core: Split main python runtime in 2 separate environments

core/Dockerfile

@@ -43,7 +43,9 @@ ENV PATH="/root/.local/bin/:$PATH"
 # Project files
 COPY ./uv.lock /home/pi/uv.lock
 COPY ./pyproject.toml /home/pi/pyproject.toml
+COPY ./python-venv2 /home/pi/python-venv2
 COPY ./.python-version /home/pi/.python-version
+COPY ./.python-version /home/pi/python-venv2/.python-version
 
 COPY ./libs /home/pi/libs
 COPY ./services /home/pi/services
@@ -54,9 +56,22 @@ COPY ./tools /home/pi/tools
 WORKDIR /home/pi
 RUN uv venv && uv sync --frozen --no-default-groups
 
+WORKDIR /home/pi/python-venv2
+RUN <<-EOF
+set -e
+
+    uv venv /home/pi/.venv2
+    . /home/pi/.venv2/bin/activate
+    uv sync --frozen --no-default-groups --active
+
+EOF
+
 # Post install scripts
+RUN BLUEOS_PYTHON_ENVS="/home/pi/.venv /home/pi/.venv2" /home/pi/tools/install-python-libs.sh
+
+# Reset default workdir
+WORKDIR /home/pi
 ENV VIRTUAL_ENV=/home/pi/.venv
-RUN /home/pi/tools/install-python-libs.sh
 
 # BlueOS base image
 FROM base
@@ -120,6 +135,7 @@ COPY --from=download-binaries \
 # Copy frontend built on frontend-builder to this stage
 COPY --from=frontend-builder /home/pi/frontend/dist /home/pi/frontend
 COPY --from=install-services-and-libs /home/pi/.venv /usr/blueos/venv
+COPY --from=install-services-and-libs /home/pi/.venv2 /usr/blueos/venv2
 
 RUN <<-EOF
 set -e
@@ -134,7 +150,9 @@ set -e
     RCFILE_PATH="/etc/blueosrc"
     echo "export GIT_DESCRIBE_TAGS=$GIT_DESCRIBE_TAGS" >> $RCFILE_PATH
     echo "export HISTFILE=/etc/blueos/.bash_history" >> $RCFILE_PATH
-    echo "export PATH=/usr/blueos/venv/bin:/usr/blueos/bin:$PATH" >> $RCFILE_PATH
+    echo "export BLUEOS_VENV_PRIMARY=/usr/blueos/venv" >> $RCFILE_PATH
+    echo "export BLUEOS_VENV_SECONDARY=/usr/blueos/venv2" >> $RCFILE_PATH
+    echo "export PATH=/usr/blueos/venv/bin:/usr/blueos/venv2/bin:/usr/blueos/bin:$PATH" >> $RCFILE_PATH
     echo "export RUST_BACKTRACE=1" >> $RCFILE_PATH
 
     # Setup shortcuts

core/pyproject.toml

@@ -18,7 +18,6 @@ dependencies = [
   "nmea_injector",
   "pardal",
   "ping",
-  "versionchooser",
   "wifi",
 ]
 

core/python-venv2/pyproject.toml

@@ -0,0 +1,19 @@
+[project]
+name = "blueos-core-venv2"
+version = "1.4.0"
+description = "Runtime workspace for BlueOS services that require newer dependencies."
+requires-python = ">=3.11"
+dependencies = [
+  "commonwealth",
+  "versionchooser",
+]
+
+[tool.uv.sources]
+commonwealth = { workspace = true }
+versionchooser = { workspace = true }
+
+[tool.uv.workspace]
+members = [
+  "../libs/commonwealth",
+  "../services/versionchooser",
+]

core/services/versionchooser/pyproject.toml

@@ -13,6 +13,7 @@ dependencies = [
     "docker==6.0.0",
     "loguru==0.5.3",
     "uvicorn==0.18.0",
+    "python-multipart==0.0.5",
     # This dependency needs to be locked due to error in aiohttp
     "yarl==1.12.1",
 ]

core/start-blueos-core

@@ -8,6 +8,10 @@ echo "BlueOS ${GIT_DESCRIBE_TAGS}"
 BLUEOS_PATH=/home/pi
 SERVICES_PATH=$BLUEOS_PATH/services
 TOOLS_PATH=$BLUEOS_PATH/tools
+BLUEOS_VENV_PRIMARY=${BLUEOS_VENV_PRIMARY:-/usr/blueos/venv}
+BLUEOS_VENV_SECONDARY=${BLUEOS_VENV_SECONDARY:-/usr/blueos/venv2}
+BLUEOS_PYTHON_BIN_PRIMARY="$BLUEOS_VENV_PRIMARY/bin/python3"
+BLUEOS_PYTHON_BIN_SECONDARY="$BLUEOS_VENV_SECONDARY/bin/python3"
 
 # MAVLink configuration
 MAV_SYSTEM_ID=${MAV_SYSTEM_ID:-1}
@@ -114,7 +118,7 @@ PRIORITY_SERVICES=(
 
 SERVICES=(
     # This services are not prioritized because they are not fundamental for the vehicle to work
-    'kraken',0,"nice -19 $SERVICES_PATH/kraken/main.py"
+    'kraken',0,"nice -19 $BLUEOS_PYTHON_BIN_PRIMARY $SERVICES_PATH/kraken/main.py"
     'wifi',0,"nice -19 $SERVICES_PATH/wifi/main.py --socket wlan0"
     'zenohd',0,"ZENOH_BACKEND_FS_ROOT=$TOOLS_PATH/zenoh zenohd -c $TOOLS_PATH/zenoh/blueos-zenoh.json5"
     # This services are not as important as the others
@@ -126,7 +130,7 @@ SERVICES=(
     'iperf3',250," iperf3 --server --port 5201"
     'linux2rest',250,"linux2rest --log-settings netstat=30,platform=10,serial-ports=10,cpu=10,disk=30,info=10,memory=10,network=10,process=60,temperature=10,unix-time-seconds=10"
     'filebrowser',250,"nice -19 filebrowser --database /etc/filebrowser/filebrowser.db --baseurl /file-browser"
-    'versionchooser',0,"$SERVICES_PATH/versionchooser/main.py"
+    'versionchooser',0,"$BLUEOS_PYTHON_BIN_SECONDARY $SERVICES_PATH/versionchooser/main.py"
     'pardal',250,"nice -19 $SERVICES_PATH/pardal/main.py"
     'ping',0,"nice -19 $RUN_AS_REGULAR_USER_BEGIN $SERVICES_PATH/ping/main.py $RUN_AS_REGULAR_USER_END"
     'user_terminal',0,"cat /etc/motd"

core/tools/install-python-libs.sh

@@ -8,4 +8,32 @@ TOOLS=(
     ardupilot_tools
 )
 
-parallel --halt now,fail=1 '/home/pi/tools/{}/setup-python-libs.sh' ::: "${TOOLS[@]}"
+determine_target_envs() {
+    if [ -n "$BLUEOS_PYTHON_ENVS" ]; then
+        read -r -a TARGET_ENVS <<< "$BLUEOS_PYTHON_ENVS"
+    elif [ -n "$VIRTUAL_ENV" ]; then
+        TARGET_ENVS=("$VIRTUAL_ENV")
+    else
+        TARGET_ENVS=("")
+    fi
+}
+
+install_for_env() {
+    local target_env="$1"
+
+    if [ -n "$target_env" ]; then
+        export VIRTUAL_ENV="$target_env"
+        echo "Installing python tools for virtualenv: $target_env"
+    else
+        unset VIRTUAL_ENV
+        echo "Installing python tools for system python"
+    fi
+
+    parallel --halt now,fail=1 '/home/pi/tools/{}/setup-python-libs.sh' ::: "${TOOLS[@]}"
+}
+
+determine_target_envs
+
+for env_path in "${TARGET_ENVS[@]}"; do
+    install_for_env "$env_path"
+done