Merge pull request #191 from JdeRobot/add-visualization-config

Add visualization config

Author: javizqh

README.md

@@ -39,6 +39,11 @@ The `Manager` class is the core of RAM, orchestrating operations and managing tr
   - `terminate`: Stops the application and goes back to `visualization_ready`.
   - `stop`: Completely stops the application.
   - `disconnect`: Disconnects from the current session and returns to `idle`.
+- **Stateless Transitions**:
+  - `style_check`: Triggers on_style_check.
+  - `code_analysis`: Triggers on_code_analysis.
+  - `code_format`: Triggers on_code_format.
+  - `code_autocomplete`: Triggers on_code_autocomplete.
 
 ### Key Methods
 
@@ -50,6 +55,10 @@ The `Manager` class is the core of RAM, orchestrating operations and managing tr
 - `on_resume(self, msg)`: Resumes the paused application.
 - `on_terminate(self, event)`: Terminates the running application.
 - `on_disconnect(self, event)`: Handles disconnection and cleanup.
+- `on_style_check(self, event)`: Check the style of the user code.
+- `on_code_analysis(self, event)`: Analyzes the style and format of the user code using pylint.
+- `on_code_format(self, event)`: Formats the user code using black.
+- `on_code_autocomplete(self, event)`: Searches for all available code completions using Jedi.
 - **Exception Handling**: Details how specific errors are managed in each method.
 
 ### Interactions with Other Components

manager/manager/launcher/launcher_console.py

@@ -15,7 +15,7 @@ class LauncherConsole(ILauncher):
     threads: List[Any] = []
     console_vnc: Any = Vnc_server()
 
-    def run(self, callback):
+    def run(self, config_file, callback):
         DRI_PATH = self.get_dri_path()
         ACCELERATION_ENABLED = False
 

manager/manager/launcher/launcher_gazebo_view.py

@@ -22,7 +22,7 @@ class LauncherGazeboView(ILauncher):
     threads: List[Any] = []
     gz_vnc: Any = Vnc_server()
 
-    def run(self, callback):
+    def run(self, config_file, callback):
         DRI_PATH = self.get_dri_path()
         ACCELERATION_ENABLED = self.check_device(DRI_PATH)
 

manager/manager/launcher/launcher_gzsim_view.py

@@ -22,25 +22,28 @@ class LauncherGzsimView(ILauncher):
     threads: List[Any] = []
     gz_vnc: Any = Vnc_server()
 
-    def run(self, callback):
+    def run(self, config_file, callback):
         DRI_PATH = self.get_dri_path()
         ACCELERATION_ENABLED = self.check_device(DRI_PATH)
 
+        if config_file is None:
+            config_file = "/opt/jderobot/Launchers/visualization/default.config"
+
         # Configure browser screen width and height for gz GUI
-        gzclient_config_cmds = f"sed -i 's/<width>.*<\/width>/<width>{self.width}<\/width>/; s/<height>.*<\/height>/<height>{self.height}<\/height>/' /opt/jderobot/Launchers/sim_config/gui.config;"
+        gzclient_config_cmds = f"sed -i 's/<width>.*<\/width>/<width>{self.width}<\/width>/; s/<height>.*<\/height>/<height>{self.height}<\/height>/' {config_file};"
 
         if ACCELERATION_ENABLED:
             # Starts xserver, x11vnc and novnc
             self.gz_vnc.start_vnc_gpu(
                 self.display, self.internal_port, self.external_port, DRI_PATH
             )
             # Write display config and start gzclient
-            gzclient_cmd = f"export DISPLAY={self.display}; {gzclient_config_cmds} export VGL_DISPLAY={DRI_PATH}; vglrun gz sim -g -v4 --gui-config /opt/jderobot/Launchers/sim_config/gui.config"
+            gzclient_cmd = f"export DISPLAY={self.display}; {gzclient_config_cmds} export VGL_DISPLAY={DRI_PATH}; vglrun gz sim -g -v4 --gui-config {config_file}"
         else:
             # Starts xserver, x11vnc and novnc
             self.gz_vnc.start_vnc(self.display, self.internal_port, self.external_port)
             # Write display config and start gzclient
-            gzclient_cmd = f"export DISPLAY={self.display}; {gzclient_config_cmds} gz sim -g -v4 --gui-config /opt/jderobot/Launchers/sim_config/gui.config"
+            gzclient_cmd = f"export DISPLAY={self.display}; {gzclient_config_cmds} gz sim -g -v4 --gui-config {config_file}"
 
         gzclient_thread = DockerThread(gzclient_cmd)
         gzclient_thread.start()

manager/manager/launcher/launcher_robot.py

@@ -18,7 +18,7 @@
         "2": [
             {
                 "type": "module",
-                "module": "ros2_api",
+                "module": "robot_ros2_api",
                 "parameters": [],
                 "launch_file": [],
             }
@@ -71,8 +71,11 @@ class LauncherRobot(BaseModel):
     module: str = ".".join(__name__.split(".")[:-1])
     ros_version: int = get_ros_version()
     launchers: Optional[ILauncher] = []
+    start_pose: Optional[list] = []
 
-    def run(self):
+    def run(self, start_pose = None):
+        if (start_pose != None):
+            self.start_pose = start_pose
         for module in worlds[self.world][str(self.ros_version)]:
             module["launch_file"] = self.launch_file_path
             launcher = self.launch_module(module)
@@ -98,7 +101,8 @@ def process_terminated(name, exit_code):
         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)
+
+        launcher.run(self.start_pose, process_terminated)
         return launcher
 
     def launch_command(self, configuration):

manager/manager/launcher/launcher_robot_display_view.py

@@ -15,7 +15,7 @@ class LauncherRobotDisplayView(ILauncher):
     running = False
     threads = []
 
-    def run(self, callback):
+    def run(self, config_file, callback):
         DRI_PATH = self.get_dri_path()
         ACCELERATION_ENABLED = self.check_device(DRI_PATH)
 

manager/manager/launcher/launcher_robot_ros2_api.py

@@ -0,0 +1,78 @@
+import os
+from typing import List, Any
+import time
+import stat
+
+from manager.manager.launcher.launcher_interface import ILauncher, LauncherException
+from manager.manager.docker_thread.docker_thread import DockerThread
+import subprocess
+
+import logging
+
+
+class LauncherRobotRos2Api(ILauncher):
+    type: str
+    module: str
+    launch_file: str
+    threads: List[Any] = []
+
+    def run(self, robot_pose, callback):
+        DRI_PATH = self.get_dri_path()
+        ACCELERATION_ENABLED = self.check_device(DRI_PATH)
+
+        logging.getLogger("roslaunch").setLevel(logging.CRITICAL)
+
+        xserver_cmd = f"/usr/bin/Xorg -quiet -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf :0"
+        xserver_thread = DockerThread(xserver_cmd)
+        xserver_thread.start()
+        self.threads.append(xserver_thread)
+
+        ROBOT_POSE = f"ROBOT_X={robot_pose[0]} ROBOT_Y={robot_pose[1]} ROBOT_Z={robot_pose[2]} ROBOT_ROLL={robot_pose[3]} ROBOT_PITCH={robot_pose[4]} ROBOT_YAW={robot_pose[5]}"
+
+        if ACCELERATION_ENABLED:
+            exercise_launch_cmd = (
+                f"export VGL_DISPLAY={DRI_PATH}; vglrun {ROBOT_POSE} ros2 launch {self.launch_file}"
+            )
+        else:
+            exercise_launch_cmd = f"{ROBOT_POSE} ros2 launch {self.launch_file}"
+
+        exercise_launch_thread = DockerThread(exercise_launch_cmd)
+        exercise_launch_thread.start()
+
+    def terminate(self):
+        if self.threads is not None:
+            for thread in self.threads:
+                if thread.is_alive():
+                    thread.terminate()
+                    thread.join()
+                self.threads.remove(thread)
+
+        kill_cmd = "pkill -9 -f "
+        cmd = kill_cmd + "spawn_robot.launch.py"
+        subprocess.call(
+            cmd,
+            shell=True,
+            stdout=subprocess.PIPE,
+            bufsize=1024,
+            universal_newlines=True,
+        )
+
+        kill_cmd = "pkill -9 "
+        cmd = kill_cmd + "bridg"
+        subprocess.call(
+            cmd,
+            shell=True,
+            stdout=subprocess.PIPE,
+            bufsize=1024,
+            universal_newlines=True,
+        )
+
+        cmd = kill_cmd + "robot_state_publisher"
+        subprocess.call(
+            cmd,
+            shell=True,
+            stdout=subprocess.PIPE,
+            bufsize=1024,
+            universal_newlines=True,
+        )
+

manager/manager/launcher/launcher_visualization.py

@@ -184,6 +184,7 @@
 class LauncherVisualization(BaseModel):
     module: str = ".".join(__name__.split(".")[:-1])
     visualization: str
+    visualization_config_path: str
     launchers: Optional[ILauncher] = []
 
     def run(self):
@@ -210,7 +211,7 @@ def process_terminated(name, exit_code):
         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)
+        launcher.run(self.visualization_config_path, process_terminated)
         return launcher
 
     def launch_command(self, configuration):

manager/manager/manager.py

@@ -286,7 +286,7 @@ def on_launch_world(self, event):
 
         self.robot_launcher = LauncherRobot(**cfg.model_dump())
         LogManager.logger.info(str(self.robot_launcher))
-        self.robot_launcher.run()
+        self.robot_launcher.run(robot_cfg['start_pose'])
         LogManager.logger.info("Launch transition finished")
 
     def prepare_custom_universe(self, cfg_dict):
@@ -313,10 +313,15 @@ def on_prepare_visualization(self, event):
 
         LogManager.logger.info("Visualization transition started")
 
-        self.visualization_type = event.kwargs.get("data", {})
+        cfg_dict = event.kwargs.get("data", {})
+        self.visualization_type = cfg_dict['type']
+        config_file = cfg_dict['file']
+
         self.visualization_launcher = LauncherVisualization(
-            visualization=self.visualization_type
+            visualization=self.visualization_type,
+            visualization_config_path = config_file
         )
+        
         self.visualization_launcher.run()
 
         if self.visualization_type in ["gazebo_rae", "gzsim_rae"]:
@@ -801,6 +806,9 @@ def unpause_sim(self):
             self.call_service("/unpause_physics", "std_srvs/srv/Empty")
 
     def reset_sim(self):
+        if self.robot_launcher:
+            self.robot_launcher.terminate()
+            
         if self.visualization_type in ["gzsim_rae", "bt_studio_gz"]:
             if self.is_ros_service_available("/drone0/platform/state_machine/_reset"):
                 self.call_service("/drone0/platform/state_machine/_reset", "std_srvs/srv/Trigger", "{}")
@@ -809,10 +817,9 @@ def reset_sim(self):
                 self.call_service("/drone0/controller/_reset", "std_srvs/srv/Trigger", "{}")
         else:
             self.call_service("/reset_world", "std_srvs/srv/Empty")
-            
+
         if self.robot_launcher:
             try:
-                self.robot_launcher.terminate()
                 self.robot_launcher.run()
             except Exception as e:
                 LogManager.logger.exception("Exception terminating world launcher")