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Kill harmonic processes when switching universes #195

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merged 2 commits into from
Mar 5, 2025
Merged

Kill harmonic processes when switching universes #195

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22b50d9
Kill harmonic processes when switching universes
javizqh Mar 4, 2025
8348a01
Do not reset sim for console only exercises
javizqh Mar 5, 2025
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10 changes: 6 additions & 4 deletions manager/manager/manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -324,7 +324,7 @@ def on_prepare_visualization(self, event):

self.visualization_launcher.run()

if self.visualization_type in ["gazebo_rae", "gzsim_rae"]:
if self.visualization_type in ["gazebo_rae", "gzsim_rae", "console"]:
self.gui_server = Server(2303, self.update)
self.gui_server.start()
elif self.visualization_type in ["bt_studio", "bt_studio_gz"]:
Expand Down Expand Up @@ -675,6 +675,7 @@ def terminate_harmonic_processes(self):
"""
Terminate all processes within the Docker container whose command line contains 'gz' or 'launch'.
"""
LogManager.logger.info("Terminate Harmonic process")
keywords = ['gz', 'launch']
for keyword in keywords:
try:
Expand Down Expand Up @@ -734,6 +735,7 @@ def on_terminate_universe(self, event):
self.world_launcher.terminate()
if self.robot_launcher != None:
self.robot_launcher.terminate()
self.terminate_harmonic_processes()

def on_disconnect(self, event):
self.terminate_harmonic_processes()
Expand Down Expand Up @@ -796,13 +798,13 @@ def on_resume(self, msg):
def pause_sim(self):
if self.visualization_type in ["gzsim_rae", "bt_studio_gz"]:
self.call_gzservice("$(gz service -l | grep '^/world/\w*/control$')","gz.msgs.WorldControl","gz.msgs.Boolean","3000","pause: true")
else:
elif not self.visualization_type in ["console"]:
self.call_service("/pause_physics", "std_srvs/srv/Empty")

def unpause_sim(self):
if self.visualization_type in ["gzsim_rae", "bt_studio_gz"]:
self.call_gzservice("$(gz service -l | grep '^/world/\w*/control$')","gz.msgs.WorldControl","gz.msgs.Boolean","3000","pause: false")
else:
elif not self.visualization_type in ["console"]:
self.call_service("/unpause_physics", "std_srvs/srv/Empty")

def reset_sim(self):
Expand All @@ -815,7 +817,7 @@ def reset_sim(self):
self.call_gzservice("$(gz service -l | grep '^/world/\w*/control$')","gz.msgs.WorldControl","gz.msgs.Boolean","3000","reset: {all: true}")
if self.is_ros_service_available("/drone0/controller/_reset"):
self.call_service("/drone0/controller/_reset", "std_srvs/srv/Trigger", "{}")
else:
elif not self.visualization_type in ["console"]:
self.call_service("/reset_world", "std_srvs/srv/Empty")

if self.robot_launcher:
Expand Down