Merge pull request #236 from JdeRobot/simplify-harmonic-terminate

Simplify gz terminate

Author: javizqh

manager/manager/launcher/launcher_gzsim.py

@@ -60,6 +60,7 @@ class LauncherGzsim(ILauncher):
     width: int
     running: bool = False
     threads: List[Any] = []
+    acceptsMsgs: bool = False
     gz_vnc: Any = Vnc_server()
 
     def run(self, config_file, callback):

manager/manager/launcher/launcher_ros.py

@@ -44,9 +44,9 @@ class LauncherRos(ILauncher):
     def run(self):
         try:
             # generate entry_point environment variable
-            os.environ[
-                "EXERCISE_FOLDER"
-            ] = f"{os.environ.get('EXERCISES_STATIC_FOLDER')}/{self.exercise_id}"
+            os.environ["EXERCISE_FOLDER"] = (
+                f"{os.environ.get('EXERCISES_STATIC_FOLDER')}/{self.exercise_id}"
+            )
 
             # expand variables in configuration paths
             resource_folders = [
@@ -57,15 +57,15 @@ def run(self):
             launch_file = os.path.expandvars(self.launch_file)
 
             env = dict(os.environ)
-            env[
-                "GAZEBO_RESOURCE_PATH"
-            ] = f"{env.get('GAZEBO_RESOURCE_PATH', '')}:{':'.join(resource_folders)}"
-            env[
-                "GAZEBO_MODEL_PATH"
-            ] = f"{env.get('GAZEBO_MODEL_PATH', '')}:{':'.join(model_folders)}"
-            env[
-                "GAZEBO_PLUGIN_PATH"
-            ] = f"{env.get('GAZEBO_PLUGIN_PATH', '')}:{':'.join(plugin_folders)}"
+            env["GAZEBO_RESOURCE_PATH"] = (
+                f"{env.get('GAZEBO_RESOURCE_PATH', '')}:{':'.join(resource_folders)}"
+            )
+            env["GAZEBO_MODEL_PATH"] = (
+                f"{env.get('GAZEBO_MODEL_PATH', '')}:{':'.join(model_folders)}"
+            )
+            env["GAZEBO_PLUGIN_PATH"] = (
+                f"{env.get('GAZEBO_PLUGIN_PATH', '')}:{':'.join(plugin_folders)}"
+            )
 
             parameters = " ".join(self.parameters)
             command = f"{self.ros_command_line} {parameters} {launch_file}"

manager/manager/launcher/launcher_ros2_api.py

@@ -1,4 +1,5 @@
 import os
+import sys
 from typing import List, Any
 import time
 import stat
@@ -43,38 +44,19 @@ def terminate(self):
                     thread.join()
                 self.threads.remove(thread)
 
-        kill_cmd = "pkill -9 -f "
-        cmd = kill_cmd + "gzserver"
-        subprocess.call(
-            cmd,
-            shell=True,
-            stdout=subprocess.PIPE,
-            bufsize=1024,
-            universal_newlines=True,
-        )
-        cmd = kill_cmd + "spawn_model.launch.py"
-        subprocess.call(
-            cmd,
-            shell=True,
-            stdout=subprocess.PIPE,
-            bufsize=1024,
-            universal_newlines=True,
-        )
+        to_kill = ["launch.py"]
+        if self.type == "gz":
+            to_kill = ["gz", "launch.py"]
+        else:
+            to_kill = ["gzserver", "launch.py"]
 
         kill_cmd = "pkill -9 -f "
-        cmd = kill_cmd + "gzserver"
-        subprocess.call(
-            cmd,
-            shell=True,
-            stdout=subprocess.PIPE,
-            bufsize=1024,
-            universal_newlines=True,
-        )
-        cmd = kill_cmd + "spawn_model.launch.py"
-        subprocess.call(
-            cmd,
-            shell=True,
-            stdout=subprocess.PIPE,
-            bufsize=1024,
-            universal_newlines=True,
-        )
+        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_world.py

@@ -9,7 +9,7 @@
     "gazebo": {
         "2": [
             {
-                "type": "module",
+                "type": "gazebo",
                 "module": "ros2_api",
                 "parameters": [],
                 "launch_file": [],
@@ -19,7 +19,7 @@
     "gz": {
         "2": [
             {
-                "type": "module",
+                "type": "gz",
                 "module": "ros2_api",
                 "parameters": [],
                 "launch_file": [],

manager/manager/manager.py

@@ -718,54 +718,6 @@ def find_docker_console():
 
         LogManager.logger.info("Run application transition finished")
 
-    def terminate_harmonic_processes(self):
-        """
-        Terminate all Harmonic processes in the container.
-
-        Terminate all processes in the container
-        whose command line contains 'gz' or 'launch'.
-        """
-        LogManager.logger.info("Terminate Harmonic process")
-        keywords = ["gz", "launch"]
-        for keyword in keywords:
-            try:
-                ps_aux_cmd = ["ps", "aux"]
-                grep_cmd = ["grep", keyword]
-                grep_exclude_cmd = ["grep", "-v", "grep"]
-
-                ps_aux_proc = subprocess.Popen(ps_aux_cmd, stdout=subprocess.PIPE)
-                grep_proc = subprocess.Popen(
-                    grep_cmd, stdin=ps_aux_proc.stdout, stdout=subprocess.PIPE
-                )
-                exclude_grep_proc = subprocess.Popen(
-                    grep_exclude_cmd, stdin=grep_proc.stdout, stdout=subprocess.PIPE
-                )
-
-                ps_aux_proc.stdout.close()
-                grep_proc.stdout.close()
-
-                output = exclude_grep_proc.communicate()[0].decode("utf-8")
-
-                for line in output.splitlines():
-                    try:
-                        # Extract PID
-                        pid = int(line.split()[1])
-                        subprocess.run(["kill", "-15", str(pid)], check=True)
-
-                        # Avoid zombies
-                        try:
-                            os.waitpid(pid, 0)
-                        except ChildProcessError:
-                            pass
-                    except Exception as e:
-                        LogManager.logger.exception(
-                            f"Failed to terminate process with line: {line}. Error: {e}"
-                        )
-
-            except Exception as e:
-                LogManager.logger.exception(
-                    f"Failed to search and terminate processes with keyword '{keyword}': {e}"
-                )
 
     def on_terminate_application(self, event):
         """
@@ -790,7 +742,6 @@ def on_terminate_application(self, event):
     def on_terminate_tools(self, event):
 
         self.tools_launcher.terminate()
-        self.terminate_harmonic_processes()
 
     def on_terminate_universe(self, event):
         """
@@ -806,7 +757,6 @@ def on_terminate_universe(self, event):
             self.world_launcher.terminate()
         if self.robot_launcher is not None:
             self.robot_launcher.terminate()
-        self.terminate_harmonic_processes()
 
     def on_disconnect(self, event):
         """
@@ -846,8 +796,6 @@ def on_disconnect(self, event):
             except Exception as e:
                 LogManager.logger.exception("Exception terminating world launcher")
 
-        self.terminate_harmonic_processes()
-
         # Reiniciar el script
         python = sys.executable
         os.execl(python, python, *sys.argv)
@@ -970,7 +918,6 @@ def signal_handler(sign, frame):
                 except Exception as e:
                     LogManager.logger.exception("Exception terminating world launcher")
 
-            self.terminate_harmonic_processes()
             exit()
 
         signal.signal(signal.SIGINT, signal_handler)