os.killpg(os.getpgid(proc.pid), signal.SIGTERM)
+
+    return {"status": "all stopped"}
+
+def main():
+    uvicorn.run(
+        "toid_cli.main:app",
+        host="0.0.0.0",
+        port=8000,
+        reload=False
+    )
+
+
+if __name__ == "__main__":
+    main()