Added Docker Files

2026-01-09 20:51:14 +00:00
parent 389eed9341
commit 7a54455341
7 changed files with 932 additions and 33 deletions
--- a/scripts/record_flight.py
+++ b/scripts/record_flight.py
@@ -0,0 +1,240 @@
+#!/usr/bin/env python3
+"""
+Record Drone Simulation with Flight
+====================================
+Runs the drone controller while recording the Gazebo simulation to video.
+
+This script:
+1. Starts screen recording (ffmpeg)
+2. Runs the drone flight pattern
+3. Stops recording and saves the video
+
+Usage:
+    python scripts/record_flight.py --pattern square --duration 120
+    python scripts/record_flight.py --pattern circle --output my_flight
+"""
+
+import os
+import sys
+import time
+import signal
+import argparse
+import subprocess
+import threading
+from datetime import datetime
+
+# Add parent directory to path
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+
+from src.drone_controller import DroneController
+
+
+class SimulationRecorder:
+    """Records the simulation display using ffmpeg."""
+    
+    def __init__(self, output_dir="recordings", fps=30, quality="medium"):
+        self.output_dir = output_dir
+        self.fps = fps
+        self.quality = quality
+        self.process = None
+        self.recording = False
+        self.output_file = None
+        
+        # Quality presets (CRF values for libx264)
+        self.quality_presets = {
+            "low": (28, "faster"),
+            "medium": (23, "medium"),
+            "high": (18, "slow")
+        }
+        
+        os.makedirs(output_dir, exist_ok=True)
+    
+    def start(self, output_name=None):
+        """Start recording."""
+        if self.recording:
+            print("[WARN] Already recording")
+            return False
+        
+        if not output_name:
+            output_name = f"flight_{datetime.now().strftime('%Y%m%d_%H%M%S')}"
+        
+        self.output_file = os.path.join(self.output_dir, f"{output_name}.mp4")
+        
+        crf, preset = self.quality_presets.get(self.quality, (23, "medium"))
+        display = os.environ.get("DISPLAY", ":0")
+        
+        # FFmpeg command for screen recording
+        cmd = [
+            "ffmpeg", "-y",
+            "-f", "x11grab",
+            "-framerate", str(self.fps),
+            "-i", display,
+            "-c:v", "libx264",
+            "-preset", preset,
+            "-crf", str(crf),
+            "-pix_fmt", "yuv420p",
+            self.output_file
+        ]
+        
+        print(f"[INFO] Starting recording: {self.output_file}")
+        
+        try:
+            self.process = subprocess.Popen(
+                cmd,
+                stdin=subprocess.PIPE,
+                stdout=subprocess.DEVNULL,
+                stderr=subprocess.DEVNULL
+            )
+            self.recording = True
+            return True
+        except FileNotFoundError:
+            print("[ERROR] ffmpeg not found. Install with: sudo apt install ffmpeg")
+            return False
+        except Exception as e:
+            print(f"[ERROR] Failed to start recording: {e}")
+            return False
+    
+    def stop(self):
+        """Stop recording."""
+        if not self.recording or not self.process:
+            return None
+        
+        print("[INFO] Stopping recording...")
+        
+        # Send 'q' to ffmpeg to stop gracefully
+        try:
+            self.process.communicate(input=b'q', timeout=5)
+        except subprocess.TimeoutExpired:
+            self.process.kill()
+        
+        self.recording = False
+        
+        if os.path.exists(self.output_file):
+            size = os.path.getsize(self.output_file)
+            print(f"[OK] Recording saved: {self.output_file} ({size / 1024 / 1024:.1f} MB)")
+            return self.output_file
+        else:
+            print("[WARN] Recording file not found")
+            return None
+
+
+def run_recorded_flight(pattern="square", altitude=5.0, size=5.0, output_name=None, quality="medium"):
+    """Run a drone flight while recording."""
+    
+    print("=" * 50)
+    print("  Recorded Drone Flight")
+    print("=" * 50)
+    print(f"  Pattern: {pattern}")
+    print(f"  Altitude: {altitude}m")
+    print(f"  Size: {size}m")
+    print(f"  Recording Quality: {quality}")
+    print("=" * 50)
+    print()
+    
+    # Start recorder
+    recorder = SimulationRecorder(quality=quality)
+    
+    # Initialize controller
+    controller = DroneController()
+    
+    if not controller.connect():
+        print("[ERROR] Could not connect to SITL")
+        return False
+    
+    # Start recording
+    recorder.start(output_name)
+    time.sleep(2)  # Give recording time to start
+    
+    try:
+        # Setup for GPS-denied flight
+        print("\n--- SETUP ---")
+        controller.setup_gps_denied()
+        
+        if not controller.set_mode("GUIDED_NOGPS"):
+            raise Exception("Could not set GUIDED_NOGPS mode")
+        
+        if not controller.arm():
+            raise Exception("Could not arm")
+        
+        # Takeoff
+        print("\n--- TAKEOFF ---")
+        if not controller.takeoff(altitude):
+            print("[WARN] Takeoff may have failed, continuing anyway...")
+        
+        time.sleep(2)
+        
+        # Fly pattern
+        print("\n--- FLY PATTERN ---")
+        if pattern == "square":
+            controller.fly_square(size=size, altitude=altitude)
+        elif pattern == "circle":
+            controller.fly_circle(radius=size, altitude=altitude)
+        else:
+            # Hover
+            print("[INFO] Hovering...")
+            time.sleep(10)
+        
+        # Land
+        print("\n--- LANDING ---")
+        controller.land()
+        
+        # Wait for landing
+        print("[INFO] Waiting for landing...")
+        for i in range(100):
+            controller.update_state()
+            if controller.altitude < 0.5:
+                print(f"[OK] Landed at altitude {controller.altitude:.1f}m")
+                break
+            time.sleep(0.1)
+        
+        time.sleep(2)
+        
+    except KeyboardInterrupt:
+        print("\n[INFO] Interrupted - landing...")
+        controller.land()
+        time.sleep(3)
+    except Exception as e:
+        print(f"\n[ERROR] {e}")
+        controller.land()
+    finally:
+        # Stop recording
+        time.sleep(1)
+        video_file = recorder.stop()
+        
+        print()
+        print("=" * 50)
+        print("  Flight Complete")
+        print("=" * 50)
+        if video_file:
+            print(f"  Video: {video_file}")
+        print()
+    
+    return True
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Record Drone Flight Simulation")
+    parser.add_argument("--pattern", "-p", choices=["square", "circle", "hover"],
+                        default="square", help="Flight pattern")
+    parser.add_argument("--altitude", "-a", type=float, default=5.0,
+                        help="Flight altitude (meters)")
+    parser.add_argument("--size", "-s", type=float, default=5.0,
+                        help="Pattern size (meters)")
+    parser.add_argument("--output", "-o", type=str, default=None,
+                        help="Output video filename (without extension)")
+    parser.add_argument("--quality", "-q", choices=["low", "medium", "high"],
+                        default="medium", help="Video quality")
+    
+    args = parser.parse_args()
+    
+    run_recorded_flight(
+        pattern=args.pattern,
+        altitude=args.altitude,
+        size=args.size,
+        output_name=args.output,
+        quality=args.quality
+    )
+
+
+if __name__ == "__main__":
+    main()
--- a/scripts/record_simulation.sh
+++ b/scripts/record_simulation.sh
@@ -0,0 +1,235 @@
+#!/bin/bash
+# =============================================================================
+# Record Gazebo Simulation to Video
+# =============================================================================
+# Records the Gazebo simulation window to a video file.
+#
+# Usage:
+#   ./scripts/record_simulation.sh                    # Default: record for 60s
+#   ./scripts/record_simulation.sh --duration 120     # Record for 120 seconds
+#   ./scripts/record_simulation.sh --output my_video  # Custom output name
+#   ./scripts/record_simulation.sh --method gazebo    # Use Gazebo's recorder
+#
+# Prerequisites:
+#   - Gazebo must be running
+#   - For ffmpeg method: sudo apt install ffmpeg
+# =============================================================================
+
+set -e
+
+# Default values
+DURATION=60
+OUTPUT_NAME="drone_simulation_$(date +%Y%m%d_%H%M%S)"
+OUTPUT_DIR="./recordings"
+METHOD="ffmpeg"  # ffmpeg or gazebo
+FPS=30
+QUALITY="medium"  # low, medium, high
+
+# Parse arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -d|--duration)
+            DURATION="$2"
+            shift 2
+            ;;
+        -o|--output)
+            OUTPUT_NAME="$2"
+            shift 2
+            ;;
+        --dir)
+            OUTPUT_DIR="$2"
+            shift 2
+            ;;
+        -m|--method)
+            METHOD="$2"
+            shift 2
+            ;;
+        --fps)
+            FPS="$2"
+            shift 2
+            ;;
+        -q|--quality)
+            QUALITY="$2"
+            shift 2
+            ;;
+        -h|--help)
+            echo "Usage: $0 [OPTIONS]"
+            echo ""
+            echo "Options:"
+            echo "  -d, --duration SEC   Recording duration in seconds (default: 60)"
+            echo "  -o, --output NAME    Output filename without extension"
+            echo "  --dir PATH           Output directory (default: ./recordings)"
+            echo "  -m, --method METHOD  Recording method: ffmpeg or gazebo"
+            echo "  --fps FPS            Frames per second (default: 30)"
+            echo "  -q, --quality QUAL   Quality: low, medium, high (default: medium)"
+            echo "  -h, --help           Show this help"
+            exit 0
+            ;;
+        *)
+            echo "Unknown option: $1"
+            exit 1
+            ;;
+    esac
+done
+
+# Create output directory
+mkdir -p "$OUTPUT_DIR"
+
+# Quality presets
+case $QUALITY in
+    low)
+        CRF=28
+        PRESET="faster"
+        ;;
+    medium)
+        CRF=23
+        PRESET="medium"
+        ;;
+    high)
+        CRF=18
+        PRESET="slow"
+        ;;
+esac
+
+echo "=============================================="
+echo "  Gazebo Simulation Recorder"
+echo "=============================================="
+echo "  Duration: ${DURATION}s"
+echo "  Output: ${OUTPUT_DIR}/${OUTPUT_NAME}.mp4"
+echo "  Method: $METHOD"
+echo "  FPS: $FPS"
+echo "  Quality: $QUALITY"
+echo "=============================================="
+echo ""
+
+if [ "$METHOD" = "gazebo" ]; then
+    # ==========================================================================
+    # METHOD 1: Gazebo's built-in video recording
+    # ==========================================================================
+    # Gazebo Harmonic can record video via the GUI or command line
+    
+    OUTPUT_FILE="${OUTPUT_DIR}/${OUTPUT_NAME}.mp4"
+    
+    echo "[INFO] Using Gazebo's built-in recorder..."
+    echo "[INFO] In Gazebo GUI:"
+    echo "       1. Click the hamburger menu (☰) in top-left"
+    echo "       2. Select 'Video Recorder'"
+    echo "       3. Click 'Record' to start, 'Stop' to stop"
+    echo "       4. Video saves to ~/.gz/sim/recordings/"
+    echo ""
+    echo "[INFO] Or use gz service to record programmatically..."
+    
+    # Check if Gazebo is running
+    if ! pgrep -x "gz" > /dev/null && ! pgrep -x "ruby" > /dev/null; then
+        echo "[ERROR] Gazebo doesn't appear to be running"
+        echo "[TIP] Start Gazebo first: ./scripts/run_ardupilot_sim.sh runway"
+        exit 1
+    fi
+    
+    # Start recording via gz service (if available)
+    echo "[INFO] Sending record command to Gazebo..."
+    gz service -s /gui/record_video --reqtype gz.msgs.VideoRecord --reptype gz.msgs.Boolean \
+        --timeout 5000 --req "start: true, format: \"mp4\", save_filename: \"${OUTPUT_FILE}\"" 2>/dev/null || {
+        echo "[WARN] Could not start recording via service"
+        echo "[TIP] Use the Gazebo GUI to record manually"
+    }
+    
+    echo "[INFO] Recording for ${DURATION} seconds..."
+    sleep "$DURATION"
+    
+    # Stop recording
+    gz service -s /gui/record_video --reqtype gz.msgs.VideoRecord --reptype gz.msgs.Boolean \
+        --timeout 5000 --req "start: false" 2>/dev/null || true
+    
+    echo "[OK] Recording stopped"
+    echo "[INFO] Check ~/.gz/sim/recordings/ for the video"
+
+else
+    # ==========================================================================
+    # METHOD 2: FFmpeg screen recording
+    # ==========================================================================
+    # Records the Gazebo window using ffmpeg
+    
+    OUTPUT_FILE="${OUTPUT_DIR}/${OUTPUT_NAME}.mp4"
+    
+    # Check for ffmpeg
+    if ! command -v ffmpeg &> /dev/null; then
+        echo "[ERROR] ffmpeg not found"
+        echo "[TIP] Install: sudo apt install ffmpeg"
+        exit 1
+    fi
+    
+    # Find the Gazebo window
+    echo "[INFO] Looking for Gazebo window..."
+    
+    # Try to find the window ID
+    WINDOW_ID=""
+    
+    # Try xdotool first
+    if command -v xdotool &> /dev/null; then
+        WINDOW_ID=$(xdotool search --name "Gazebo" 2>/dev/null | head -1) || true
+    fi
+    
+    # Fallback to wmctrl
+    if [ -z "$WINDOW_ID" ] && command -v wmctrl &> /dev/null; then
+        WINDOW_ID=$(wmctrl -l | grep -i "gazebo" | awk '{print $1}' | head -1) || true
+    fi
+    
+    if [ -n "$WINDOW_ID" ]; then
+        # Get window geometry
+        if command -v xdotool &> /dev/null; then
+            eval $(xdotool getwindowgeometry --shell "$WINDOW_ID" 2>/dev/null) || true
+        fi
+        
+        if [ -n "$WIDTH" ] && [ -n "$HEIGHT" ] && [ -n "$X" ] && [ -n "$Y" ]; then
+            echo "[INFO] Found Gazebo window: ${WIDTH}x${HEIGHT} at +${X}+${Y}"
+            GRAB_REGION="-video_size ${WIDTH}x${HEIGHT} -grab_x $X -grab_y $Y"
+        else
+            echo "[WARN] Could not get window geometry, recording full screen"
+            GRAB_REGION=""
+        fi
+    else
+        echo "[WARN] Could not find Gazebo window, recording full screen"
+        GRAB_REGION=""
+    fi
+    
+    echo "[INFO] Starting recording..."
+    echo "[INFO] Press Ctrl+C to stop early"
+    echo ""
+    
+    # Record using ffmpeg
+    # Using x11grab to capture the screen
+    ffmpeg -y \
+        -f x11grab \
+        -framerate "$FPS" \
+        $GRAB_REGION \
+        -i "${DISPLAY:-:0}" \
+        -t "$DURATION" \
+        -c:v libx264 \
+        -preset "$PRESET" \
+        -crf "$CRF" \
+        -pix_fmt yuv420p \
+        "$OUTPUT_FILE" \
+        2>&1 | while IFS= read -r line; do
+            # Show progress
+            if [[ "$line" =~ time=([0-9:\.]+) ]]; then
+                echo -ne "\r[Recording] Time: ${BASH_REMATCH[1]} / ${DURATION}s"
+            fi
+        done
+    
+    echo ""
+    echo ""
+    echo "[OK] Recording complete!"
+    echo "[INFO] Output: $OUTPUT_FILE"
+    
+    # Get file info
+    if [ -f "$OUTPUT_FILE" ]; then
+        FILE_SIZE=$(du -h "$OUTPUT_FILE" | cut -f1)
+        echo "[INFO] Size: $FILE_SIZE"
+    fi
+fi
+
+echo ""
+echo "=============================================="
+echo "  Recording Complete"
+echo "=============================================="