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Issue 107 d #111

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Issue 107 d #111

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1dcd944
Generic exexrcise.py path
ReyDoran Dec 22, 2023
c0eb6c7
Merge branch 'issue-107' into issue-107-d
ReyDoran Dec 22, 2023
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13 changes: 10 additions & 3 deletions manager/manager/manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ def __init__(self, host: str, port: int):
self.running = True
self.gui_server = None
self.linter = Lint()
self.ros_version = self.get_ros_version()

# Creates workspace directories
worlds_dir = "/workspace/worlds"
Expand All @@ -90,6 +91,13 @@ def __init__(self, host: str, port: int):
if not os.path.isdir(binaries_dir):
os.makedirs(binaries_dir)

def get_ros_version(self):
version = subprocess.check_output(['bash', '-c', 'echo $ROS_DISTRO'])
if "noetic" in str(version):
return "ros1_noetic"
else:
return "ros2_humble"

def state_change(self, event):
LogManager.logger.info(f"State changed to {self.state}")
if self.consumer is not None:
Expand Down Expand Up @@ -172,8 +180,7 @@ def on_run_application(self, event):
f = open("/workspace/code/academy.py", "w")
f.write(code)
f.close()

self.application_process = subprocess.Popen(["python3", application_file], stdout=sys.stdout, stderr=subprocess.STDOUT,
self.application_process = subprocess.Popen(["python3", f"/RoboticsAcademy/exercises/static/exercises/{exercise_id}/python_template/{self.ros_version}/exercise.py"], stdout=sys.stdout, stderr=subprocess.STDOUT,
bufsize=1024, universal_newlines=True)
rosservice.call_service("/gazebo/unpause_physics", [])
else:
Expand Down Expand Up @@ -224,9 +231,9 @@ def on_pause(self, msg):
rosservice.call_service('/gazebo/pause_physics', [])

def on_resume(self, msg):
rosservice.call_service("/gazebo/unpause_physics", [])
proc = psutil.Process(self.application_process.pid)
proc.resume()
rosservice.call_service("/gazebo/unpause_physics", [])

def start(self):
"""
Expand Down