Std and custom bt-studio visualization mode

JdeRobot · Jul 30, 2024 · 8c0dfa1 · 8c0dfa1
1 parent ca25d0a
commit 8c0dfa1
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Showing 2 changed files with 26 additions and 6 deletions.
diff --git a/manager/manager/launcher/launcher_visualization.py b/manager/manager/launcher/launcher_visualization.py
@@ -18,6 +18,24 @@
             "internal_port": 5901,
         }
     ],
+    "bt_studio": [
+        {
+            "type": "module",
+            "module": "console",
+            "display": ":1",
+            "external_port": 1108,
+            "internal_port": 5901,
+        },
+        {
+            "type": "module",
+            "width": 1024,
+            "height": 768,
+            "module": "gazebo_view",
+            "display": ":2",
+            "external_port": 6080,
+            "internal_port": 5900,
+        },
+    ],
     "gazebo_gra": [
         {
             "type": "module",

diff --git a/manager/manager/manager.py b/manager/manager/manager.py
@@ -206,33 +206,33 @@ def on_launch_world(self, event):
             cfg_dict = event.kwargs.get("data", {})
             cfg = ConfigurationManager.validate(cfg_dict)
             if "zip" in cfg_dict:
-                LogManager.logger.info("There is a zip in the msg!")
+                LogManager.logger.info("Launching universe from received zip")
                 self.prepare_custom_universe(cfg_dict)
             else:
-                LogManager.logger.info("Normal, no zip")
+                LogManager.logger.info("Launching universe from the RB")
 
             LogManager.logger.info(cfg)
         except ValueError as e:
             LogManager.logger.error(f"Configuration validation failed: {e}")
 
         self.world_launcher = LauncherWorld(**cfg.model_dump())
         LogManager.logger.info(str(self.world_launcher))
-        self.world_launcher.run()
+        self.world_launcher.run()   
         LogManager.logger.info("Launch transition finished")
 
     def prepare_custom_universe(self, cfg_dict):
-        print("Custom universe")
 
         # Unzip the app
         if cfg_dict["zip"].startswith("data:"):
             _, _, zip_file = cfg_dict["zip"].partition("base64,")
 
-        zip_destination = "/workspace/worlds/" + cfg_dict["name"] + ".zip"
+        universe_ref = "/workspace/worlds/" + cfg_dict["name"]
+        zip_destination = universe_ref + ".zip"
         with open(zip_destination, "wb") as result:
             result.write(base64.b64decode(zip_file))
 
         # Create the folder if it doesn't exist
-        universe_folder = "/workspace/worlds/" + cfg_dict["name"] + "/"
+        universe_folder = universe_ref + "/"
         if not os.path.exists(universe_folder):
             os.makedirs(universe_folder)
 
@@ -241,6 +241,7 @@ def prepare_custom_universe(self, cfg_dict):
         zip_ref.close()
 
     def on_prepare_visualization(self, event):
+
         LogManager.logger.info("Visualization transition started")
 
         visualization_type = event.kwargs.get("data", {})
@@ -252,6 +253,7 @@ def on_prepare_visualization(self, event):
         if visualization_type == "gazebo_rae":
             self.gui_server = Server(2303, self.update)
             self.gui_server.start()
+
         LogManager.logger.info("Visualization transition finished")
 
     def add_frequency_control(self, code):