Merge pull request #44 from JdeRobot/issue-43

Issue 43

Author: ango1994

manager/libs/applications/compatibility/exercise_wrapper.py

@@ -23,6 +23,10 @@ def __init__(self, exercise_command, gui_command, update_callback):
         self.running = False
         self.linter = Lint()
         self.brain_ready_event = threading.Event()
+        self.exercise_command = exercise_command
+        self.gui_command = gui_command
+        self.update_callback = update_callback
+        self.pick = None
         # TODO: review hardcoded values
         process_ready, self.exercise_server = self._run_exercise_server(f"python {exercise_command}",
                                                                         f'{home_dir}/ws_code.log',
@@ -50,23 +54,34 @@ def __init__(self, exercise_command, gui_command, update_callback):
             self.gui_server.kill()
             raise RuntimeError(f"Exercise GUI {gui_command} could not be run")
 
-        self.running = True
-
-        self.start_send_freq_thread()
 
 
     def send_freq(self, exercise_connection, is_alive):
         """Send the frequency of the brain and gui to the exercise server"""
-        while is_alive():
+        while self.running:
             exercise_connection.send(
                 """#freq{"brain": 20, "gui": 10, "rtf": 100}""")
             time.sleep(1)
 
+    def save_pick(self, pick):
+        self.pick = pick
+    
+    def send_pick(self, pick):
+        self.gui_connection.send("#pick" + json.dumps(pick))
+        print("#pick" + json.dumps(pick))
+
     def start_send_freq_thread(self):
         """Start a thread to send the frequency of the brain and gui to the exercise server"""
-        daemon = Thread(target=lambda: self.send_freq(self.exercise_connection,
+        self.running = True
+        self.send_freq_thread = Thread(target=lambda: self.send_freq(self.exercise_connection,
                         lambda: self.is_alive), daemon=False, name='Monitor frequencies')
-        daemon.start()
+        self.send_freq_thread.start()
+
+    def stop_send_freq_thread(self):
+        """Stop the thread sending the frequency of the brain and gui to the exercise server"""
+        if self.running:
+            self.running = False
+            self.send_freq_thread.join()
 
     def _run_exercise_server(self, cmd, log_file, load_string, timeout: int = 5):
         process = subprocess.Popen(f"{cmd}", shell=True, stdout=sys.stdout, stderr=subprocess.STDOUT,
@@ -123,13 +138,32 @@ def pause(self):
         rosservice.call_service('/gazebo/pause_physics', [])
 
     def restart(self):
-        pass
+        # Terminate current processes
+        self.stop_send_freq_thread()
+        home_dir = os.path.expanduser('~')
+        stop_process_and_children(self.exercise_server)
+        try:
+            os.remove(f'{home_dir}/ws_code.log')
+        except OSError as error:
+            LogManager.logger.error(f"Error al eliminar el archivo log: {error}")
+            
+        process_ready,self.exercise_server = self._run_exercise_server(f"python {self.exercise_command}",
+                                                                        f'{home_dir}/ws_code.log',
+                                                                        'websocket_code=ready')
+        if process_ready:
+            self.start_send_freq_thread()
+            if self.pick:
+                self.send_pick(self.pick)
+       
+
 
     @property
     def is_alive(self):
         return self.running
 
     def load_code(self, code: str):
+        self.restart()
+
         errors = self.linter.evaluate_code(code)
         if errors == "":
             self.brain_ready_event.clear()

manager/manager/manager.py

@@ -59,8 +59,6 @@ class Manager:
         # Global transitions
         {'trigger': 'disconnect', 'source': '*',
             'dest': 'idle', 'before': 'on_disconnect'},
-        #{'trigger': 'get_state', 'source': '*', 'dest': '='},
-
     ]
 
     def __init__(self, host: str, port: int):
@@ -281,6 +279,8 @@ def signal_handler(sign, frame):
                     self.process_messsage(message)
             except Exception as e:
                 if message is not None:
+                    if message.command == "#pick":
+                        self.application.save_pick(message.data)
                     ex = ManagerConsumerMessageException(
                         id=message.id, message=str(e))
                 else: