main.py

"""
AetherSwarm CLI & Entry Point
=============================
Main entry point for running the swarm simulation and dashboard.
"""

import argparse
import logging
import sys
import os

# Add parent to path for direct script execution
sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))

import time
import json

from aether_swarm.simulator.simulator import SwarmSimulator, SCENARIOS


def main():
    parser = argparse.ArgumentParser(
        description="AetherSwarm - Edge-Native Autonomous Swarm Robotics Platform",
        formatter_class=argparse.RawDescriptionHelpFormatter,
        epilog="""
Examples:
  python main.py --scenario disaster_response --duration 60
  python main.py --scenario flocking_demo --dashboard
  python main.py --nodes 10 --packet-loss 0.3
        """
    )
    
    parser.add_argument(
        "--scenario", "-s",
        type=str,
        default="flocking_demo",
        choices=list(SCENARIOS.keys()),
        help="Pre-configured mission scenario"
    )
    parser.add_argument(
        "--duration", "-d",
        type=float,
        default=60.0,
        help="Simulation duration in seconds (0 = indefinite)"
    )
    parser.add_argument(
        "--nodes", "-n",
        type=int,
        default=0,
        help="Override total node count"
    )
    parser.add_argument(
        "--packet-loss", "-p",
        type=float,
        default=None,
        help="Network packet loss rate (0.0-1.0)"
    )
    parser.add_argument(
        "--dashboard",
        action="store_true",
        help="Launch web dashboard at http://localhost:8765"
    )
    parser.add_argument(
        "--dashboard-port",
        type=int,
        default=8765,
        help="Dashboard port (default: 8765)"
    )
    parser.add_argument(
        "--verbose", "-v",
        action="store_true",
        help="Enable debug logging"
    )
    parser.add_argument(
        "--status-interval",
        type=float,
        default=2.0,
        help="Status print interval in seconds"
    )
    
    args = parser.parse_args()
    
    # Setup logging
    log_level = logging.DEBUG if args.verbose else logging.INFO
    logging.basicConfig(
        level=log_level,
        format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
        datefmt='%H:%M:%S'
    )
    logger = logging.getLogger("AetherSwarm")
    
    print("""
  ================================================================
                    AETHERSWARM v1.0.0
          Edge-Native Autonomous Swarm Robotics
  ================================================================
    """)
    
    # Create simulator directly (so we can pass it to dashboard)
    logger.info(f"Starting scenario: {args.scenario}")
    sim = SwarmSimulator(scenario=args.scenario)
    
    if args.packet_loss is not None:
        sim.packet_loss = args.packet_loss
        logger.info(f"Packet loss set to {args.packet_loss}")
    
    # Start dashboard in background if requested
    dashboard_thread = None
    dashboard_port = args.dashboard_port
    
    if args.dashboard:
        import threading
        from aether_swarm.dashboard.server import start_dashboard, set_simulator
        
        # Inject simulator into dashboard before starting
        set_simulator(sim)
        
        dashboard_thread = threading.Thread(
            target=start_dashboard,
            args=(dashboard_port,),
            daemon=False,  # Non-daemon: stays alive after simulation ends
            name="dashboard"
        )
        dashboard_thread.start()
        
        # Let uvicorn start up
        time.sleep(1)
        print(f"\n  Dashboard: http://localhost:{dashboard_port}\n")
    
    # Run simulation loop
    sim.start()
    
    try:
        start_time = time.time()
        while time.time() - start_time < args.duration:
            sim._simulation_time = time.time() - sim._start_time
            sim.print_status()
            time.sleep(args.status_interval)
    except KeyboardInterrupt:
        print("\n[SIM] Simulation interrupted by user")
    finally:
        sim.stop()
        print("\n[SIM] Simulation ended. Final Statistics:")
        print(json.dumps(sim.get_stats(), indent=2, default=str))
    
    # Keep dashboard alive so user can inspect final state
    if dashboard_thread and dashboard_thread.is_alive():
        print(f"\n  Dashboard remains open at http://localhost:{dashboard_port}")
        print("  Press Ctrl+C to shut down.\n")
        try:
            while dashboard_thread.is_alive():
                dashboard_thread.join(1)
        except KeyboardInterrupt:
            print("\nShutting down dashboard...\n")


if __name__ == "__main__":
    main()