Merge pull request #279 from JdeRobot/python-ros-project-support

Add compilation for python packages

Author: javizqh

robotics_application_manager/manager/launcher/launcher_o3de.py

@@ -14,7 +14,6 @@
 from robotics_application_manager import LogManager
 
 
-
 class LauncherO3de(ILauncher):
     running: bool = False
     threads: List[Any] = []

robotics_application_manager/manager/manager.py

@@ -686,13 +686,13 @@ def on_change_style(self, event):
             lxde_conf_dir = os.path.expanduser("~/.config/lxsession/LXDE")
             lxde_conf_path = os.path.join(lxde_conf_dir, "desktop.conf")
             os.makedirs(lxde_conf_dir, exist_ok=True)
-            
+
             # Read existing or create new
             conf_lines = []
             if os.path.exists(lxde_conf_path):
                 with open(lxde_conf_path, "r") as f:
                     conf_lines = f.readlines()
-            
+
             # Ensure GTK section exists and update theme name
             gtk_section_found = False
             for i, line in enumerate(conf_lines):
@@ -705,20 +705,23 @@ def on_change_style(self, event):
                 if not gtk_section_found:
                     conf_lines.append("[GTK]\\n")
                 conf_lines.append(f"sNet/ThemeName={gtk_theme}\\n")
-                
+
             with open(lxde_conf_path, "w") as f:
                 f.writelines(conf_lines)
 
             # Reload window manager (Openbox) and LXPanel
             subprocess.run(
-                ["bash", "-c", "export DISPLAY=:1; lxpanelctl restart; openbox --reconfigure"],
+                [
+                    "bash",
+                    "-c",
+                    "export DISPLAY=:1; lxpanelctl restart; openbox --reconfigure",
+                ],
                 stdout=subprocess.DEVNULL,
-                stderr=subprocess.DEVNULL
+                stderr=subprocess.DEVNULL,
             )
         except Exception as e:
             LogManager.logger.exception(f"Error refreshing GTK applications: {e}")
 
-
     def on_run_application(self, event):
         """
         Handle the 'run_application' event.
@@ -763,7 +766,7 @@ def on_run_application(self, event):
 
         _, file_extension = os.path.splitext(entrypoint)
 
-        if file_extension == ".cpp":
+        if file_extension == ".cpp" or entrypoint.endswith(".launch.py"):
             fds = os.listdir("/dev/pts/")
             console_fd = str(max(map(int, fds[:-1])))
 
@@ -780,23 +783,37 @@ def on_run_application(self, event):
                 executable="/bin/bash",
             )
             returncode = compile_process.wait()
-            print(returncode)
             if returncode != 0:
                 raise Exception("Failed to compile")
 
             self.unpause_sim()
-            self.application_process = subprocess.Popen(
-                [
-                    "source /workspace/code/install/setup.bash && ros2 run academy academyCode"
-                ],
-                stdin=open("/dev/pts/" + console_fd, "r"),
-                stdout=open("/dev/pts/" + console_fd, "w"),
-                stderr=sys.stdout,
-                bufsize=1024,
-                universal_newlines=True,
-                shell=True,
-                executable="/bin/bash",
-            )
+            if entrypoint.endswith(".launch.py"):
+                self.application_process = subprocess.Popen(
+                    [
+                        f"source /workspace/code/install/setup.bash && ros2 launch {entrypoint}"
+                    ],
+                    stdin=open("/dev/pts/" + console_fd, "r"),
+                    stdout=open("/dev/pts/" + console_fd, "w"),
+                    stderr=sys.stdout,
+                    bufsize=1024,
+                    universal_newlines=True,
+                    shell=True,
+                    executable="/bin/bash",
+                )
+            else:
+
+                self.application_process = subprocess.Popen(
+                    [
+                        "source /workspace/code/install/setup.bash && ros2 run academy academyCode"
+                    ],
+                    stdin=open("/dev/pts/" + console_fd, "r"),
+                    stdout=open("/dev/pts/" + console_fd, "w"),
+                    stderr=sys.stdout,
+                    bufsize=1024,
+                    universal_newlines=True,
+                    shell=True,
+                    executable="/bin/bash",
+                )
             return
 
         # Pass the linter

test/conftest.py

@@ -76,8 +76,13 @@ def stop(self):
 def manager(monkeypatch):
     """Fixture to provide a Manager instance with patched dependencies for testing."""
 
-    monkeypatch.setattr("robotics_application_manager.comms.websocket_server.WebsocketServer", DummyServer)
-    monkeypatch.setattr("robotics_application_manager.manager.manager.ManagerConsumer", DummyConsumer)
+    monkeypatch.setattr(
+        "robotics_application_manager.comms.websocket_server.WebsocketServer",
+        DummyServer,
+    )
+    monkeypatch.setattr(
+        "robotics_application_manager.manager.manager.ManagerConsumer", DummyConsumer
+    )
 
     # Patch subprocess.check_output for ROS_DISTRO and IMAGE_TAG
     def fake_check_output(cmd, *a, **k):
@@ -91,14 +96,16 @@ def fake_check_output(cmd, *a, **k):
 
     # Patch check_gpu_acceleration where it is used
     monkeypatch.setattr(
-        "robotics_application_manager.manager.manager.check_gpu_acceleration", lambda x=None: "OFF"
+        "robotics_application_manager.manager.manager.check_gpu_acceleration",
+        lambda x=None: "OFF",
     )
 
     def dummy_run(self, start_pose=None):
         print("run around")
 
     monkeypatch.setattr(
-        "robotics_application_manager.manager.launcher.launcher_robot.LauncherRobot.run", dummy_run
+        "robotics_application_manager.manager.launcher.launcher_robot.LauncherRobot.run",
+        dummy_run,
     )
 
     # Patch os.makedirs and os.path.isdir to avoid real FS operations
@@ -121,7 +128,9 @@ def run(self):
         def terminate(self):
             pass
 
-    monkeypatch.setattr("robotics_application_manager.manager.manager.LauncherWorld", DummyLauncherWorld)
+    monkeypatch.setattr(
+        "robotics_application_manager.manager.manager.LauncherWorld", DummyLauncherWorld
+    )
 
     class DummyFileWatchdog:
         def __init__(self, path, update_callback):
@@ -146,7 +155,9 @@ def run(self, consumer):
         def terminate(self):
             pass
 
-    monkeypatch.setattr("robotics_application_manager.manager.manager.LauncherTools", DummyToolsLauncher)
+    monkeypatch.setattr(
+        "robotics_application_manager.manager.manager.LauncherTools", DummyToolsLauncher
+    )
     # Deprecated
     # monkeypatch.setattr("robotics_application_manager.manager.manager.Server", DummyServer)
     # monkeypatch.setattr("robotics_application_manager.manager.manager.FileWatchdog", DummyFileWatchdog)

test/test_terminate_transitions.py

@@ -105,9 +105,7 @@ def test_terminate_tools_invalid_machine_error(manager, monkeypatch):
 
     Ensure that the transition raises an error when executed from an invalid state.
     """
-    monkeypatch.setattr(
-        "robotics_application_manager.libs.server.Server", DummyServer
-    )
+    monkeypatch.setattr("robotics_application_manager.libs.server.Server", DummyServer)
     # Ensure the manager is in a state where it can stop
     setup_manager_to_application_running(manager, monkeypatch)
 

test/test_utils.py

@@ -70,7 +70,9 @@ def run(self, consumer=None):
         def terminate(self):
             pass
 
-    monkeypatch.setattr("robotics_application_manager.manager.manager.LauncherTools", DummyToolsLauncher)
+    monkeypatch.setattr(
+        "robotics_application_manager.manager.manager.LauncherTools", DummyToolsLauncher
+    )
 
     # Trigger visualization ready state
     manager.trigger(
@@ -129,7 +131,8 @@ def fake_open(file, mode="r", *args, **kwargs):
     )
     monkeypatch.setattr("base64.b64decode", lambda s: b"print('hello')")
     monkeypatch.setattr(
-        "robotics_application_manager.manager.manager.Manager.unpause_sim", lambda self: None
+        "robotics_application_manager.manager.manager.Manager.unpause_sim",
+        lambda self: None,
     )
     # Mock linter to return no errors
     manager.linter.evaluate_code = lambda code, ros_version: ""