diff --git a/manager/libs/applications/compatibility/exercise_wrapper_ros2.py b/manager/libs/applications/compatibility/exercise_wrapper_ros2.py new file mode 100644 index 0000000..6a3da4a --- /dev/null +++ b/manager/libs/applications/compatibility/exercise_wrapper_ros2.py @@ -0,0 +1,162 @@ +import json +import logging +import os.path +import subprocess +import sys +import threading +import time +from threading import Thread + +from src.manager.libs.applications.compatibility.client import Client +from src.manager.libs.process_utils import stop_process_and_children +from src.manager.ram_logging.log_manager import LogManager +from src.manager.manager.application.robotics_python_application_interface import IRoboticsPythonApplication +from src.manager.manager.lint.linter import Lint + + +class CompatibilityExerciseWrapperRos2(IRoboticsPythonApplication): + def __init__(self, exercise_command, gui_command, update_callback): + super().__init__(update_callback) + + home_dir = os.path.expanduser('~') + self.running = False + self.linter = Lint() + self.brain_ready_event = threading.Event() + # TODO: review hardcoded values + process_ready, self.exercise_server = self._run_exercise_server(f"python3 {exercise_command}", + f'{home_dir}/ws_code.log', + 'websocket_code=ready') + if process_ready: + LogManager.logger.info( + f"Exercise code {exercise_command} launched") + time.sleep(1) + self.exercise_connection = Client( + 'ws://127.0.0.1:1905', 'exercise', self.server_message) + self.exercise_connection.start() + else: + self.exercise_server.kill() + raise RuntimeError(f"Exercise {exercise_command} could not be run") + + process_ready, self.gui_server = self._run_exercise_server(f"python3 {gui_command}", f'{home_dir}/ws_gui.log', + 'websocket_gui=ready') + if process_ready: + LogManager.logger.info(f"Exercise gui {gui_command} launched") + time.sleep(1) + self.gui_connection = Client( + 'ws://127.0.0.1:2303', 'gui', self.server_message) + self.gui_connection.start() + else: + self.gui_server.kill() + raise RuntimeError(f"Exercise GUI {gui_command} could not be run") + + self.running = True + + self.start_send_freq_thread() + + + def send_freq(self, exercise_connection, is_alive): + """Send the frequency of the brain and gui to the exercise server""" + while is_alive(): + exercise_connection.send( + """#freq{"brain": 20, "gui": 10, "rtf": 100}""") + time.sleep(1) + + def start_send_freq_thread(self): + """Start a thread to send the frequency of the brain and gui to the exercise server""" + daemon = Thread(target=lambda: self.send_freq(self.exercise_connection, + lambda: self.is_alive), daemon=False, name='Monitor frequencies') + daemon.start() + + def _run_exercise_server(self, cmd, log_file, load_string, timeout: int = 5): + process = subprocess.Popen(f"{cmd}", shell=True, stdout=sys.stdout, stderr=subprocess.STDOUT, + bufsize=1024, universal_newlines=True) + + process_ready = False + while not process_ready: + try: + f = open(log_file, "r") + if f.readline() == load_string: + process_ready = True + f.close() + time.sleep(0.2) + except Exception as e: + LogManager.logger.debug( + f"waiting for server string '{load_string}'...") + time.sleep(0.2) + + return process_ready, process + + def server_message(self, name, message): + if name == "gui": # message received from GUI server + LogManager.logger.debug( + f"Message received from gui: {message[:30]}") + self._process_gui_message(message) + elif name == "exercise": # message received from EXERCISE server + if message.startswith("#exec"): + self.brain_ready_event.set() + LogManager.logger.info( + f"Message received from exercise: {message[:30]}") + self._process_exercise_message(message) + + def _process_gui_message(self, message): + payload = json.loads(message[4:]) + self.update_callback(payload) + self.gui_connection.send("#ack") + + def _process_exercise_message(self, message): + comand = message[:5] + if (message==comand): + payload = comand + else: + payload = json.loads(message[5:]) + self.update_callback(payload) + self.exercise_connection.send("#ack") + + def call_service(self, service, service_type): + command = f"ros2 service call {service} {service_type}" + subprocess.call(f"{command}", shell=True, stdout=sys.stdout, stderr=subprocess.STDOUT, bufsize=1024, + universal_newlines=True) + + def run(self): + self.call_service("/unpause_physics","std_srvs/srv/Empty") + self.exercise_connection.send("#play") + + def stop(self): + self.call_service("/pause_physics","std_srvs/srv/Empty") + self.call_service("/reset_world","std_srvs/srv/Empty") + self.exercise_connection.send("#rest") + + def resume(self): + self.call_service("/unpause_physics","std_srvs/srv/Empty") + self.exercise_connection.send("#play") + + def pause(self): + self.call_service("/pause_physics","std_srvs/srv/Empty") + self.exercise_connection.send("#stop") + + def restart(self): + # pause_cmd = "ros2 service call /restart_simulation std_srvs/srv/Empty" + # subprocess.call(f"{pause_cmd}", shell=True, stdout=sys.stdout, stderr=subprocess.STDOUT, bufsize=1024, + # universal_newlines=True) + pass + + @property + def is_alive(self): + return self.running + + def load_code(self, code: str): + errors = self.linter.evaluate_code(code) + if errors == "": + self.brain_ready_event.clear() + self.exercise_connection.send(f"#code {code}") + self.brain_ready_event.wait() + else: + raise Exception(errors) + + def terminate(self): + self.running = False + self.exercise_connection.stop() + self.gui_connection.stop() + + stop_process_and_children(self.exercise_server) + stop_process_and_children(self.gui_server) \ No newline at end of file diff --git a/manager/manager/launcher/launcher_console_ros2.py b/manager/manager/launcher/launcher_console_ros2.py new file mode 100644 index 0000000..9c8f3f7 --- /dev/null +++ b/manager/manager/launcher/launcher_console_ros2.py @@ -0,0 +1,53 @@ +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 +import time +import os +import stat + + +class LauncherConsoleRos2(ILauncher): + display: str + internal_port: str + external_port: str + running = False + threads = [] + + def run(self, callback): + DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0")) + ACCELERATION_ENABLED = self.check_device(DRI_PATH) + + console_vnc = Vnc_server() + + if (ACCELERATION_ENABLED): + 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: + 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" + + console_thread = DockerThread(console_cmd) + console_thread.start() + 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]) + except: + return False + + def is_running(self): + return self.running + + def terminate(self): + for thread in self.threads: + thread.terminate() + thread.join() + self.running = False + + def died(self): + pass \ No newline at end of file diff --git a/manager/manager/launcher/launcher_gazebo_view_ros2.py b/manager/manager/launcher/launcher_gazebo_view_ros2.py new file mode 100644 index 0000000..134c4b0 --- /dev/null +++ b/manager/manager/launcher/launcher_gazebo_view_ros2.py @@ -0,0 +1,67 @@ +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 +import time +import os +import stat + + +class LauncherGazeboViewRos2(ILauncher): + exercise_id: str + display: str + internal_port: str + external_port: str + height: int + width: int + running = False + threads = [] + + def run(self, callback): + DRI_PATH = os.path.join( + "/dev/dri", os.environ.get("DRI_NAME", "card0")) + ACCELERATION_ENABLED = self.check_device(DRI_PATH) + + # Configure browser screen width and height for gzclient + gzclient_config_cmds = f"echo [geometry] > ~/.gazebo/gui.ini; echo x=0 >> ~/.gazebo/gui.ini; echo y=0 >> ~/.gazebo/gui.ini; echo width={self.width} >> ~/.gazebo/gui.ini; echo height={self.height} >> ~/.gazebo/gui.ini;" + gz_vnc = Vnc_server() + + if ACCELERATION_ENABLED: + gz_vnc.start_vnc_gpu(self.display, self.internal_port, self.external_port, DRI_PATH) + # Write display config and start gzclient + gzclient_cmd = ( + f"export DISPLAY=:0; {gzclient_config_cmds} export VGL_DISPLAY={DRI_PATH}; vglrun gzclient --verbose") + else: + gz_vnc.start_vnc(self.display, self.internal_port, self.external_port) + # Write display config and start gzclient + gzclient_cmd = ( + f"export DISPLAY=:0; {gzclient_config_cmds} gzclient --verbose") + + # wait for vnc and gazebo servers to load properly + if (self.exercise_id == "follow_person_newmanager"): + time.sleep(6) + else: + time.sleep(0.1) + + gzclient_thread = DockerThread(gzclient_cmd) + gzclient_thread.start() + self.threads.append(gzclient_thread) + + self.running = True + + def check_device(self, device_path): + try: + return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE]) + except: + return False + + def is_running(self): + return self.running + + def terminate(self): + for thread in self.threads: + thread.terminate() + thread.join() + self.running = False + + def died(self): + pass \ No newline at end of file diff --git a/manager/manager/launcher/launcher_ros2_api.py b/manager/manager/launcher/launcher_ros2_api.py new file mode 100644 index 0000000..e4bb0cc --- /dev/null +++ b/manager/manager/launcher/launcher_ros2_api.py @@ -0,0 +1,67 @@ +import os +from typing import List, Any +import time +import stat + +from src.manager.manager.launcher.launcher_interface import ILauncher, LauncherException +from src.manager.manager.docker_thread.docker_thread import DockerThread +import subprocess + +import logging + +class LauncherRos2Api(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 + running = False + + def run(self,callback): + DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0")) + ACCELERATION_ENABLED = self.check_device(DRI_PATH) + + logging.getLogger("roslaunch").setLevel(logging.CRITICAL) + + # expand variables in configuration paths + self._set_environment() + launch_file = os.path.expandvars(self.launch_file) + + if (ACCELERATION_ENABLED): + exercise_launch_cmd = f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {launch_file}" + else: + exercise_launch_cmd = f"ros2 launch {launch_file}" + + exercise_launch_thread = DockerThread(exercise_launch_cmd) + exercise_launch_thread.start() + + self.running = True + + def is_running(self): + return self.running + + def check_device(self, device_path): + try: + return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE]) + except: + return False + + def terminate(self): + if self.is_running(): + 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) + + def _set_environment(self): + resource_folders = [os.path.expandvars(path) for path in self.resource_folders] + model_folders = [os.path.expandvars(path) for path in self.model_folders] + plugin_folders = [os.path.expandvars(path) for path in self.plugin_folders] + + os.environ["GAZEBO_RESOURCE_PATH"] = f"{os.environ.get('GAZEBO_RESOURCE_PATH', '')}:{':'.join(resource_folders)}" + os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(model_folders)}" + os.environ["GAZEBO_PLUGIN_PATH"] = f"{os.environ.get('GAZEBO_PLUGIN_PATH', '')}:{':'.join(plugin_folders)}" \ No newline at end of file diff --git a/manager/manager/lint/linter.py b/manager/manager/lint/linter.py index 95a96b0..0830e3c 100644 --- a/manager/manager/lint/linter.py +++ b/manager/manager/lint/linter.py @@ -27,7 +27,14 @@ def evaluate_code(self, code, warnings=False): open("user_code.py", "r") - command = "export PYTHONPATH=$PYTHONPATH:/$EXERCISE_FOLDER/python_template/ros1_noetic; python3 RoboticsAcademy/src/manager/manager/lint/pylint_checker.py" + command = "" + output = subprocess.check_output(['bash', '-c', 'echo $ROS_VERSION']) + output_str = output.decode('utf-8') + version = output_str[0] + if (version == 2): + command = "export PYTHONPATH=$PYTHONPATH:/$EXERCISE_FOLDER/python_template/ros2_humble; python3 RoboticsAcademy/src/manager/manager/lint/pylint_checker.py" + else: + command = "export PYTHONPATH=$PYTHONPATH:/$EXERCISE_FOLDER/python_template/ros1_noetic; python3 RoboticsAcademy/src/manager/manager/lint/pylint_checker.py" ret = subprocess.run(command, capture_output=True, shell=True) result = ret.stdout.decode() result = result + "\n" diff --git a/manager/manager/lint/pylintrc b/manager/manager/lint/pylintrc new file mode 100755 index 0000000..0980a19 --- /dev/null +++ b/manager/manager/lint/pylintrc @@ -0,0 +1,623 @@ +[MASTER] + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code. +extension-pkg-allow-list= + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code. (This is an alternative name to extension-pkg-allow-list +# for backward compatibility.) +extension-pkg-whitelist=cv2 + +# Return non-zero exit code if any of these messages/categories are detected, +# even if score is above --fail-under value. Syntax same as enable. Messages +# specified are enabled, while categories only check already-enabled messages. +fail-on= + +# Specify a score threshold to be exceeded before program exits with error. +fail-under=10.0 + +# Files or directories to be skipped. They should be base names, not paths. +ignore=CVS + +# Add files or directories matching the regex patterns to the ignore-list. The +# regex matches against paths. +ignore-paths= + +# Files or directories matching the regex patterns are skipped. The regex +# matches against base names, not paths. +ignore-patterns= + +# Python code to execute, usually for sys.path manipulation such as +# pygtk.require(). +#init-hook= + +# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the +# number of processors available to use. +jobs=1 + +# Control the amount of potential inferred values when inferring a single +# object. This can help the performance when dealing with large functions or +# complex, nested conditions. +limit-inference-results=100 + +# List of plugins (as comma separated values of python module names) to load, +# usually to register additional checkers. +load-plugins= + +# Pickle collected data for later comparisons. +persistent=yes + +# When enabled, pylint would attempt to guess common misconfiguration and emit +# user-friendly hints instead of false-positive error messages. +suggestion-mode=yes + +# Allow loading of arbitrary C extensions. Extensions are imported into the +# active Python interpreter and may run arbitrary code. +unsafe-load-any-extension=no + + +[MESSAGES CONTROL] + +# Only show warnings with the listed confidence levels. Leave empty to show +# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED. +confidence= + +# Disable the message, report, category or checker with the given id(s). You +# can either give multiple identifiers separated by comma (,) or put this +# option multiple times (only on the command line, not in the configuration +# file where it should appear only once). You can also use "--disable=all" to +# disable everything first and then reenable specific checks. For example, if +# you want to run only the similarities checker, you can use "--disable=all +# --enable=similarities". If you want to run only the classes checker, but have +# no Warning level messages displayed, use "--disable=all --enable=classes +# --disable=W". +disable=print-statement, + parameter-unpacking, + unpacking-in-except, + old-raise-syntax, + backtick, + long-suffix, + old-ne-operator, + old-octal-literal, + import-star-module-level, + non-ascii-bytes-literal, + raw-checker-failed, + bad-inline-option, + locally-disabled, + file-ignored, + suppressed-message, + useless-suppression, + deprecated-pragma, + use-symbolic-message-instead, + apply-builtin, + basestring-builtin, + buffer-builtin, + cmp-builtin, + coerce-builtin, + execfile-builtin, + file-builtin, + long-builtin, + raw_input-builtin, + reduce-builtin, + standarderror-builtin, + unicode-builtin, + xrange-builtin, + coerce-method, + delslice-method, + getslice-method, + setslice-method, + no-absolute-import, + old-division, + dict-iter-method, + dict-view-method, + next-method-called, + metaclass-assignment, + indexing-exception, + raising-string, + reload-builtin, + oct-method, + hex-method, + nonzero-method, + cmp-method, + input-builtin, + round-builtin, + intern-builtin, + unichr-builtin, + map-builtin-not-iterating, + zip-builtin-not-iterating, + range-builtin-not-iterating, + filter-builtin-not-iterating, + using-cmp-argument, + eq-without-hash, + div-method, + idiv-method, + rdiv-method, + exception-message-attribute, + invalid-str-codec, + sys-max-int, + bad-python3-import, + deprecated-string-function, + deprecated-str-translate-call, + deprecated-itertools-function, + deprecated-types-field, + next-method-defined, + dict-items-not-iterating, + dict-keys-not-iterating, + dict-values-not-iterating, + deprecated-operator-function, + deprecated-urllib-function, + xreadlines-attribute, + deprecated-sys-function, + exception-escape, + comprehension-escape + +# Enable the message, report, category or checker with the given id(s). You can +# either give multiple identifier separated by comma (,) or put this option +# multiple time (only on the command line, not in the configuration file where +# it should appear only once). See also the "--disable" option for examples. +enable=c-extension-no-member + + +[REPORTS] + +# Python expression which should return a score less than or equal to 10. You +# have access to the variables 'error', 'warning', 'refactor', and 'convention' +# which contain the number of messages in each category, as well as 'statement' +# which is the total number of statements analyzed. This score is used by the +# global evaluation report (RP0004). +evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) + +# Template used to display messages. This is a python new-style format string +# used to format the message information. See doc for all details. +#msg-template= + +# Set the output format. Available formats are text, parseable, colorized, json +# and msvs (visual studio). You can also give a reporter class, e.g. +# mypackage.mymodule.MyReporterClass. +output-format=text + +# Tells whether to display a full report or only the messages. +reports=no + +# Activate the evaluation score. +score=yes + + +[REFACTORING] + +# Maximum number of nested blocks for function / method body +max-nested-blocks=5 + +# Complete name of functions that never returns. When checking for +# inconsistent-return-statements if a never returning function is called then +# it will be considered as an explicit return statement and no message will be +# printed. +never-returning-functions=sys.exit,argparse.parse_error + + +[MISCELLANEOUS] + +# List of note tags to take in consideration, separated by a comma. +notes=FIXME, + XXX, + TODO + +# Regular expression of note tags to take in consideration. +#notes-rgx= + + +[SPELLING] + +# Limits count of emitted suggestions for spelling mistakes. +max-spelling-suggestions=4 + +# Spelling dictionary name. Available dictionaries: none. To make it work, +# install the 'python-enchant' package. +spelling-dict= + +# List of comma separated words that should be considered directives if they +# appear and the beginning of a comment and should not be checked. +spelling-ignore-comment-directives=fmt: on,fmt: off,noqa:,noqa,nosec,isort:skip,mypy: + +# List of comma separated words that should not be checked. +spelling-ignore-words= + +# A path to a file that contains the private dictionary; one word per line. +spelling-private-dict-file= + +# Tells whether to store unknown words to the private dictionary (see the +# --spelling-private-dict-file option) instead of raising a message. +spelling-store-unknown-words=no + + +[STRING] + +# This flag controls whether inconsistent-quotes generates a warning when the +# character used as a quote delimiter is used inconsistently within a module. +check-quote-consistency=no + +# This flag controls whether the implicit-str-concat should generate a warning +# on implicit string concatenation in sequences defined over several lines. +check-str-concat-over-line-jumps=no + + +[BASIC] + +# Naming style matching correct argument names. +argument-naming-style=snake_case + +# Regular expression matching correct argument names. Overrides argument- +# naming-style. +#argument-rgx= + +# Naming style matching correct attribute names. +attr-naming-style=snake_case + +# Regular expression matching correct attribute names. Overrides attr-naming- +# style. +#attr-rgx= + +# Bad variable names which should always be refused, separated by a comma. +bad-names=foo, + bar, + baz, + toto, + tutu, + tata + +# Bad variable names regexes, separated by a comma. If names match any regex, +# they will always be refused +bad-names-rgxs= + +# Naming style matching correct class attribute names. +class-attribute-naming-style=any + +# Regular expression matching correct class attribute names. Overrides class- +# attribute-naming-style. +#class-attribute-rgx= + +# Naming style matching correct class constant names. +class-const-naming-style=UPPER_CASE + +# Regular expression matching correct class constant names. Overrides class- +# const-naming-style. +#class-const-rgx= + +# Naming style matching correct class names. +class-naming-style=PascalCase + +# Regular expression matching correct class names. Overrides class-naming- +# style. +#class-rgx= + +# Naming style matching correct constant names. +const-naming-style=UPPER_CASE + +# Regular expression matching correct constant names. Overrides const-naming- +# style. +#const-rgx= + +# Minimum line length for functions/classes that require docstrings, shorter +# ones are exempt. +docstring-min-length=-1 + +# Naming style matching correct function names. +function-naming-style=snake_case + +# Regular expression matching correct function names. Overrides function- +# naming-style. +#function-rgx= + +# Good variable names which should always be accepted, separated by a comma. +good-names=i, + j, + k, + ex, + Run, + _ + +# Good variable names regexes, separated by a comma. If names match any regex, +# they will always be accepted +good-names-rgxs= + +# Include a hint for the correct naming format with invalid-name. +include-naming-hint=no + +# Naming style matching correct inline iteration names. +inlinevar-naming-style=any + +# Regular expression matching correct inline iteration names. Overrides +# inlinevar-naming-style. +#inlinevar-rgx= + +# Naming style matching correct method names. +method-naming-style=snake_case + +# Regular expression matching correct method names. Overrides method-naming- +# style. +#method-rgx= + +# Naming style matching correct module names. +module-naming-style=snake_case + +# Regular expression matching correct module names. Overrides module-naming- +# style. +#module-rgx= + +# Colon-delimited sets of names that determine each other's naming style when +# the name regexes allow several styles. +name-group= + +# Regular expression which should only match function or class names that do +# not require a docstring. +no-docstring-rgx=^_ + +# List of decorators that produce properties, such as abc.abstractproperty. Add +# to this list to register other decorators that produce valid properties. +# These decorators are taken in consideration only for invalid-name. +property-classes=abc.abstractproperty + +# Naming style matching correct variable names. +variable-naming-style=snake_case + +# Regular expression matching correct variable names. Overrides variable- +# naming-style. +#variable-rgx= + + +[TYPECHECK] + +# List of decorators that produce context managers, such as +# contextlib.contextmanager. Add to this list to register other decorators that +# produce valid context managers. +contextmanager-decorators=contextlib.contextmanager + +# List of members which are set dynamically and missed by pylint inference +# system, and so shouldn't trigger E1101 when accessed. Python regular +# expressions are accepted. +generated-members= + +# Tells whether missing members accessed in mixin class should be ignored. A +# mixin class is detected if its name ends with "mixin" (case insensitive). +ignore-mixin-members=yes + +# Tells whether to warn about missing members when the owner of the attribute +# is inferred to be None. +ignore-none=yes + +# This flag controls whether pylint should warn about no-member and similar +# checks whenever an opaque object is returned when inferring. The inference +# can return multiple potential results while evaluating a Python object, but +# some branches might not be evaluated, which results in partial inference. In +# that case, it might be useful to still emit no-member and other checks for +# the rest of the inferred objects. +ignore-on-opaque-inference=yes + +# List of class names for which member attributes should not be checked (useful +# for classes with dynamically set attributes). This supports the use of +# qualified names. +ignored-classes=optparse.Values,thread._local,_thread._local + +# List of module names for which member attributes should not be checked +# (useful for modules/projects where namespaces are manipulated during runtime +# and thus existing member attributes cannot be deduced by static analysis). It +# supports qualified module names, as well as Unix pattern matching. +ignored-modules= + +# Show a hint with possible names when a member name was not found. The aspect +# of finding the hint is based on edit distance. +missing-member-hint=yes + +# The minimum edit distance a name should have in order to be considered a +# similar match for a missing member name. +missing-member-hint-distance=1 + +# The total number of similar names that should be taken in consideration when +# showing a hint for a missing member. +missing-member-max-choices=1 + +# List of decorators that change the signature of a decorated function. +signature-mutators= + + +[SIMILARITIES] + +# Ignore comments when computing similarities. +ignore-comments=yes + +# Ignore docstrings when computing similarities. +ignore-docstrings=yes + +# Ignore imports when computing similarities. +ignore-imports=no + +# Ignore function signatures when computing similarities. +ignore-signatures=no + +# Minimum lines number of a similarity. +min-similarity-lines=4 + + +[VARIABLES] + +# List of additional names supposed to be defined in builtins. Remember that +# you should avoid defining new builtins when possible. +additional-builtins= + +# Tells whether unused global variables should be treated as a violation. +allow-global-unused-variables=yes + +# List of names allowed to shadow builtins +allowed-redefined-builtins= + +# List of strings which can identify a callback function by name. A callback +# name must start or end with one of those strings. +callbacks=cb_, + _cb + +# A regular expression matching the name of dummy variables (i.e. expected to +# not be used). +dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ + +# Argument names that match this expression will be ignored. Default to name +# with leading underscore. +ignored-argument-names=_.*|^ignored_|^unused_ + +# Tells whether we should check for unused import in __init__ files. +init-import=no + +# List of qualified module names which can have objects that can redefine +# builtins. +redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io + + +[FORMAT] + +# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. +expected-line-ending-format= + +# Regexp for a line that is allowed to be longer than the limit. +ignore-long-lines=^\s*(# )??$ + +# Number of spaces of indent required inside a hanging or continued line. +indent-after-paren=4 + +# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 +# tab). +indent-string=' ' + +# Maximum number of characters on a single line. +max-line-length=100 + +# Maximum number of lines in a module. +max-module-lines=1000 + +# Allow the body of a class to be on the same line as the declaration if body +# contains single statement. +single-line-class-stmt=no + +# Allow the body of an if to be on the same line as the test if there is no +# else. +single-line-if-stmt=no + + +[LOGGING] + +# The type of string formatting that logging methods do. `old` means using % +# formatting, `new` is for `{}` formatting. +logging-format-style=old + +# Logging modules to check that the string format arguments are in logging +# function parameter format. +logging-modules=logging + + +[IMPORTS] + +# List of modules that can be imported at any level, not just the top level +# one. +allow-any-import-level= + +# Allow wildcard imports from modules that define __all__. +allow-wildcard-with-all=no + +# Analyse import fallback blocks. This can be used to support both Python 2 and +# 3 compatible code, which means that the block might have code that exists +# only in one or another interpreter, leading to false positives when analysed. +analyse-fallback-blocks=no + +# Deprecated modules which should not be used, separated by a comma. +deprecated-modules= + +# Output a graph (.gv or any supported image format) of external dependencies +# to the given file (report RP0402 must not be disabled). +ext-import-graph= + +# Output a graph (.gv or any supported image format) of all (i.e. internal and +# external) dependencies to the given file (report RP0402 must not be +# disabled). +import-graph= + +# Output a graph (.gv or any supported image format) of internal dependencies +# to the given file (report RP0402 must not be disabled). +int-import-graph= + +# Force import order to recognize a module as part of the standard +# compatibility libraries. +known-standard-library= + +# Force import order to recognize a module as part of a third party library. +known-third-party=enchant + +# Couples of modules and preferred modules, separated by a comma. +preferred-modules= + + +[CLASSES] + +# Warn about protected attribute access inside special methods +check-protected-access-in-special-methods=no + +# List of method names used to declare (i.e. assign) instance attributes. +defining-attr-methods=__init__, + __new__, + setUp, + __post_init__ + +# List of member names, which should be excluded from the protected access +# warning. +exclude-protected=_asdict, + _fields, + _replace, + _source, + _make + +# List of valid names for the first argument in a class method. +valid-classmethod-first-arg=cls + +# List of valid names for the first argument in a metaclass class method. +valid-metaclass-classmethod-first-arg=cls + + +[DESIGN] + +# Maximum number of arguments for function / method. +max-args=5 + +# Maximum number of attributes for a class (see R0902). +max-attributes=7 + +# Maximum number of boolean expressions in an if statement (see R0916). +max-bool-expr=5 + +# Maximum number of branch for function / method body. +max-branches=12 + +# Maximum number of locals for function / method body. +max-locals=15 + +# Maximum number of parents for a class (see R0901). +max-parents=7 + +# Maximum number of public methods for a class (see R0904). +max-public-methods=20 + +# Maximum number of return / yield for function / method body. +max-returns=6 + +# Maximum number of statements in function / method body. +max-statements=50 + +# Minimum number of public methods for a class (see R0903). +min-public-methods=2 + + +[EXCEPTIONS] + +# Exceptions that will emit a warning when being caught. Defaults to +# "BaseException, Exception". +overgeneral-exceptions=BaseException, + Exception diff --git a/manager/manager/vnc/vnc_server.py b/manager/manager/vnc/vnc_server.py new file mode 100755 index 0000000..c10ed86 --- /dev/null +++ b/manager/manager/vnc/vnc_server.py @@ -0,0 +1,36 @@ +import time +from src.manager.manager.docker_thread.docker_thread import DockerThread + + +class Vnc_server: + def start_vnc(self,display, internal_port, external_port): + + # Start X server in display + xserver_cmd = f"/usr/bin/Xorg -quiet -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf {display}" + xserver_thread = DockerThread(xserver_cmd) + xserver_thread.start() + time.sleep(1) + + # Start VNC server without password, forever running in background + x11vnc_cmd = f"x11vnc -quiet -display {display} -nopw -forever -xkb -bg -rfbport {internal_port}" + x11vnc_thread = DockerThread(x11vnc_cmd) + x11vnc_thread.start() + + # Start noVNC with default port 6080 listening to VNC server on 5900 + novnc_cmd = f"/noVNC/utils/novnc_proxy --listen {external_port} --vnc localhost:{internal_port}" + novnc_thread = DockerThread(novnc_cmd) + novnc_thread.start() + + def start_vnc_gpu(self,display, internal_port, external_port, dri_path): + # Start X and VNC servers + turbovnc_cmd = f"export VGL_DISPLAY={dri_path} && export TVNC_WM=startlxde && /opt/TurboVNC/bin/vncserver {display} -geometry '1920x1080' -vgl -noreset -SecurityTypes None -rfbport {internal_port}" + turbovnc_thread = DockerThread(turbovnc_cmd) + turbovnc_thread.start() + time.sleep(1) + + # Start noVNC with default port 6080 listening to VNC server on 5900 + novnc_cmd = f"/noVNC/utils/novnc_proxy --listen {external_port} --vnc localhost:{internal_port}" + novnc_thread = DockerThread(novnc_cmd) + novnc_thread.start() + +