[deleted] removal of set_environment

manager/manager/launcher/launcher_drones.py

@@ -0,0 +1,68 @@
+import os
+import time
+from typing import List, Any
+import roslaunch
+import rospy
+
+from src.manager.manager.launcher.launcher_interface import ILauncher, LauncherException
+
+import logging
+
+
+class RosProcessListener(roslaunch.pmon.ProcessListener):
+    def __init__(self, *args, **kwargs):
+        self.callback = kwargs.get('callback', None)
+
+    def process_died(self, name, exit_code):
+        print(f"ROS process {name} terminated with code {exit_code}")
+        if self.callback is not None:
+            self.callback(name, exit_code)
+
+
+class LauncherRosApi(ILauncher):
+    exercise_id: str
+    type: str
+    module: str
+    resource_folders: List[str]
+    model_folders: List[str]
+    plugin_folders: List[str]
+    parameters: List[str]
+    launch_file: str
+
+    # holder for roslaunch process
+    launch: Any = None
+    listener: Any = None
+
+    def run(self, callback: callable = None):
+        logging.getLogger("roslaunch").setLevel(logging.CRITICAL)
+
+        # expand variables in configuration paths
+        launch_file = os.path.expandvars(self.launch_file)
+
+        self.listener = RosProcessListener(callback=callback)
+        uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+        roslaunch.configure_logging(uuid)
+        self.launch = roslaunch.parent.ROSLaunchParent(uuid, [launch_file], process_listeners=[self.listener])
+        self.launch.start()
+
+        if not self.launch.pm.is_alive():
+            raise LauncherException("Exception launching ROS")
+
+    def is_running(self):
+        return self.launch.pm.is_alive()
+
+    def wait_for_shutdown(self, timeout=30):
+        print("Waiting for ROS and Gazebo to shutdown")
+        start_time = rospy.Time.now().to_sec()
+        while not rospy.is_shutdown() and self.is_running():
+            if rospy.Time.now().to_sec() - start_time > timeout:
+                print("Timeout while waiting for ROS and Gazebo to shutdown")
+                break
+            rospy.sleep(0.5)
+
+    def terminate(self):
+        try:
+            self.launch.shutdown()
+            self.wait_for_shutdown()
+        except roslaunch.RLException:
+            print("Exception shutting down ROS")