Merge pull request #37 from JdeRobot/issue-36

Added Robot Display View for ROS2

manager/manager/launcher/launcher_robot_display_view_ros2.py

@@ -0,0 +1,55 @@
+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 LauncherRobotDisplayView(ILauncher):
+    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)
+
+        robot_display_vnc = Vnc_server()
+
+        if (ACCELERATION_ENABLED):
+            robot_display_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}; /usr/bin/Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf {self.display}"
+        else:
+            robot_display_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};/usr/bin/Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf {self.display}"
+
+        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