build: add qi lib to Docker

Uses Pyenv to build Python 2 from source, while keeping Debian for
needed packages. Might move to two build stages in the future.

ref: N25B-284

.dockerignore

@@ -0,0 +1,9 @@
+.git
+.githooks/
+.idea/
+.venv/
+test/
+typings/
+.dockerignore
+.gitignore
+README.md

Dockerfile

@@ -0,0 +1,37 @@
+FROM debian:trixie AS build
+
+WORKDIR /app
+
+COPY requirements.txt .
+
+RUN apt-get update; apt-get install -y portaudio19-dev libzmq3-dev make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev curl git libncursesw5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev alsa-utils musl-dev
+
+ENV HOME="/root"
+
+RUN git clone --depth=1 https://github.com/pyenv/pyenv.git ${HOME}/.pyenv
+ENV PYENV_ROOT="${HOME}/.pyenv"
+ENV PATH="${PYENV_ROOT}/shims:${PYENV_ROOT}/bin:${PATH}"
+
+ENV PYTHON_VERSION=2.7.18
+RUN pyenv install ${PYTHON_VERSION}; pyenv global ${PYTHON_VERSION}
+
+RUN python -m pip install virtualenv; python -m virtualenv .venv
+RUN /usr/bin/env bash -c 'source .venv/bin/activate && pip install -r ./requirements.txt'
+# RUN eval "$(pyenv init - bash)"; pyenv install 2.7; pyenv shell 2.7; python -m pip install virtualenv; python -m virtualenv .venv; source .venv/bin/activate; pip install -r requirements.txt
+
+# FROM debian:trixie
+#
+# WORKDIR /app
+#
+# COPY --from=build /app/.venv /app/.venv
+
+WORKDIR /app/.venv/lib/python2.7/site-packages
+RUN /usr/bin/env bash -c 'apt-get install -y wget && wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz && tar xvfz ./pynaoqi-python2.7-2.5.7.1-linux64.tar.gz && rm pynaoqi-python2.7-2.5.7.1-linux64.tar.gz'
+RUN echo /app/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
+WORKDIR /app
+
+COPY . .
+
+ENV PYTHONPATH=src
+
+CMD [ "/bin/bash", "-c", "source .venv/bin/activate && python -m robot_interface.main --qi-url tcp://172.17.0.1:43305" ]

asound.conf

@@ -0,0 +1,9 @@
+pcm.!default {
+  type hw
+  card 2
+}
+
+ctl.!default {
+  type hw
+  card 2
+}

install_deps.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env sh
+apk add portaudio-dev libzmq gcc musl-dev g++ alsa-utils
+
+pip install -r requirements.txt

src/robot_interface/endpoints/main_receiver.py

@@ -45,7 +45,10 @@ class MainReceiver(ReceiverBase):
         if message["endpoint"] == "negotiate/ports":
             return MainReceiver._handle_port_negotiation(message)
 
-        return {"endpoint": "negotiate/error", "data": "The requested endpoint is not implemented."}
+        return {
+            "endpoint": "negotiate/error",
+            "data": "The requested endpoint is not implemented.",
+        }
 
     def handle_message(self, message):
         if message["endpoint"] == "ping":

src/robot_interface/endpoints/socket_base.py

@@ -1,6 +1,5 @@
 from abc import ABCMeta
-
-import zmq
+import os
 
 
 class SocketBase(object):
@@ -19,7 +18,7 @@ class SocketBase(object):
         self.socket = None  # Set later by `create_socket`
         self.bound = None  # Set later by `create_socket`
 
-    def create_socket(self, zmq_context, socket_type, port, options=[], bind=True):
+    def create_socket(self, zmq_context, socket_type, port, options=[], bind=False):
         """
         Create a ZeroMQ socket.
 
@@ -43,17 +42,19 @@ class SocketBase(object):
         self.socket = zmq_context.socket(socket_type)
 
         for option, arg in options:
-            self.socket.setsockopt(option,arg)
+            self.socket.setsockopt(option, arg)
 
         self.bound = bind
+        host = os.environ.get("CB_HOST", "localhost")
         if bind:
-            self.socket.bind("tcp://*:{}".format(port))
+            self.socket.bind("tcp://{}:{}".format(host, port))
         else:
-            self.socket.connect("tcp://localhost:{}".format(port))
+            self.socket.connect("tcp://{}:{}".format(host, port))
 
     def close(self):
         """Close the ZeroMQ socket."""
-        if not self.socket: return
+        if not self.socket:
+            return
         self.socket.close()
         self.socket = None
 
@@ -65,8 +66,4 @@ class SocketBase(object):
         https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
         :rtype: dict
         """
-        return {
-            "id": self.identifier,
-            "port": self.port,
-            "bind": not self.bound
-        }
+        return {"id": self.identifier, "port": self.port, "bind": not self.bound}