Merge pull request #131 from JdeRobot/new_follow_person

[Follow person] Superthin support

Author: OscarMrZ

manager/libs/applications/compatibility/server.py

@@ -7,10 +7,14 @@
 
 
 class Server(threading.Thread):
-    def __init__(self, port, callback,):
+    def __init__(
+        self,
+        port,
+        callback,
+    ):
         super().__init__()
         self.update_callback = callback
-        self.server = WebsocketServer(port=port, host='127.0.0.1')
+        self.server = WebsocketServer(port=port, host="127.0.0.1")
         self.server.set_fn_new_client(self.on_open)
         self.server.set_fn_client_left(self.on_close)
         self.server.set_fn_message_received(self.on_message)
@@ -39,9 +43,7 @@ def send(self, data):
     def on_message(self, client, server, message):
         payload = json.loads(message)
         self.update_callback(payload)
-        server.send_message(client, "#ack")
-        LogManager.logger.debug(
-            f"Message received from template: {message[:30]}")
+        LogManager.logger.debug(f"Message received from template: {message[:30]}")
 
     def on_close(self, client, server):
         LogManager.logger.info("Connection with client closed")

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

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

manager/manager/launcher/launcher_ros2_api.py

@@ -9,13 +9,14 @@
 
 import logging
 
+
 class LauncherRos2Api(ILauncher):
     type: str
     module: str
     launch_file: str
     threads: List[Any] = []
 
-    def run(self,callback):
+    def run(self, callback):
         DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0"))
         ACCELERATION_ENABLED = self.check_device(DRI_PATH)
 
@@ -26,14 +27,16 @@ def run(self,callback):
         xserver_thread.start()
         self.threads.append(xserver_thread)
 
-        if (ACCELERATION_ENABLED):
-            exercise_launch_cmd = f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file}"
+        if ACCELERATION_ENABLED:
+            exercise_launch_cmd = (
+                f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file}"
+            )
         else:
             exercise_launch_cmd = f"ros2 launch {self.launch_file}"
 
         exercise_launch_thread = DockerThread(exercise_launch_cmd)
         exercise_launch_thread.start()
-    
+
     def check_device(self, device_path):
         try:
             return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE])
@@ -45,15 +48,39 @@ def terminate(self):
             for thread in self.threads:
                 thread.terminate()
                 thread.join()
-            
-        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)
-
-        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)
+
+        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,
+        )
+
+        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,
+        )