Merge pull request #32 from JdeRobot/issue-30

Issue 30 - Added Teleoperator Launcher

Author: ReyDoran

manager/manager/launcher/launcher_teleoperator_ros2.py

@@ -0,0 +1,43 @@
+from src.manager.manager.launcher.launcher_interface import ILauncher
+from src.manager.manager.docker_thread.docker_thread import DockerThread
+import time
+import os
+import stat
+
+
+class LauncherTeleoperatorRos2(ILauncher):
+    running = False
+    threads = []
+
+    def run(self, callback):
+        DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0"))
+        ACCELERATION_ENABLED = self.check_device(DRI_PATH)
+        
+        if (ACCELERATION_ENABLED):
+            teleop_cmd = f"export VGL_DISPLAY={DRI_PATH}; vglrun python3 /opt/jderobot/utils/model_teleoperator.py 0.0.0.0"
+        else:
+            teleop_cmd = f"python3 /opt/jderobot/utils/model_teleoperator.py 0.0.0.0"
+
+        teleop_thread = DockerThread(teleop_cmd)
+        teleop_thread.start()
+        self.threads.append(teleop_thread)
+
+        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):
+        for thread in self.threads:
+            thread.terminate()
+            thread.join()
+        self.running = False
+
+    def died(self):
+        pass