Added Discord Rich presence

.devcontainer/devcontainer.json

@@ -7,11 +7,7 @@
     "runServices": ["sim"],
     "workspaceFolder": "/home/trickfire/gazebo-simulations",
     "postCreateCommand": "[ -d .venv ] || (python3 -m venv --system-site-packages .venv && . .venv/bin/activate && pip install -e .)",
-    // "postStartCommand": "bash ./.devcontainer/x_server.sh",
-    "mounts": [
-        "source=${localEnv:HOME}/.ssh,target=/home/trickfire/.ssh,type=bind,consistency=cached",
-        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
-    ],
+    "postStartCommand": "bash ./.devcontainer/x_server.sh || exit 0",
     "forwardPorts": [6080, 5900],
     "customizations": {
         "vscode": {

cli/cli.py

@@ -3,14 +3,16 @@
 import argparse
 import shutil
 import sys
+import threading
 
-from .docker import build_and_launch
+from .docker import build_and_launch, check_display
 from .native import build_and_launch_native
 from .create import create as robot_create, update as robot_update, PACKAGE_DIR, REPO_ROOT
 from .create.commands import cmd_local, cmd_raw
 from .auth import auth as cmd_auth
 from .output import die, info
 from .paths import WORKSPACE_DIR
+from .drpc import rpc_start
 
 
 def main() -> None:
@@ -134,8 +136,15 @@ def main() -> None:
 
     try:
         if args.command == "docker":
+            threading.Thread(
+                target=rpc_start, kwargs={"is_docker": True, "robot_name": args.robot}, daemon=True
+            ).start()
+            check_display()
             build_and_launch(args.robot, build_only=args.build_only, no_build=args.no_build)
         elif args.command == "native":
+            threading.Thread(
+                target=rpc_start, kwargs={"is_docker": False, "robot_name": args.robot}, daemon=True
+            ).start()
             build_and_launch_native(args.robot, build_only=args.build_only, no_build=args.no_build)
         elif args.command == "clean":
             for name in ("build", "install", "log"):

cli/docker.py

@@ -114,6 +114,20 @@ def _run_logged_command(
         raise subprocess.CalledProcessError(return_code, command)
 
 
+def check_display() -> None:
+    """Check that a display is available and can be connected to"""
+    info("Checking for display...")
+    display = os.environ.copy().get("DISPLAY")
+    if not display:
+        die("DISPLAY environment variable not set")
+
+    display_running = subprocess.call(
+        ["xdpyinfo", "-display", display], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL
+    )
+    if display_running != 0:
+        die("Cannot connect to display " + display)
+
+
 def build_and_launch(robot_name: str, *, build_only: bool = False, no_build: bool = False) -> None:
     """Build the workspace and launch a robot simulation."""
     if build_only and no_build:
@@ -171,17 +185,6 @@ def build_and_launch(robot_name: str, *, build_only: bool = False, no_build: boo
         info("Build-only requested; skipping launch")
         return
 
-    info("Checking for display...")
-    display = env.get("DISPLAY")
-    if not display:
-        die("DISPLAY environment variable not set")
-
-    display_running = subprocess.call(["xdpyinfo", "-display", display],
-                                      stdout=subprocess.DEVNULL,
-                                      stderr=subprocess.DEVNULL)
-    if display_running != 0:
-        die("Cannot connect to display " + display)
-
     info("Sourcing ROS2 environment and launching simulation...")
     launch_script = f"""
 set -e

cli/drpc.py

@@ -0,0 +1,49 @@
+"""Discord Rich Presence (DRPC) integration for TrickFire Simulation"""
+
+import os
+import sys
+import time
+
+from pypresence import Presence
+
+
+def _find_discord_socket_dir() -> str | None:
+    """Return the directory containing a discord-ipc-N socket, or None if not found."""
+    candidates = [
+        os.environ.get("XDG_RUNTIME_DIR"),  # standard Linux user session
+        os.environ.get("TMPDIR"),
+        "/run/host-runtime",  # devcontainer: host XDG_RUNTIME_DIR mounted here
+        "/run/user/1000",  # fallback for some Linux distros
+        "/tmp",
+    ]
+    for base in filter(None, candidates):
+        for i in range(10):
+            if os.path.exists(os.path.join(base, f"discord-ipc-{i}")):
+                return base
+    return None
+
+
+def rpc_start(is_docker: bool = False, robot_name: str = "Unknown Robot") -> None:
+    """Start DRPC in a separate thread"""
+    try:
+        if sys.platform == "linux":
+            socket_dir = _find_discord_socket_dir()
+            if socket_dir is None:
+                print("Discord RPC unavailable: no Discord IPC socket found")
+                return
+            # pypresence checks TMPDIR early in its path search; point it at the socket dir
+            # so it works both natively and inside the devcontainer (/run/host-runtime).
+            os.environ["TMPDIR"] = socket_dir
+
+        client_id = "1504990746527404063"
+        rpc = Presence(client_id)
+        rpc.connect()
+        rpc.update(
+            name="TrickFire Simulation (" + robot_name + ")",
+            details="Running TrickFire Simulation on " + robot_name,
+            state="Running in Docker" if is_docker else "Running locally",
+        )
+        while True:
+            time.sleep(15)
+    except Exception as e:  # pylint: disable=broad-except
+        print(f"Discord RPC unavailable: {e}")

docker/Dockerfile

@@ -102,6 +102,8 @@ RUN printf '#include <stdlib.h>\nint drmCloseBufferHandle(int fd, unsigned int h
 # --------------------------------------
 # Python packages
 
+RUN pip3 install --break-system-packages \
+    pypresence
 RUN rosdep init || true
 
 # --------------------------------------

docker/docker-compose-dev.yml

@@ -4,3 +4,16 @@ services:
       target: dev
       args:
         USER_UID: "${UID:-1000}"
+    volumes:
+      - ${XDG_RUNTIME_DIR:-/tmp}:/run/host-runtime:ro
+      - type: bind
+        source: ${HOME}/.ssh
+        target: /home/trickfire/.ssh
+        read_only: true
+        bind:
+          create_host_path: true
+      - type: bind
+        source: /tmp/.X11-unix
+        target: /tmp/.X11-unix
+        bind:
+          create_host_path: true

docker/docker-compose.yml

@@ -25,6 +25,11 @@ services:
 
     volumes:
       - ..:/home/trickfire/gazebo-simulations
+      - type: bind
+        source: ${XDG_RUNTIME_DIR:-/run/user/1000}
+        target: /run/user/1000
+        bind:
+          create_host_path: true
 
     working_dir: /home/trickfire/gazebo-simulations
 

pixi.toml

@@ -20,3 +20,4 @@ scripts = [".devcontainer/pixi.sh"]
 [pypi-dependencies]
 sim = { path = ".", editable = true }
 filelock = "*"
+pypresence = "*"