New code style and CPU proper waiting

JdeRobot · Mar 24, 2024 · f5b3800 · f5b3800
1 parent ee8e479
commit f5b3800
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Showing 5 changed files with 183 additions and 145 deletions.
diff --git a/manager/manager/launcher/launcher_console.py b/manager/manager/launcher/launcher_console.py
@@ -1,7 +1,7 @@
 from src.manager.manager.launcher.launcher_interface import ILauncher
 from src.manager.manager.docker_thread.docker_thread import DockerThread
 from src.manager.manager.vnc.vnc_server import Vnc_server
-from src.manager.libs.process_utils import  check_gpu_acceleration
+from src.manager.libs.process_utils import check_gpu_acceleration
 import os
 import stat
 from typing import List, Any
@@ -11,22 +11,24 @@ class LauncherConsole(ILauncher):
     display: str
     internal_port: int
     external_port: int
-    running:bool = False
+    running: bool = False
     threads: List[Any] = []
     console_vnc: Any = Vnc_server()
 
     def run(self, callback):
         DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0"))
         ACCELERATION_ENABLED = False
 
-
-
-        if (ACCELERATION_ENABLED):
-            self.console_vnc.start_vnc_gpu(self.display, self.internal_port, self.external_port,DRI_PATH)
+        if ACCELERATION_ENABLED:
+            self.console_vnc.start_vnc_gpu(
+                self.display, self.internal_port, self.external_port, DRI_PATH
+            )
             # Write display config and start the console
             console_cmd = f"export VGL_DISPLAY={DRI_PATH}; export DISPLAY={self.display}; vglrun xterm -fullscreen -sb -fa 'Monospace' -fs 10 -bg black -fg white"
         else:
-            self.console_vnc.start_vnc(self.display, self.internal_port, self.external_port)
+            self.console_vnc.start_vnc(
+                self.display, self.internal_port, self.external_port
+            )
             # Write display config and start the console
             console_cmd = f"export DISPLAY={self.display};xterm -geometry 100x10+0+0 -fa 'Monospace' -fs 10 -bg black -fg white"
 
@@ -35,7 +37,7 @@ def run(self, callback):
         self.threads.append(console_thread)
 
         self.running = True
-    
+
     def check_device(self, device_path):
         try:
             return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE])
@@ -53,4 +55,4 @@ def terminate(self):
         self.running = False
 
     def died(self):
-        pass
+        pass
diff --git a/manager/manager/launcher/launcher_gazebo_view.py b/manager/manager/launcher/launcher_gazebo_view.py
@@ -1,7 +1,10 @@
 from src.manager.manager.launcher.launcher_interface import ILauncher
 from src.manager.manager.docker_thread.docker_thread import DockerThread
 from src.manager.manager.vnc.vnc_server import Vnc_server
-from src.manager.libs.process_utils import wait_for_process_to_start, check_gpu_acceleration
+from src.manager.libs.process_utils import (
+    wait_for_process_to_start,
+    check_gpu_acceleration,
+)
 import subprocess
 import time
 import os
@@ -29,17 +32,15 @@ def run(self, callback):
         if ACCELERATION_ENABLED:
             # Starts xserver, x11vnc and novnc
             self.gz_vnc.start_vnc_gpu(
-                self.display, self.internal_port, self.external_port, DRI_PATH)
+                self.display, self.internal_port, self.external_port, DRI_PATH
+            )
             # Write display config and start gzclient
-            gzclient_cmd = (
-                f"export DISPLAY={self.display}; {gzclient_config_cmds} export VGL_DISPLAY={DRI_PATH}; vglrun gzclient --verbose")
+            gzclient_cmd = f"export DISPLAY={self.display}; {gzclient_config_cmds} export VGL_DISPLAY={DRI_PATH}; vglrun gzclient --verbose"
         else:
             # Starts xserver, x11vnc and novnc
-            self.gz_vnc.start_vnc(
-                self.display, self.internal_port, self.external_port)
+            self.gz_vnc.start_vnc(self.display, self.internal_port, self.external_port)
             # Write display config and start gzclient
-            gzclient_cmd = (
-                f"export DISPLAY={self.display}; {gzclient_config_cmds} gzclient --verbose")
+            gzclient_cmd = f"export DISPLAY={self.display}; {gzclient_config_cmds} gzclient --verbose"
 
         gzclient_thread = DockerThread(gzclient_cmd)
         gzclient_thread.start()
@@ -70,14 +71,12 @@ def died(self):
         pass
 
     def get_dri_path(self):
-        directory_path = '/dev/dri'
+        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"))
+            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"))
+                dri_path = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0"))
         return dri_path
diff --git a/manager/manager/launcher/launcher_visualization.py b/manager/manager/launcher/launcher_visualization.py
@@ -10,80 +10,98 @@
 
 visualization = {
     "none": [],
-    "console": [{"module": "console",
-                 "display": ":1",
-                 "external_port": 1108,
-                 "internal_port": 5901}],
-    "gazebo_gra": [{
-        "type": "module",
-        "module": "console",
-        "display": ":1",
-        "external_port": 1108,
-        "internal_port": 5901},
+    "console": [
         {
-        "type": "module",
-        "width": 1024,
-        "height": 768,
-        "module": "gazebo_view",
-        "display": ":2",
-        "external_port": 6080,
-        "internal_port": 5900
-    },
+            "module": "console",
+            "display": ":1",
+            "external_port": 1108,
+            "internal_port": 5901,
+        }
+    ],
+    "gazebo_gra": [
+        {
+            "type": "module",
+            "module": "console",
+            "display": ":1",
+            "external_port": 1108,
+            "internal_port": 5901,
+        },
+        {
+            "type": "module",
+            "width": 1024,
+            "height": 768,
+            "module": "gazebo_view",
+            "display": ":2",
+            "external_port": 6080,
+            "internal_port": 5900,
+        },
+        {
+            "type": "module",
+            "width": 1024,
+            "height": 768,
+            "module": "robot_display_view",
+            "display": ":3",
+            "external_port": 2303,
+            "internal_port": 5902,
+        },
+    ],
+    "gazebo_rae": [
+        {
+            "type": "module",
+            "module": "console",
+            "display": ":1",
+            "external_port": 1108,
+            "internal_port": 5901,
+        },
+        {
+            "type": "module",
+            "width": 1024,
+            "height": 768,
+            "module": "gazebo_view",
+            "display": ":2",
+            "external_port": 6080,
+            "internal_port": 5900,
+        },
+    ],
+    "physic_gra": [
+        {
+            "module": "console",
+            "display": ":1",
+            "external_port": 1108,
+            "internal_port": 5901,
+        },
+        {
+            "type": "module",
+            "width": 1024,
+            "height": 768,
+            "module": "robot_display_view",
+            "display": ":2",
+            "external_port": 2303,
+            "internal_port": 5902,
+        },
+    ],
+    "physic_rae": [
+        {
+            "module": "console",
+            "display": ":1",
+            "external_port": 1108,
+            "internal_port": 5901,
+        },
         {
-        "type": "module",
-        "width": 1024,
-        "height": 768,
-        "module": "robot_display_view",
-        "display": ":3",
-        "external_port": 2303,
-        "internal_port": 5902
-    }
+            "type": "module",
+            "width": 1024,
+            "height": 768,
+            "module": "robot_display_view",
+            "display": ":2",
+            "external_port": 2303,
+            "internal_port": 5902,
+        },
     ],
-    "gazebo_rae": [{"type": "module",
-                            "module": "console",
-                            "display": ":1",
-                            "external_port": 1108,
-                            "internal_port": 5901},
-                   {
-        "type": "module",
-        "width": 1024,
-        "height": 768,
-        "module": "gazebo_view",
-        "display": ":2",
-        "external_port": 6080,
-        "internal_port": 5900
-    }],
-    "physic_gra": [{"module": "console",
-                    "display": ":1",
-                    "external_port": 1108,
-                    "internal_port": 5901},
-                   {
-        "type": "module",
-                "width": 1024,
-        "height": 768,
-        "module": "robot_display_view",
-        "display": ":2",
-        "external_port": 2303,
-        "internal_port": 5902
-    }],
-    "physic_rae": [{"module": "console",
-                    "display": ":1",
-                    "external_port": 1108,
-                    "internal_port": 5901},
-                   {
-        "type": "module",
-        "width": 1024,
-        "height": 768,
-        "module": "robot_display_view",
-        "display": ":2",
-        "external_port": 2303,
-        "internal_port": 5902
-    }]
 }
 
 
 class LauncherVisualization(BaseModel):
-    module: str = '.'.join(__name__.split('.')[:-1])
+    module: str = ".".join(__name__.split(".")[:-1])
     visualization: str
     launchers: Optional[ILauncher] = []
 
@@ -102,7 +120,8 @@ def terminate(self):
     def launch_module(self, configuration):
         def process_terminated(name, exit_code):
             LogManager.logger.info(
-                f"LauncherEngine: {name} exited with code {exit_code}")
+                f"LauncherEngine: {name} exited with code {exit_code}"
+            )
             if self.terminated_callback is not None:
                 self.terminated_callback(name, exit_code)
 

diff --git a/manager/manager/launcher/launcher_world.py b/manager/manager/launcher/launcher_world.py
@@ -6,44 +6,56 @@
 from src.manager.manager.launcher.launcher_interface import ILauncher
 
 worlds = {
-    "gazebo":
-    {"1": [{
-        "type": "module",
-        "module": "ros_api",
-        "parameters": [],
-        "launch_file": [],
-    }], "2": [{
-        "type": "module",
-        "module": "ros2_api",
-        "parameters": [],
-        "launch_file": [],
-    }]},
-    "drones":
-    {"1": [{
-        "type": "module",
-        "module": "drones",
-        "resource_folders": [],
-        "model_folders": [],
-        "plugin_folders": [],
-        "parameters": [],
-        "launch_file": [],
-    }], "2": [{
-        "type": "module",
-        "module": "drones_ros2",
-        "resource_folders": [],
-        "model_folders": [],
-        "plugin_folders": [],
-        "parameters": [],
-        "launch_file": [],
-    }]},
-    "physical": {}
+    "gazebo": {
+        "1": [
+            {
+                "type": "module",
+                "module": "ros_api",
+                "parameters": [],
+                "launch_file": [],
+            }
+        ],
+        "2": [
+            {
+                "type": "module",
+                "module": "ros2_api",
+                "parameters": [],
+                "launch_file": [],
+            }
+        ],
+    },
+    "drones": {
+        "1": [
+            {
+                "type": "module",
+                "module": "drones",
+                "resource_folders": [],
+                "model_folders": [],
+                "plugin_folders": [],
+                "parameters": [],
+                "launch_file": [],
+            }
+        ],
+        "2": [
+            {
+                "type": "module",
+                "module": "drones_ros2",
+                "resource_folders": [],
+                "model_folders": [],
+                "plugin_folders": [],
+                "parameters": [],
+                "launch_file": [],
+            }
+        ],
+    },
+    "physical": {},
 }
 
 
 class LauncherWorld(BaseModel):
     world: str
     launch_file_path: str
-    module: str = '.'.join(__name__.split('.')[:-1])
+    module: str = ".".join(__name__.split(".")[:-1])
     ros_version: int = get_ros_version()
     launchers: Optional[ILauncher] = []
 
@@ -63,7 +75,8 @@ def terminate(self):
     def launch_module(self, configuration):
         def process_terminated(name, exit_code):
             LogManager.logger.info(
-                f"LauncherEngine: {name} exited with code {exit_code}")
+                f"LauncherEngine: {name} exited with code {exit_code}"
+            )
             if self.terminated_callback is not None:
                 self.terminated_callback(name, exit_code)