Merge pull request #6 from ROBOTIS-GIT/feature-0.1.1v

Updates 0.1.1

Author: GyuH13

.github/workflows/ros-lint.yml

@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [flake8, pep257, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"

CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package cyclo_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.1 (2026-05-18)
+------------------
+* Added terminal feature in docker page.
+* Change type of input field for initial position yaml file to drop box.
+* Contributors: Hyungyu Kim
+
 0.1.0 (2026-04-27)
 ------------------
-* Initial release as **cyclo_manager**
+* Initial release as **cyclo_manager**
+* Contributors: Hyungyu Kim

README.md

@@ -23,9 +23,12 @@
 ## Features
 
 - **s6 services (per configured container)**: List services, read status, start/stop/restart. Optional **launch arguments** and **`robot_type`** (e.g. `sg2`, `bg2`, `sh5`, `bh5` for `ai_worker_bringup`) are passed through to the in-container agent. Service logs (when enabled) are read from **`/var/log/<service_name>/current`** inside the container (s6 log layout); see the agent’s [`logs` router](cyclo_manager/agent/routers/logs.py).
-- **Docker** (from the API host): List containers, status, start/stop/restart, and container logs. Requires **Docker socket** access for the API process.
+- **Launch arguments in the UI**: Gear icon on the System page opens a popup to edit bringup args per service. Follower bringup supports robot models **SG2 / BG2 / SH5 / BH5** (separate defaults and `localStorage` per model). **Init Position File** is a dropdown: robot-specific default YAML, **`pack_position.yaml`**, or **Custom input** (free-form filename). Settings are persisted per container in the browser.
+- **Docker** (from the API host): List containers, status, start/stop/restart, engine logs, **`docker top`**, and **signal processes** inside a container. Requires **Docker socket** access for the API process.
+- **In-browser terminals**: WebSocket terminal into running containers (`/docker/{name}/terminal/ws`), backed by persistent **tmux** sessions in the API container so shells survive UI navigation. Multi-tab terminals, process list with kill, and per-container **bashrc** editing from the Docker page.
 - **ROS 2**: For each configured container, an **rclpy** node discovers topics, aligns with publisher QoS (via `ros2 topic info` where used), caches messages, and supports subscribe/unsubscribe for the UI and WebSockets.
 - **Live data**: Service logs and ROS topic payloads over **WebSockets**.
+- **System control UI**: Follower/leader bringup, Physical AI Server, Zenoh daemon, streaming service logs, and a **3D URDF viewer** driven by `/robot_description` and `/joint_states`.
 - **Other**: **`GET` / `PUT` `/{container}/bashrc`** to read/update shell init in a container via Docker; **version** checks against PyPI and an optional **update** path for the CLI package; optional **metapackage vs GitHub** version check for `ai_worker` when configured.
 
 Each **logical container** name in YAML maps to an **agent socket path** as seen by cyclo_manager (often under `/agents/...` in the API container).
@@ -40,7 +43,8 @@ Each **logical container** name in YAML maps to an **agent socket path** as seen
 │  ┌──────────────────────────────────────────────────────────┐│
 │  │  REST + WebSocket                                        ││
 │  │  /containers  /{container}/services  /docker  /ros2      ││
-│  │  /{container}/bashrc  /version  /ws/...                  ││
+│  │  /{container}/bashrc  /version  /docker/.../terminal/ws ││
+│  │  /ws/...                                                 ││
 │  └──────────────────────────────────────────────────────────┘│
 │       │                   │                    │             │
 │       │ httpx (UDS HTTP)  │ Docker SDK         │ rclpy       │
@@ -133,6 +137,10 @@ Interactive docs: **`http://<host>:8081/docs`**, **`/redoc`**, **`/openapi.json`
 | | `GET /docker/{name}/status` | |
 | | `POST /docker/{name}` | Start/stop/restart |
 | | `GET /docker/{name}/logs` | Docker engine logs (not s6 file logs) |
+| | `GET /docker/{name}/top` | Process list (`docker top` style) |
+| | `DELETE /docker/{name}/processes/{pid}` | Send signal (query `signal`, default `SIGTERM`) |
+| | `WebSocket /docker/{name}/terminal/ws` | Interactive terminal (`session_id` query optional) |
+| | `DELETE /docker/{name}/terminal/{session_id}` | Close tmux-backed session |
 | | `GET /docker/{name}/version` | Repo vs GitHub (if `repo_version` configured; `ai_worker` only) |
 | ROS 2 | `GET /{container}/ros2/topics` | Discovery |
 | | `GET /{container}/ros2/topics/{topic}/info` | |

cyclo_manager/Dockerfile

@@ -9,6 +9,8 @@ RUN apt-get update && \
     python3-venv \
     ros-jazzy-rmw-zenoh-cpp \
     ros-jazzy-control-msgs \
+    docker.io \
+    tmux \
     && rm -rf /var/lib/apt/lists/*
 
 # Create venv and install pip dependencies

cyclo_manager/Dockerfile.dev

@@ -9,6 +9,8 @@ RUN apt-get update && \
     python3-venv \
     ros-jazzy-rmw-zenoh-cpp \
     ros-jazzy-control-msgs \
+    docker.io \
+    tmux \
     && rm -rf /var/lib/apt/lists/*
 
 # Create venv and install pip dependencies

cyclo_manager/__init__.py

@@ -16,11 +16,11 @@
 #
 # Author: Hyungyu Kim
 
-"""cyclo_manager - Central control plane for ROS2-based robot containers.
+"""
+cyclo_manager - Central control plane for ROS2-based robot containers.
 
 This package provides a unified REST API to manage multiple containers
 running s6-overlay agents via Unix Domain Sockets.
 """
 
-__version__ = "0.1.0"
-
+__version__ = '0.1.1'

cyclo_manager/agent/__init__.py

@@ -16,11 +16,11 @@
 #
 # Author: Hyungyu Kim
 
-"""Agent - s6-overlay service management API.
+"""
+Agent - s6-overlay service management API.
 
 This package provides a REST API to manage s6-overlay services
 running inside a container via Unix Domain Socket.
 """
 
-__version__ = "0.1.0"
-
+__version__ = '0.1.1'

cyclo_manager/agent/models.py

@@ -19,74 +19,74 @@
 """Pydantic models for agent API."""
 
 from typing import Literal, Optional
+
 from pydantic import BaseModel, Field
 
 
 class ServiceActionRequest(BaseModel):
     """Request body for service control actions."""
 
-    action: Literal["up", "down", "restart"] = Field(
+    action: Literal['up', 'down', 'restart'] = Field(
         ...,
-        description="Action to perform on the service",
-        examples=["restart"],
+        description='Action to perform on the service',
+        examples=['restart'],
     )
     launch_args: dict[str, str] | None = Field(
         None,
-        description="Launch arguments for ros2 launch (used for up/restart)",
+        description='Launch arguments for ros2 launch (used for up/restart)',
     )
     robot_type: str | None = Field(
         None,
-        description="Required for ai_worker_bringup up/restart. One of: sg2, bg2, sh5, bh5.",
+        description='Required for ai_worker_bringup up/restart. One of: sg2, bg2, sh5, bh5.',
     )
 
 
 class ServiceStatus(BaseModel):
     """Service status response."""
 
-    name: str = Field(..., description="Service name")
-    raw: str = Field(..., description="Raw s6-svstat output")
-    is_up: bool = Field(..., description="Whether service is running")
-    pid: Optional[int] = Field(None, description="Process ID if running")
-    uptime_seconds: Optional[int] = Field(None, description="Uptime in seconds if running")
+    name: str = Field(..., description='Service name')
+    raw: str = Field(..., description='Raw s6-svstat output')
+    is_up: bool = Field(..., description='Whether service is running')
+    pid: Optional[int] = Field(None, description='Process ID if running')
+    uptime_seconds: Optional[int] = Field(None, description='Uptime in seconds if running')
 
 
 class ServiceListResponse(BaseModel):
     """Response for GET /services."""
 
-    services: list[str] = Field(..., description="List of available service names")
+    services: list[str] = Field(..., description='List of available service names')
 
 
 class ServiceStatusListResponse(BaseModel):
     """Response for GET /services/status."""
 
-    statuses: list[ServiceStatus] = Field(..., description="List of service statuses")
+    statuses: list[ServiceStatus] = Field(..., description='List of service statuses')
 
 
 class ServiceControlResponse(BaseModel):
     """Response for POST /services/{name}."""
 
-    name: str = Field(..., description="Service name")
-    action: Literal["up", "down", "restart"] = Field(..., description="Action that was performed")
-    result: str = Field(default="ok", description="Result of the action")
+    name: str = Field(..., description='Service name')
+    action: Literal['up', 'down', 'restart'] = Field(..., description='Action that was performed')
+    result: str = Field(default='ok', description='Result of the action')
 
 
 class ErrorResponse(BaseModel):
     """Error response model."""
 
-    error: str = Field(..., description="Error message")
-    detail: Optional[str] = Field(None, description="Additional error details")
+    error: str = Field(..., description='Error message')
+    detail: Optional[str] = Field(None, description='Additional error details')
 
 
 class ServiceRunScriptResponse(BaseModel):
     """Response for GET /services/{name}/run."""
 
-    service: str = Field(..., description="Service name")
-    path: str = Field(..., description="Filesystem path to the service run script")
-    content: str = Field(..., description="Contents of the run script")
+    service: str = Field(..., description='Service name')
+    path: str = Field(..., description='Filesystem path to the service run script')
+    content: str = Field(..., description='Contents of the run script')
 
 
 class ServiceRunScriptUpdateRequest(BaseModel):
     """Request body for updating a service run script."""
 
-    content: str = Field(..., description="New contents of the run script")
-
+    content: str = Field(..., description='New contents of the run script')

cyclo_manager/agent/routers/__init__.py

@@ -20,5 +20,4 @@
 
 from cyclo_manager.agent.routers import logs, scripts, services
 
-__all__ = ["logs", "scripts", "services"]
-
+__all__ = ['logs', 'scripts', 'services']