Merge pull request #249 from JdeRobot/o3de-lanch

Add o3de

Author: javizqh

manager/manager/launcher/launcher_o3de.py

@@ -0,0 +1,65 @@
+import sys
+from manager.manager.launcher.launcher_interface import ILauncher
+from manager.manager.docker_thread.docker_thread import DockerThread
+from manager.manager.vnc.vnc_server import Vnc_server
+from manager.libs.process_utils import (
+    wait_for_process_to_start,
+    check_gpu_acceleration,
+)
+import subprocess
+import time
+import os
+import stat
+from typing import List, Any
+from manager.ram_logging.log_manager import LogManager
+
+class LauncherO3de(ILauncher):
+    running: bool = False
+    threads: List[Any] = []
+    acceptsMsgs: bool = False
+    gz_vnc: Any = Vnc_server()
+
+    def run(self, config_file, callback):
+
+        # process_name = "gz sim"
+        # wait_for_process_to_start(process_name, timeout=60)
+
+        self.running = True
+
+    def check_device(self, device_path):
+        try:
+            return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE])
+        except:
+            return False
+
+    def is_running(self):
+        return self.running
+
+    def terminate(self):
+        self.running = False
+
+    def died(self):
+        pass
+
+    def pause(self):
+        self.running = False
+        pass
+
+    def unpause(self):
+        self.running = True
+        pass
+
+    def reset(self):
+        #TODO: add reset
+        pass
+
+    def get_dri_path(self):
+        directory_path = "/dev/dri"
+        dri_path = ""
+        if os.path.exists(directory_path) and os.path.isdir(directory_path):
+            files = os.listdir(directory_path)
+            if "card1" in files:
+                dri_path = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card1"))
+            else:
+                dri_path = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0"))
+        return dri_path

manager/manager/launcher/launcher_o3de_api.py

@@ -0,0 +1,88 @@
+import os
+import sys
+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
+from manager.manager.vnc.vnc_server import Vnc_server
+from manager.libs.process_utils import (
+    wait_for_process_to_start,
+    check_gpu_acceleration,
+)
+import subprocess
+
+import logging
+
+class LauncherO3deApi(ILauncher):
+    display: str
+    internal_port: int
+    external_port: int
+    height: int
+    width: int
+    type: str
+    module: str
+    launch_file: str
+    threads: List[Any] = []
+    gz_vnc: Any = Vnc_server()
+
+    def run(self, callback):
+        DRI_PATH = self.get_dri_path()
+        ACCELERATION_ENABLED = self.check_device(DRI_PATH)
+
+        #TODO: add run here
+
+        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)
+        
+        LevelSelect=f'echo "LoadLevel Levels/{self.launch_file}" > data/workspace/ROS2Demo/autoexec.cfg'
+        
+        LevelSelect_thread = DockerThread(LevelSelect)
+        LevelSelect_thread.start()
+        self.threads.append(LevelSelect_thread)
+        
+        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
+            o3decmd = f'export DISPLAY={self.display}; data/workspace/ROS2Demo/build/linux/bin/profile/ROS2Demo.GameLauncher --forceAdapter="NVIDIA"'
+        else:
+            # Starts xserver, x11vnc and novnc
+            self.gz_vnc.start_vnc(self.display, self.internal_port, self.external_port)
+            # Write display config
+            o3decmd = f'export DISPLAY={self.display}; data/workspace/ROS2Demo/build/linux/bin/profile/ROS2Demo.GameLauncher --forceAdapter="NVIDIA"'
+
+        gzclient_thread = DockerThread(o3decmd)
+        gzclient_thread.start()
+        self.threads.append(gzclient_thread)
+
+        process_name = 'ROS2Demo.GameLauncher'
+        wait_for_process_to_start(process_name, timeout=360)
+
+    def terminate(self):
+        self.gz_vnc.terminate()
+        if self.threads is not None:
+            for thread in self.threads:
+                if thread.is_alive():
+                    thread.terminate()
+                    thread.join()
+                self.threads.remove(thread)
+
+        # TODO: processes to kill
+        to_kill = ["ROS2Demo.GameLauncher"]
+
+        kill_cmd = "pkill -9 -f "
+        for i in to_kill:
+            cmd = kill_cmd + i
+            subprocess.call(
+                cmd,
+                shell=True,
+                stdout=subprocess.PIPE,
+                bufsize=1024,
+                universal_newlines=True,
+            )

manager/manager/launcher/launcher_tools.py

@@ -32,6 +32,10 @@
         "external_port": 6080,
         "internal_port": 5900,
     },
+    "o3de": {
+        "type": "module",
+        "module": "o3de",
+    },
     "rviz": {
         "module": "rviz",
         "display": ":3",
@@ -61,6 +65,7 @@
 simulator = {
     "gazebo": {"tool": "gazebo"},
     "gz": {"tool": "gzsim"},
+    "o3de": {"tool": "o3de"},
 }
 
 

manager/manager/launcher/launcher_world.py

@@ -26,6 +26,21 @@
             }
         ],
     },
+    "o3de": {
+        "2": [
+            {
+                "width": 1024,
+                "height": 768,
+                "display": ":2",
+                "external_port": 6080,
+                "internal_port": 5900,
+                "type": "o3de",
+                "module": "o3de_api",
+                "parameters": [],
+                "launch_file": [],
+            }
+        ],
+    },
     "physical": {},
 }