RoboticsApplicationManager/robotics_application_manager/manager/launcher/launcher_world.py at 44b4253d1d32b03e12b1044165d0677b149b93b7 · JdeRobot/RoboticsApplicationManager · GitHub

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from typing import Optional
from pydantic import BaseModel

from robotics_application_manager.libs import (
    get_class,
    class_from_module,
    get_ros_version,
)
from robotics_application_manager import LogManager
from .launcher_interface import ILauncher

worlds = {
    "gazebo": {
        "2": [
            {
                "type": "gazebo",
                "module": "ros2_api",
                "parameters": [],
                "launch_file": [],
            }
        ],
    },
    "gz": {
        "2": [
            {
                "type": "gz",
                "module": "ros2_api",
                "parameters": [],
                "launch_file": [],
            }
        ],
    },
    "o3de": {
        "2": [
            {
                "width": 1024,
                "height": 768,
                "display": ":2",
                "external_port": 6080,
                "internal_port": 5900,
                "type": "o3de",
                "module": "o3de_api",
                "parameters": [],
                "launch_file": [],
            }
        ],
    },
    "physical": {
        "2": [
            {
                "type": "real",
                "module": "ros2_api",
                "parameters": [],
                "launch_file": [],
            }
        ],
    },
}


class LauncherWorld(BaseModel):
    type: str
    launch_file_path: str
    module: str = ".".join(__name__.split(".")[:-1])
    ros_version: int = get_ros_version()
    launchers: Optional[ILauncher] = []

    def run(self):
        for module in worlds[self.type][str(self.ros_version)]:
            module["launch_file"] = self.launch_file_path
            launcher = self.launch_module(module)
            self.launchers.append(launcher)

    def terminate(self):
        LogManager.logger.info("Terminating world launcher")
        if self.launchers:
            for launcher in self.launchers:
                launcher.terminate()
        self.launchers = []

    def launch_module(self, configuration):
        def process_terminated(name, exit_code):
            LogManager.logger.info(
                f"LauncherEngine: {name} exited with code {exit_code}"
            )
            if self.terminated_callback is not None:
                self.terminated_callback(name, exit_code)

        launcher_module_name = configuration["module"]
        launcher_module = f"{self.module}.launcher_{launcher_module_name}.Launcher{class_from_module(launcher_module_name)}"
        launcher_class = get_class(launcher_module)
        launcher = launcher_class.from_config(launcher_class, configuration)
        launcher.run(process_terminated)
        return launcher

    def launch_command(self, configuration):
        pass


class LauncherWorldException(Exception):
    def __init__(self, message):
        super(LauncherWorldException, self).__init__(message)