Change tools config

Author: javizqh

…nager/launcher/launcher_visualization.py …nager/manager/launcher/launcher_tools.pymanager/manager/launcher/launcher_visualization.py renamed to manager/manager/launcher/launcher_tools.py manager/manager/launcher/launcher_visualization.py renamed to manager/manager/launcher/launcher_tools.py

@@ -50,13 +50,13 @@
 class LauncherTools(BaseModel):
     module: str = ".".join(__name__.split(".")[:-1])
     tools: list[str]
-    visualization_config_path: Optional[str] = None
+    tools_config: Optional[dict] = None
     launchers: Optional[ILauncher] = []
 
     def run(self, consumer):
         for tool in self.tools:
             module = tools[tool]
-            launcher = self.launch_module(module, consumer)
+            launcher = self.launch_module(tool, module, consumer)
             self.launchers.append(launcher)
 
     def terminate(self):
@@ -66,7 +66,7 @@ def terminate(self):
                 launcher.terminate()
         self.launchers = []
 
-    def launch_module(self, configuration, consumer):
+    def launch_module(self, name, configuration, consumer):
         def process_terminated(name, exit_code):
             LogManager.logger.info(
                 f"LauncherEngine: {name} exited with code {exit_code}"
@@ -81,8 +81,12 @@ def process_terminated(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)
+        config = None
+        if self.tools_config is not None and name in self.tools_config:
+            config = self.tools_config[name]
+            
         launcher = launcher_class.from_config(launcher_class, configuration)
-        launcher.run(self.visualization_config_path, process_terminated)
+        launcher.run(config, process_terminated)
         return launcher
 
     def pause(self):

manager/manager/manager.py

@@ -32,7 +32,7 @@
 from manager.libs.launch_world_model import ConfigurationManager
 from manager.manager.launcher.launcher_world import LauncherWorld
 from manager.manager.launcher.launcher_robot import LauncherRobot
-from manager.manager.launcher.launcher_visualization import LauncherTools
+from src.manager.manager.launcher.launcher_tools import LauncherTools
 from manager.ram_logging.log_manager import LogManager
 from manager.manager.application.robotics_python_application_interface import (
     IRoboticsPythonApplication,
@@ -343,11 +343,11 @@ def on_prepare_tools(self, event):
         LogManager.logger.info("Tools transition started")
 
         cfg_dict = event.kwargs.get("data", {})
-        self.tools = cfg_dict["tools"]
-        config_file = cfg_dict["file"]
+        tools = cfg_dict["tools"]
+        config = cfg_dict["config"]
 
         self.tools_launcher = LauncherTools(
-            tools=self.tools, visualization_config_path=config_file
+            tools=tools, tools_config=config
         )
 
         self.tools_launcher.run(self.consumer)