From 360394a60008452b73caf7f4309fd15d49fb3a44 Mon Sep 17 00:00:00 2001
From: David Maria Arribas <dmariaa70@gmail.com>
Date: Sun, 14 May 2023 11:31:25 +0200
Subject: [PATCH 1/2] New: refactoring code to work as submodule

---
 manager/__pycache__/__init__.cpython-38.pyc   | Bin 123 -> 0 bytes
 .../comms/__pycache__/__init__.cpython-38.pyc | Bin 129 -> 0 bytes
 .../__pycache__/new_consumer.cpython-38.pyc   | Bin 3537 -> 0 bytes
 .../libs/__pycache__/__init__.cpython-38.pyc  | Bin 128 -> 0 bytes
 .../__pycache__/process_utils.cpython-38.pyc  | Bin 2358 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 141 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 155 -> 0 bytes
 .../__pycache__/client.cpython-38.pyc         | Bin 2106 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 131 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 143 -> 0 bytes
 ...ython_application_interface.cpython-38.pyc | Bin 2012 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 145 -> 0 bytes
 .../__pycache__/docker_thread.cpython-38.pyc  | Bin 1337 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 140 -> 0 bytes
 .../launcher_console.cpython-38.pyc           | Bin 1931 -> 0 bytes
 .../launcher_engine.cpython-38.pyc            | Bin 2562 -> 0 bytes
 .../launcher_gazebo_view.cpython-38.pyc       | Bin 2201 -> 0 bytes
 .../launcher_ros_api.cpython-38.pyc           | Bin 3618 -> 0 bytes
 .../lint/__pycache__/__init__.cpython-38.pyc  | Bin 136 -> 0 bytes
 .../__pycache__/__init__.cpython-38.pyc       | Bin 135 -> 0 bytes
 ram.log                                       | 358 ++++++++++++++++++
 {manager => src}/__init__.py                  |   0
 src/__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 161 bytes
 {manager => src}/comms/__init__.py            |   0
 src/comms/__pycache__/__init__.cpython-38.pyc | Bin 0 -> 167 bytes
 .../consumer_message.cpython-38.pyc           | Bin 2266 -> 2304 bytes
 .../__pycache__/new_consumer.cpython-38.pyc   | Bin 0 -> 3576 bytes
 {manager => src}/comms/consumer.py            |   8 +-
 {manager => src}/comms/consumer_message.py    |   0
 {manager => src}/comms/new_consumer.py        |   9 +-
 {manager => src}/libs/__init__.py             |   0
 src/libs/__pycache__/__init__.cpython-38.pyc  | Bin 0 -> 166 bytes
 .../__pycache__/process_utils.cpython-38.pyc  | Bin 0 -> 2556 bytes
 .../libs/applications/__init__.py             |   0
 .../__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 179 bytes
 .../libs/applications/brain_exercise.py       |  11 +-
 .../applications/compatibility/__init__.py    |   0
 .../__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 193 bytes
 .../__pycache__/client.cpython-38.pyc         | Bin 0 -> 2222 bytes
 .../exercise_wrapper.cpython-38.pyc           | Bin 6063 -> 6061 bytes
 .../libs/applications/compatibility/client.py |   3 +-
 .../compatibility/exercise_wrapper.py         |  22 +-
 .../robotics_application_wrapper.py           |  29 +-
 .../libs/applications/robotics_application.py |   8 +-
 {manager => src}/libs/process_utils.py        |  45 ++-
 {manager => src}/manager/__init__.py          |   0
 .../__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 169 bytes
 .../__pycache__/manager.cpython-38.pyc        | Bin 0 -> 7675 bytes
 .../manager/application/__init__.py           |   0
 .../__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 181 bytes
 ...ython_application_interface.cpython-38.pyc | Bin 0 -> 2050 bytes
 .../robotics_python_application_interface.py  |   0
 {manager => src}/manager/config.json          |   0
 .../manager/docker_thread/__init__.py         |   0
 .../manager/docker_thread/docker_thread.py    |  11 +-
 {manager => src}/manager/launcher/__init__.py |   0
 .../__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 178 bytes
 .../launcher_engine.cpython-38.pyc            | Bin 0 -> 2597 bytes
 .../launcher_interface.cpython-38.pyc         | Bin 1437 -> 1475 bytes
 .../launcher_ros_api.cpython-38.pyc           | Bin 0 -> 3624 bytes
 .../manager/launcher/launcher_console.py      |   5 +-
 .../manager/launcher/launcher_engine.py       |   4 +-
 .../manager/launcher/launcher_gazebo_view.py  |   5 +-
 .../manager/launcher/launcher_interface.py    |   0
 .../launcher/launcher_robot_display_view.py   |   4 +-
 .../manager/launcher/launcher_ros.py          |   2 +-
 .../manager/launcher/launcher_ros_api.py      |   3 +-
 {manager => src}/manager/lint/__init__.py     |   0
 .../lint/__pycache__/__init__.cpython-38.pyc  | Bin 0 -> 174 bytes
 .../lint/__pycache__/linter.cpython-38.pyc    | Bin 2350 -> 2424 bytes
 {manager => src}/manager/lint/linter.py       |  19 +-
 .../manager/lint/pylint_checker.py            |   1 -
 {manager => src}/manager/manager.py           |  46 +--
 {manager => src}/ram_logging/__init__.py      |   0
 .../__pycache__/__init__.cpython-38.pyc       | Bin 0 -> 173 bytes
 .../__pycache__/log_manager.cpython-38.pyc    | Bin 1019 -> 1034 bytes
 {manager => src}/ram_logging/log_manager.py   |   2 +-
 user_code.py                                  | 211 +++++++++++
 78 files changed, 694 insertions(+), 112 deletions(-)
 delete mode 100644 manager/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/comms/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/comms/__pycache__/new_consumer.cpython-38.pyc
 delete mode 100644 manager/libs/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/libs/__pycache__/process_utils.cpython-38.pyc
 delete mode 100644 manager/libs/applications/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/libs/applications/compatibility/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/libs/applications/compatibility/__pycache__/client.cpython-38.pyc
 delete mode 100644 manager/manager/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/manager/application/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/manager/application/__pycache__/robotics_python_application_interface.cpython-38.pyc
 delete mode 100644 manager/manager/docker_thread/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/manager/docker_thread/__pycache__/docker_thread.cpython-38.pyc
 delete mode 100644 manager/manager/launcher/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/manager/launcher/__pycache__/launcher_console.cpython-38.pyc
 delete mode 100644 manager/manager/launcher/__pycache__/launcher_engine.cpython-38.pyc
 delete mode 100644 manager/manager/launcher/__pycache__/launcher_gazebo_view.cpython-38.pyc
 delete mode 100644 manager/manager/launcher/__pycache__/launcher_ros_api.cpython-38.pyc
 delete mode 100644 manager/manager/lint/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 manager/ram_logging/__pycache__/__init__.cpython-38.pyc
 create mode 100644 ram.log
 rename {manager => src}/__init__.py (100%)
 create mode 100644 src/__pycache__/__init__.cpython-38.pyc
 rename {manager => src}/comms/__init__.py (100%)
 create mode 100644 src/comms/__pycache__/__init__.cpython-38.pyc
 rename {manager => src}/comms/__pycache__/consumer_message.cpython-38.pyc (79%)
 create mode 100644 src/comms/__pycache__/new_consumer.cpython-38.pyc
 rename {manager => src}/comms/consumer.py (93%)
 rename {manager => src}/comms/consumer_message.py (100%)
 rename {manager => src}/comms/new_consumer.py (92%)
 rename {manager => src}/libs/__init__.py (100%)
 create mode 100644 src/libs/__pycache__/__init__.cpython-38.pyc
 create mode 100644 src/libs/__pycache__/process_utils.cpython-38.pyc
 rename {manager => src}/libs/applications/__init__.py (100%)
 create mode 100644 src/libs/applications/__pycache__/__init__.cpython-38.pyc
 rename {manager => src}/libs/applications/brain_exercise.py (54%)
 rename {manager => src}/libs/applications/compatibility/__init__.py (100%)
 create mode 100644 src/libs/applications/compatibility/__pycache__/__init__.cpython-38.pyc
 create mode 100644 src/libs/applications/compatibility/__pycache__/client.cpython-38.pyc
 rename {manager => src}/libs/applications/compatibility/__pycache__/exercise_wrapper.cpython-38.pyc (52%)
 rename {manager => src}/libs/applications/compatibility/client.py (90%)
 rename {manager => src}/libs/applications/compatibility/exercise_wrapper.py (87%)
 rename {manager => src}/libs/applications/compatibility/robotics_application_wrapper.py (67%)
 rename {manager => src}/libs/applications/robotics_application.py (63%)
 rename {manager => src}/libs/process_utils.py (58%)
 rename {manager => src}/manager/__init__.py (100%)
 create mode 100644 src/manager/__pycache__/__init__.cpython-38.pyc
 create mode 100644 src/manager/__pycache__/manager.cpython-38.pyc
 rename {manager => src}/manager/application/__init__.py (100%)
 create mode 100644 src/manager/application/__pycache__/__init__.cpython-38.pyc
 create mode 100644 src/manager/application/__pycache__/robotics_python_application_interface.cpython-38.pyc
 rename {manager => src}/manager/application/robotics_python_application_interface.py (100%)
 rename {manager => src}/manager/config.json (100%)
 rename {manager => src}/manager/docker_thread/__init__.py (100%)
 rename {manager => src}/manager/docker_thread/docker_thread.py (76%)
 rename {manager => src}/manager/launcher/__init__.py (100%)
 create mode 100644 src/manager/launcher/__pycache__/__init__.cpython-38.pyc
 create mode 100644 src/manager/launcher/__pycache__/launcher_engine.cpython-38.pyc
 rename {manager => src}/manager/launcher/__pycache__/launcher_interface.cpython-38.pyc (82%)
 create mode 100644 src/manager/launcher/__pycache__/launcher_ros_api.cpython-38.pyc
 rename {manager => src}/manager/launcher/launcher_console.py (92%)
 rename {manager => src}/manager/launcher/launcher_engine.py (94%)
 rename {manager => src}/manager/launcher/launcher_gazebo_view.py (93%)
 rename {manager => src}/manager/launcher/launcher_interface.py (100%)
 rename {manager => src}/manager/launcher/launcher_robot_display_view.py (90%)
 rename {manager => src}/manager/launcher/launcher_ros.py (97%)
 rename {manager => src}/manager/launcher/launcher_ros_api.py (96%)
 rename {manager => src}/manager/lint/__init__.py (100%)
 create mode 100644 src/manager/lint/__pycache__/__init__.cpython-38.pyc
 rename {manager => src}/manager/lint/__pycache__/linter.cpython-38.pyc (78%)
 rename {manager => src}/manager/lint/linter.py (88%)
 rename {manager => src}/manager/lint/pylint_checker.py (99%)
 rename {manager => src}/manager/manager.py (88%)
 rename {manager => src}/ram_logging/__init__.py (100%)
 create mode 100644 src/ram_logging/__pycache__/__init__.cpython-38.pyc
 rename {manager => src}/ram_logging/__pycache__/log_manager.cpython-38.pyc (59%)
 rename {manager => src}/ram_logging/log_manager.py (92%)
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diff --git a/manager/manager/lint/__pycache__/__init__.cpython-38.pyc b/manager/manager/lint/__pycache__/__init__.cpython-38.pyc
deleted file mode 100644
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GIT binary patch
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diff --git a/manager/ram_logging/__pycache__/__init__.cpython-38.pyc b/manager/ram_logging/__pycache__/__init__.cpython-38.pyc
deleted file mode 100644
index 03e36e736e8aaf7ee1f4451df585bbbe9d361fe0..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/ram.log b/ram.log
new file mode 100644
index 0000000..da49948
--- /dev/null
+++ b/ram.log
@@ -0,0 +1,358 @@
+2023-05-11 08:04:17,546 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7fc92825f160>:7163
+2023-05-11 08:04:17,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-11 08:04:17,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-11 08:04:42,339 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
+2023-05-11 08:04:42,383 [Thread-2    ] [INFO ] (root)  message received: {"id":"1b83ac14-ef04-475a-9c6c-56af122abc92","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
+2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-11 08:04:42,397 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7fc9282ad100>>'
+2023-05-11 08:04:42,405 [Thread-2    ] [INFO ] (root)  message received: {"id":"1c5b20a8-e0a0-4bfc-90d8-3a6e9f6928c8","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":924}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
+2023-05-11 08:04:42,498 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 924}
+2023-05-11 08:04:42,694 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-11 08:04:42,703 [MainThread  ] [ERROR] (root)  No module named 'src.manager.manager.launcher'; 'src.manager.manager' is not a package
+Traceback (most recent call last):
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 222, in start
+    self.process_messsage(message)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 186, in process_messsage
+    self.trigger(message.command, data=message.data or None)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 922, in _get_trigger
+    return event.trigger(model, *args, **kwargs)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 402, in trigger
+    return self.machine._process(func)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 1211, in _process
+    return trigger()
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 416, in _trigger
+    self._process(event_data)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 439, in _process
+    if trans.execute(event_data):
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 273, in execute
+    event_data.machine.callbacks(itertools.chain(event_data.machine.before_state_change, self.before), event_data)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 1146, in callbacks
+    self.callback(func, event_data)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 1165, in callback
+    func(event_data)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 123, in on_launch
+    self.launcher.run()
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/launcher/launcher_engine.py", line 27, in run
+    launcher = self.launch_module(launcher_data)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/launcher/launcher_engine.py", line 51, in launch_module
+    launcher_class = get_class(launcher_module)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/libs/process_utils.py", line 14, in get_class
+    m = __import__(module)
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/launcher/launcher_ros_api.py", line 7, in <module>
+    from src.manager.manager.launcher.launcher_interface import ILauncher, LauncherException
+ModuleNotFoundError: No module named 'src.manager.manager.launcher'; 'src.manager.manager' is not a package
+2023-05-11 08:05:43,696 [Thread-2    ] [INFO ] (root)  message received: {"id":"885f243b-695b-463c-92a9-4ae77ec91c67","command":"disconnect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
+2023-05-11 08:05:43,717 [MainThread  ] [ERROR] (root)  Exception terminating instance
+Traceback (most recent call last):
+  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 154, in on_disconnect
+    self.application.terminate()
+AttributeError: 'NoneType' object has no attribute 'terminate'
+2023-05-11 08:05:50,572 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f5541951160>:7163
+2023-05-11 08:05:50,572 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-11 08:05:50,572 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-11 08:05:52,474 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f55419518e0>, 'address': ('127.0.0.1', 52374)}
+2023-05-11 08:05:52,550 [Thread-2    ] [INFO ] (root)  message received: {"id":"8fe8775d-5a82-4e68-b3ac-bea9120d645c","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f55419518e0>, 'address': ('127.0.0.1', 52374)}
+2023-05-11 08:05:52,576 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-11 08:05:52,576 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-11 08:05:52,576 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f554199e100>>'
+2023-05-11 08:05:52,602 [Thread-2    ] [INFO ] (root)  message received: {"id":"ae5141dd-d8e1-40a3-84a0-021390c96ffb","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":924}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f55419518e0>, 'address': ('127.0.0.1', 52374)}
+2023-05-11 08:05:52,678 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 924}
+2023-05-11 08:05:52,779 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-11 08:08:11,931 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f9034242160>:7163
+2023-05-11 08:08:11,932 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-11 08:08:11,932 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-11 08:08:14,882 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f90342428e0>, 'address': ('127.0.0.1', 49310)}
+2023-05-11 08:08:15,094 [Thread-2    ] [INFO ] (root)  message received: {"id":"9049a2b2-c7b9-4bd5-b99c-694b41684260","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f90342428e0>, 'address': ('127.0.0.1', 49310)}
+2023-05-11 08:08:15,138 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f903428f100>>'
+2023-05-11 08:08:15,180 [Thread-2    ] [INFO ] (root)  message received: {"id":"19aa24f2-0500-4643-b669-03a562224769","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":924}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f90342428e0>, 'address': ('127.0.0.1', 49310)}
+2023-05-11 08:08:15,240 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 924}
+2023-05-11 08:08:15,538 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 07:12:18,204 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f81d086f160>:7163
+2023-05-12 07:12:18,204 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 07:12:18,204 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-12 07:12:32,802 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81d086f8e0>, 'address': ('127.0.0.1', 60764)}
+2023-05-12 07:12:32,914 [Thread-2    ] [INFO ] (root)  message received: {"id":"599e33f4-461c-4c9c-805b-07c8e47e3aca","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81d086f8e0>, 'address': ('127.0.0.1', 60764)}
+2023-05-12 07:12:32,931 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 07:12:32,931 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f81d08bd100>>'
+2023-05-12 07:12:33,019 [Thread-2    ] [INFO ] (root)  message received: {"id":"1070d29b-5dbc-4b2d-b3dc-66bb6ad39f83","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":551.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81d086f8e0>, 'address': ('127.0.0.1', 60764)}
+2023-05-12 07:12:33,032 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 551.5}
+2023-05-12 07:12:33,216 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 07:37:05,394 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f4fd448a5b0>:7163
+2023-05-12 07:37:05,394 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 07:37:05,394 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-5.
+2023-05-12 07:37:42,500 [Thread-6    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f4fd448a9d0>, 'address': ('127.0.0.1', 48888)}
+2023-05-12 07:37:42,578 [Thread-6    ] [INFO ] (root)  message received: {"id":"725995d7-372b-46ee-bfb6-d7a8a6f0a5d0","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f4fd448a9d0>, 'address': ('127.0.0.1', 48888)}
+2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 07:37:42,676 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 07:37:42,676 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 07:37:42,676 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f4fd44d2160>>'
+2023-05-12 07:37:42,687 [Thread-6    ] [INFO ] (root)  message received: {"id":"dff2fff6-98ce-424e-b0ab-5f3c3e6ce7cc","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":779.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f4fd448a9d0>, 'address': ('127.0.0.1', 48888)}
+2023-05-12 07:37:42,778 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 779.5}
+2023-05-12 07:37:42,893 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 19:42:39,184 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f7d489ef1f0>:7163
+2023-05-12 19:42:39,184 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 19:42:39,184 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-12 19:45:22,847 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f7d489ef970>, 'address': ('127.0.0.1', 43026)}
+2023-05-12 19:45:22,946 [Thread-2    ] [INFO ] (root)  message received: {"id":"4d4e11ff-b1b3-4f1b-9d9e-f46cd3e80a9a","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f7d489ef970>, 'address': ('127.0.0.1', 43026)}
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f7d48a3d190>>'
+2023-05-12 19:45:23,060 [Thread-2    ] [INFO ] (root)  message received: {"id":"b70866df-34f6-47b2-bcb0-22548863b633","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":637.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f7d489ef970>, 'address': ('127.0.0.1', 43026)}
+2023-05-12 19:45:23,093 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 637.5}
+2023-05-12 19:45:23,264 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 20:10:44,491 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f5b119d5220>:7163
+2023-05-12 20:10:44,491 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 20:10:44,491 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-12 20:10:49,033 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f5b119d59a0>, 'address': ('127.0.0.1', 54210)}
+2023-05-12 20:10:49,114 [Thread-2    ] [INFO ] (root)  message received: {"id":"2ba5b5f5-0181-48a7-817b-a27588049864","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f5b119d59a0>, 'address': ('127.0.0.1', 54210)}
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f5b11a241c0>>'
+2023-05-12 20:10:49,222 [Thread-2    ] [INFO ] (root)  message received: {"id":"651d289e-257c-47e9-b32b-d7fbd5a3bace","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":637.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f5b119d59a0>, 'address': ('127.0.0.1', 54210)}
+2023-05-12 20:10:49,301 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 637.5}
+2023-05-12 20:10:49,400 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 20:31:54,544 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f6f4fce51f0>:7163
+2023-05-12 20:31:54,544 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 20:31:54,544 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-12 20:31:59,350 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f6f4fce5970>, 'address': ('127.0.0.1', 37202)}
+2023-05-12 20:31:59,431 [Thread-2    ] [INFO ] (root)  message received: {"id":"81e1ea7c-0ea0-46c4-8298-1a13373745d2","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f6f4fce5970>, 'address': ('127.0.0.1', 37202)}
+2023-05-12 20:31:59,453 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f6f4fd33190>>'
+2023-05-12 20:31:59,520 [Thread-2    ] [INFO ] (root)  message received: {"id":"8911ce61-fe35-4a33-ac18-15ca1603e98a","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":612}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f6f4fce5970>, 'address': ('127.0.0.1', 37202)}
+2023-05-12 20:31:59,554 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 612}
+2023-05-12 20:31:59,642 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 20:51:20,577 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f04a7c831c0>:7163
+2023-05-12 20:51:20,577 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 20:51:20,577 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-12 20:51:25,278 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f04a7c83940>, 'address': ('127.0.0.1', 47094)}
+2023-05-12 20:51:25,407 [Thread-2    ] [INFO ] (root)  message received: {"id":"6cedd557-5d6f-4f00-9ded-20fa02aeb744","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f04a7c83940>, 'address': ('127.0.0.1', 47094)}
+2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 20:51:25,488 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f04a7cd0160>>'
+2023-05-12 20:51:25,504 [Thread-2    ] [INFO ] (root)  message received: {"id":"028250a2-e6f6-4faa-930f-d6080c8635a7","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":709.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f04a7c83940>, 'address': ('127.0.0.1', 47094)}
+2023-05-12 20:51:25,589 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 709.5}
+2023-05-12 20:51:25,744 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-12 20:57:12,579 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f16a08251c0>:7163
+2023-05-12 20:57:12,579 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-12 20:57:12,579 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-12 20:57:23,440 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f16a0825940>, 'address': ('127.0.0.1', 40274)}
+2023-05-12 20:57:23,618 [Thread-2    ] [INFO ] (root)  message received: {"id":"e9a64d07-f70c-42bb-acab-c7118d0afdac","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f16a0825940>, 'address': ('127.0.0.1', 40274)}
+2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-12 20:57:23,702 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f16a0871160>>'
+2023-05-12 20:57:23,758 [Thread-2    ] [INFO ] (root)  message received: {"id":"a5f4acf2-87ec-4545-8d8e-87d352a4c408","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":709.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f16a0825940>, 'address': ('127.0.0.1', 40274)}
+2023-05-12 20:57:23,803 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 709.5}
+2023-05-12 20:57:24,016 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 07:22:44,553 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f520d1f8220>:7163
+2023-05-13 07:22:44,554 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 07:22:44,554 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 07:22:59,894 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f520d1f89a0>, 'address': ('127.0.0.1', 48362)}
+2023-05-13 07:22:59,975 [Thread-2    ] [INFO ] (root)  message received: {"id":"98e9df83-4a1f-49f3-853c-358902b59e49","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f520d1f89a0>, 'address': ('127.0.0.1', 48362)}
+2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 07:22:59,983 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f520d2441c0>>'
+2023-05-13 07:22:59,990 [Thread-2    ] [INFO ] (root)  message received: {"id":"198e8410-151e-49b0-9134-f38bd4b959ca","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f520d1f89a0>, 'address': ('127.0.0.1', 48362)}
+2023-05-13 07:23:00,083 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
+2023-05-13 07:23:00,253 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 07:41:31,317 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f94c9b49190>:7163
+2023-05-13 07:41:31,317 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 07:41:31,317 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 07:41:39,056 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f94c9b49910>, 'address': ('127.0.0.1', 50182)}
+2023-05-13 07:41:39,122 [Thread-2    ] [INFO ] (root)  message received: {"id":"3bd2f0af-98a6-4c92-ac25-bc6fb34aeea5","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f94c9b49910>, 'address': ('127.0.0.1', 50182)}
+2023-05-13 07:41:39,131 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f94c9b97130>>'
+2023-05-13 07:41:39,163 [Thread-2    ] [INFO ] (root)  message received: {"id":"aa4a7935-1e5a-4df3-9753-5dab0f14431b","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f94c9b49910>, 'address': ('127.0.0.1', 50182)}
+2023-05-13 07:41:39,233 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
+2023-05-13 07:41:39,320 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 07:50:16,623 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7fbdc86f2190>:7163
+2023-05-13 07:50:16,623 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 07:50:16,623 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 07:50:22,487 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fbdc86f2910>, 'address': ('127.0.0.1', 45648)}
+2023-05-13 07:50:22,590 [Thread-2    ] [INFO ] (root)  message received: {"id":"81c3c005-8b08-4382-9e57-902f60de8426","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fbdc86f2910>, 'address': ('127.0.0.1', 45648)}
+2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 07:50:22,635 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7fbdc8740130>>'
+2023-05-13 07:50:22,655 [Thread-2    ] [INFO ] (root)  message received: {"id":"8bfd6a85-8741-47a2-9031-65bb53058a04","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fbdc86f2910>, 'address': ('127.0.0.1', 45648)}
+2023-05-13 07:50:22,735 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
+2023-05-13 07:50:22,856 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 08:10:37,545 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f06811df190>:7163
+2023-05-13 08:10:37,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 08:10:37,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 08:10:43,731 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f06811df910>, 'address': ('127.0.0.1', 46574)}
+2023-05-13 08:10:43,832 [Thread-2    ] [INFO ] (root)  message received: {"id":"3af171e7-a94d-43be-8609-d62c16027414","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f06811df910>, 'address': ('127.0.0.1', 46574)}
+2023-05-13 08:10:43,866 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f068122c130>>'
+2023-05-13 08:10:43,902 [Thread-2    ] [INFO ] (root)  message received: {"id":"866f8803-42ef-4406-9512-c558ce664af2","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f06811df910>, 'address': ('127.0.0.1', 46574)}
+2023-05-13 08:10:43,968 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
+2023-05-13 08:10:44,069 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 08:10:44,713 [Dummy-3     ] [INFO ] (xmlrpc)  XML-RPC server binding to 0.0.0.0:0
+2023-05-13 08:10:44,713 [Dummy-3     ] [INFO ] (xmlrpc)  Started XML-RPC server [http://david-UNIBOTICS:39529/]
+2023-05-13 08:10:44,713 [Dummy-3     ] [INFO ] (xmlrpc)  xml rpc node: starting XML-RPC server
+2023-05-13 08:10:45,425 [MainThread  ] [INFO ] (root)  Exercise code /home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/exercises/static/exercises/follow_line_react_refactor/web-template/entry_point/../exercise.py 0.0.0.0 launched
+2023-05-13 08:10:46,429 [exercise    ] [INFO ] (root)  Connection with exercise opened
+2023-05-13 08:10:46,429 [exercise    ] [WARNI] (websocket)  websocket connected
+2023-05-13 08:10:46,430 [exercise    ] [INFO ] (root)  Message received from exercise: Starting HAL thread
+2023-05-13 08:10:46,430 [exercise    ] [ERROR] (websocket)  error from callback <bound method Client.on_message of <Client(exercise, started 139665692686080)>>: Expecting value: line 1 column 1 (char 0)
+2023-05-13 08:10:46,430 [exercise    ] [INFO ] (root)  There was an error in exercise client connection.
+2023-05-13 08:10:46,430 [exercise    ] [ERROR] (root)  Expecting value: line 1 column 1 (char 0)
+2023-05-13 08:10:46,430 [exercise    ] [INFO ] (root)  Message received from exercise: #freq{"brain": 20.0, "gui": 10
+2023-05-13 08:10:46,431 [exercise    ] [INFO ] (root)  Message received from exercise: Client connected
+2023-05-13 08:10:46,431 [exercise    ] [ERROR] (websocket)  error from callback <bound method Client.on_message of <Client(exercise, started 139665692686080)>>: Expecting value: line 1 column 1 (char 0)
+2023-05-13 08:10:46,431 [exercise    ] [INFO ] (root)  There was an error in exercise client connection.
+2023-05-13 08:10:46,431 [exercise    ] [ERROR] (root)  Expecting value: line 1 column 1 (char 0)
+2023-05-13 08:10:46,631 [MainThread  ] [INFO ] (root)  Exercise gui /home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/exercises/static/exercises/follow_line_react_refactor/web-template/entry_point/../gui.py 0.0.0.0 default launched
+2023-05-13 08:10:47,634 [gui         ] [INFO ] (root)  Connection with gui opened
+2023-05-13 08:10:47,634 [gui         ] [WARNI] (websocket)  websocket connected
+2023-05-13 08:10:48,635 [exercise    ] [INFO ] (root)  Message received from exercise: #freq{"brain": 20.0, "gui": 10
+2023-05-13 11:38:46,765 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f81ecd07190>:7163
+2023-05-13 11:38:46,766 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 11:38:46,766 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 11:40:10,531 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81ecd07910>, 'address': ('127.0.0.1', 42254)}
+2023-05-13 11:40:10,711 [Thread-2    ] [INFO ] (root)  message received: {"id":"b44ed797-831a-47c6-90fc-1a6a710ead5a","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81ecd07910>, 'address': ('127.0.0.1', 42254)}
+2023-05-13 11:40:10,726 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f81ecd54130>>'
+2023-05-13 11:40:10,852 [Thread-2    ] [INFO ] (root)  message received: {"id":"8e8a9740-e4e2-4cda-8d73-b106e9e948d0","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":603.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81ecd07910>, 'address': ('127.0.0.1', 42254)}
+2023-05-13 11:40:10,929 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 603.5}
+2023-05-13 11:40:11,082 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 11:41:12,086 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f066d9f4190>:7163
+2023-05-13 11:41:12,086 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 11:41:12,086 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 11:41:24,733 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f066d9f4910>, 'address': ('127.0.0.1', 35266)}
+2023-05-13 11:41:24,905 [Thread-2    ] [INFO ] (root)  message received: {"id":"f16c49a1-2ae8-4676-bed3-d6bfe9491b48","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f066d9f4910>, 'address': ('127.0.0.1', 35266)}
+2023-05-13 11:41:24,920 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 11:41:24,920 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f066da41130>>'
+2023-05-13 11:41:24,973 [Thread-2    ] [INFO ] (root)  message received: {"id":"eec7e876-1e0d-4276-97be-b86ad86972cd","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":603.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f066d9f4910>, 'address': ('127.0.0.1', 35266)}
+2023-05-13 11:41:25,022 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 603.5}
+2023-05-13 11:41:25,174 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 11:59:48,050 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f009f6c9190>:7163
+2023-05-13 11:59:48,050 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 11:59:48,051 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 11:59:51,828 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f009f6c9910>, 'address': ('127.0.0.1', 36004)}
+2023-05-13 11:59:51,978 [Thread-2    ] [INFO ] (root)  message received: {"id":"fcab78d4-6086-4ad8-930d-6225b201dd16","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f009f6c9910>, 'address': ('127.0.0.1', 36004)}
+2023-05-13 11:59:52,059 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 11:59:52,059 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 11:59:52,061 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f009f716130>>'
+2023-05-13 11:59:52,118 [Thread-2    ] [INFO ] (root)  message received: {"id":"7dcfed59-0280-4d84-8976-6504874d3e27","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":603.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f009f6c9910>, 'address': ('127.0.0.1', 36004)}
+2023-05-13 11:59:52,162 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 603.5}
+2023-05-13 11:59:52,324 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 12:51:30,113 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f9ba5cb5190>:7163
+2023-05-13 12:51:30,113 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 12:51:30,113 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 12:51:34,277 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f9ba5cb5910>, 'address': ('127.0.0.1', 36636)}
+2023-05-13 12:51:34,393 [Thread-2    ] [INFO ] (root)  message received: {"id":"7901cb7b-536a-4ca9-b018-2742a315a00a","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f9ba5cb5910>, 'address': ('127.0.0.1', 36636)}
+2023-05-13 12:51:34,422 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 12:51:34,422 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f9ba5d01130>>'
+2023-05-13 12:51:34,542 [Thread-2    ] [INFO ] (root)  message received: {"id":"6e0732eb-419c-49cf-b3c2-16255a70d2d0","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":493.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f9ba5cb5910>, 'address': ('127.0.0.1', 36636)}
+2023-05-13 12:51:34,624 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 493.5}
+2023-05-13 12:51:34,772 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 13:07:28,826 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f501f255190>:7163
+2023-05-13 13:07:28,826 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 13:07:28,826 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 13:07:33,596 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f501f255910>, 'address': ('127.0.0.1', 49436)}
+2023-05-13 13:07:33,765 [Thread-2    ] [INFO ] (root)  message received: {"id":"fef22367-a476-4131-9bce-d0f086ee8545","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f501f255910>, 'address': ('127.0.0.1', 49436)}
+2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 13:07:33,838 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 13:07:33,838 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f501f2a2130>>'
+2023-05-13 13:07:33,898 [Thread-2    ] [INFO ] (root)  message received: {"id":"78ffe209-e3d7-40fb-9231-bbae4fadac08","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":551.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f501f255910>, 'address': ('127.0.0.1', 49436)}
+2023-05-13 13:07:33,939 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 551.5}
+2023-05-13 13:07:34,157 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
+2023-05-13 13:09:33,858 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7fdde8d4a190>:7163
+2023-05-13 13:09:33,858 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
+2023-05-13 13:09:33,858 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
+2023-05-13 13:09:39,522 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fdde8d4a910>, 'address': ('127.0.0.1', 35242)}
+2023-05-13 13:09:39,668 [Thread-2    ] [INFO ] (root)  message received: {"id":"60f899e7-9c96-4871-9b9d-7b35a31c2124","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fdde8d4a910>, 'address': ('127.0.0.1', 35242)}
+2023-05-13 13:09:39,669 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
+2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
+2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (root)  Connect state entered
+2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
+2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
+2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (root)  State changed to connected
+2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7fdde8d97130>>'
+2023-05-13 13:09:39,688 [Thread-2    ] [INFO ] (root)  message received: {"id":"b04bbf54-fc1e-442c-b221-9d739ffd510f","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":551.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fdde8d4a910>, 'address': ('127.0.0.1', 35242)}
+2023-05-13 13:09:39,771 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 551.5}
+2023-05-13 13:09:39,929 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
diff --git a/manager/__init__.py b/src/__init__.py
similarity index 100%
rename from manager/__init__.py
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diff --git a/src/__pycache__/__init__.cpython-38.pyc b/src/__pycache__/__init__.cpython-38.pyc
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diff --git a/manager/comms/__init__.py b/src/comms/__init__.py
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diff --git a/manager/comms/consumer.py b/src/comms/consumer.py
similarity index 93%
rename from manager/comms/consumer.py
rename to src/comms/consumer.py
index 67021f0..16147f3 100644
--- a/manager/comms/consumer.py
+++ b/src/comms/consumer.py
@@ -6,8 +6,8 @@
 import websockets
 from websockets.server import WebSocketServerProtocol
 
-from src.manager.comms.consumer_message import ManagerConsumerMessage, ManagerConsumerMessageException
-from src.manager.ram_logging.log_manager import LogManager
+from .consumer_message import ManagerConsumerMessage, ManagerConsumerMessageException
+from ..ram_logging.log_manager import LogManager
 
 logger = LogManager.logger
 
@@ -17,9 +17,7 @@ class ManagerConsumer:
     """
 
     def __init__(self, host, port):
-        from src.manager.manager import Manager
-
-
+        from ..manager.manager import Manager
         """
         Initializes a new ManagerConsumer
         @param host: host for connections, '0.0.0.0' to bind all interfaces
diff --git a/manager/comms/consumer_message.py b/src/comms/consumer_message.py
similarity index 100%
rename from manager/comms/consumer_message.py
rename to src/comms/consumer_message.py
diff --git a/manager/comms/new_consumer.py b/src/comms/new_consumer.py
similarity index 92%
rename from manager/comms/new_consumer.py
rename to src/comms/new_consumer.py
index 26f1763..753961c 100644
--- a/manager/comms/new_consumer.py
+++ b/src/comms/new_consumer.py
@@ -5,8 +5,8 @@
 from websocket_server import WebsocketServer
 from datetime import datetime
 
-from src.manager.comms.consumer_message import ManagerConsumerMessageException, ManagerConsumerMessage
-from src.manager.ram_logging.log_manager import LogManager
+from .consumer_message import ManagerConsumerMessageException, ManagerConsumerMessage
+from ..ram_logging.log_manager import LogManager
 
 
 class Client:
@@ -42,9 +42,12 @@ def handle_client_disconnect(self, client, server):
         if client is None:
             return
         LogManager.logger.info(f"client disconnected: {client}")
+
+        # TODO: remove print
         now = datetime.now()
         time_string = now.strftime("%H:%M:%S")
-        print(time_string)
+        print(f"client disconnected: {client} at {time_string}")
+
         message = ManagerConsumerMessage(**{'id': str(uuid4()), 'command': 'disconnect'})
         self.manager_queue.put(message)
         self.client = None
diff --git a/manager/libs/__init__.py b/src/libs/__init__.py
similarity index 100%
rename from manager/libs/__init__.py
rename to src/libs/__init__.py
diff --git a/src/libs/__pycache__/__init__.cpython-38.pyc b/src/libs/__pycache__/__init__.cpython-38.pyc
new file mode 100644
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diff --git a/manager/libs/applications/__init__.py b/src/libs/applications/__init__.py
similarity index 100%
rename from manager/libs/applications/__init__.py
rename to src/libs/applications/__init__.py
diff --git a/src/libs/applications/__pycache__/__init__.cpython-38.pyc b/src/libs/applications/__pycache__/__init__.cpython-38.pyc
new file mode 100644
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diff --git a/manager/libs/applications/brain_exercise.py b/src/libs/applications/brain_exercise.py
similarity index 54%
rename from manager/libs/applications/brain_exercise.py
rename to src/libs/applications/brain_exercise.py
index 4f0636d..d1179f7 100644
--- a/manager/libs/applications/brain_exercise.py
+++ b/src/libs/applications/brain_exercise.py
@@ -1,7 +1,16 @@
-from src.manager.application.robotics_python_application_interface import IRoboticsPythonApplication
+from ...manager.application.robotics_python_application_interface import IRoboticsPythonApplication
 
 
 class BrainExercise(IRoboticsPythonApplication):
+    def pause(self):
+        pass
+
+    def resume(self):
+        pass
+
+    def terminate(self):
+        pass
+
     def load_code(self, code: str):
         pass
 
diff --git a/manager/libs/applications/compatibility/__init__.py b/src/libs/applications/compatibility/__init__.py
similarity index 100%
rename from manager/libs/applications/compatibility/__init__.py
rename to src/libs/applications/compatibility/__init__.py
diff --git a/src/libs/applications/compatibility/__pycache__/__init__.cpython-38.pyc b/src/libs/applications/compatibility/__pycache__/__init__.cpython-38.pyc
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similarity index 52%
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rename to src/libs/applications/compatibility/__pycache__/exercise_wrapper.cpython-38.pyc
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diff --git a/manager/libs/applications/compatibility/client.py b/src/libs/applications/compatibility/client.py
similarity index 90%
rename from manager/libs/applications/compatibility/client.py
rename to src/libs/applications/compatibility/client.py
index 818aa6c..432a785 100644
--- a/manager/libs/applications/compatibility/client.py
+++ b/src/libs/applications/compatibility/client.py
@@ -1,7 +1,7 @@
 import threading
 import websocket
 
-from src.manager.ram_logging.log_manager import LogManager
+from ....ram_logging.log_manager import LogManager
 
 
 class Client(threading.Thread):
@@ -37,6 +37,7 @@ def on_message(self, ws, message):
         self.callback(self.name, message)
 
     def on_error(self, ws, error):
+        LogManager.logger.info(f"There was an error in {self.name} client connection.")
         LogManager.logger.error(error)
 
     def on_close(self, ws, status, msg):
diff --git a/manager/libs/applications/compatibility/exercise_wrapper.py b/src/libs/applications/compatibility/exercise_wrapper.py
similarity index 87%
rename from manager/libs/applications/compatibility/exercise_wrapper.py
rename to src/libs/applications/compatibility/exercise_wrapper.py
index 1bcf565..6af3519 100644
--- a/manager/libs/applications/compatibility/exercise_wrapper.py
+++ b/src/libs/applications/compatibility/exercise_wrapper.py
@@ -8,11 +8,11 @@
 import rosservice
 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
+from ...applications.compatibility.client import Client
+from ...process_utils import stop_process_and_children
+from ....ram_logging.log_manager import LogManager
+from ....manager.application.robotics_python_application_interface import IRoboticsPythonApplication
+from ....manager.lint.linter import Lint
 
 
 class CompatibilityExerciseWrapper(IRoboticsPythonApplication):
@@ -28,11 +28,9 @@ def __init__(self, exercise_command, gui_command, update_callback):
                                                                         f'{home_dir}/ws_code.log',
                                                                         'websocket_code=ready')
         if process_ready:
-            LogManager.logger.info(
-                f"Exercise code {exercise_command} launched")
+            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 = Client('ws://127.0.0.1:1905', 'exercise', self.server_message)
             self.exercise_connection.start()
         else:
             self.exercise_server.kill()
@@ -43,18 +41,16 @@ def __init__(self, exercise_command, gui_command, update_callback):
         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 = 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():
diff --git a/manager/libs/applications/compatibility/robotics_application_wrapper.py b/src/libs/applications/compatibility/robotics_application_wrapper.py
similarity index 67%
rename from manager/libs/applications/compatibility/robotics_application_wrapper.py
rename to src/libs/applications/compatibility/robotics_application_wrapper.py
index 60e2d10..16a95cf 100644
--- a/manager/libs/applications/compatibility/robotics_application_wrapper.py
+++ b/src/libs/applications/compatibility/robotics_application_wrapper.py
@@ -5,19 +5,13 @@
 
 import psutil
 
-from src.manager.libs.process_utils import stop_process_and_children
-from src.manager.manager.application.robotics_python_application_interface import IRoboticsPythonApplication
-from src.manager.manager.lint.linter import Lint
-from src.manager.manager.docker_thread.docker_thread import DockerThread
-
-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
+from ...process_utils import stop_process_and_children
+from ....manager.application.robotics_python_application_interface import IRoboticsPythonApplication
+from ....manager.lint.linter import Lint
 
 import os
 
+
 class RoboticsApplicationWrapper(IRoboticsPythonApplication):
 
     def __init__(self, update_callback):
@@ -29,8 +23,9 @@ def __init__(self, update_callback):
         self.user_process = None
 
     def _create_process(self, cmd):
-        #print("creando procesos")
-        process = subprocess.Popen(f"{cmd}", shell=True, stdout = sys.stdout, stderr=subprocess.STDOUT, bufsize=1024, universal_newlines=True)
+        # print("creando procesos")
+        process = subprocess.Popen(f"{cmd}", shell=True, stdout=sys.stdout, stderr=subprocess.STDOUT, bufsize=1024,
+                                   universal_newlines=True)
         psProcess = psutil.Process(pid=process.pid)
         return psProcess
 
@@ -44,9 +39,9 @@ def load_code(self, code: str):
         self.f = open("user_code.py", "w")
         self.f.write(code)
         self.f.close()
-        #self.update_callback("Hello World")
+        # self.update_callback("Hello World")
 
-    def run(self):     
+    def run(self):
         self.user_process = self._create_process(f"DISPLAY=:2 python {self.f.name}")
 
         self.running = True
@@ -92,9 +87,9 @@ def suspend_resume(self, signal):
         # send signal to processes
         for p in children:
             try:
-                if(signal == "pause"):
+                if (signal == "pause"):
                     p.suspend()
-                if(signal == "resume"):
+                if (signal == "resume"):
                     p.resume()
             except psutil.NoSuchProcess:
-                pass
\ No newline at end of file
+                pass
diff --git a/manager/libs/applications/robotics_application.py b/src/libs/applications/robotics_application.py
similarity index 63%
rename from manager/libs/applications/robotics_application.py
rename to src/libs/applications/robotics_application.py
index 3c6b2cd..b201ee1 100644
--- a/manager/libs/applications/robotics_application.py
+++ b/src/libs/applications/robotics_application.py
@@ -1,7 +1,13 @@
-from src.manager.manager.application.robotics_python_application_interface import IRoboticsPythonApplication
+from ...manager.application.robotics_python_application_interface import IRoboticsPythonApplication
 
 
 class RoboticsApplication(IRoboticsPythonApplication):
+    def pause(self):
+        pass
+
+    def resume(self):
+        pass
+
     def terminate(self):
         pass
 
diff --git a/manager/libs/process_utils.py b/src/libs/process_utils.py
similarity index 58%
rename from manager/libs/process_utils.py
rename to src/libs/process_utils.py
index 96c952a..8226f7d 100644
--- a/manager/libs/process_utils.py
+++ b/src/libs/process_utils.py
@@ -1,7 +1,4 @@
-# Thanks to https://stackoverflow.com/questions/452969/does-python-have-an-equivalent-to-java-class-forname
-# This should be moved to a utils library
 import importlib.util
-import os.path
 import sys
 from subprocess import Popen
 
@@ -17,6 +14,8 @@ def get_class(kls):
     return m
 
 
+# Thanks to https://stackoverflow.com/questions/452969/does-python-have-an-equivalent-to-java-class-forname
+# This should be moved to a utils library
 def get_class_from_file(file_path: str, class_name: str):
     spec = importlib.util.spec_from_file_location("application", file_path)
     module = importlib.util.module_from_spec(spec)
@@ -33,33 +32,47 @@ def class_from_module(module: str):
 
 
 def stop_process_and_children(process: Popen, signal: int = 9, timeout: int = None):
+    # from ..ram_logging.log_manager import LogManager
     """
     Stops a list of processes waiting for them to stop
     """
-    # collect processes to stop
-    proc = psutil.Process(process.pid)
-    children = proc.children(recursive=True)
-    children.append(proc)
+    try:
+        # collect processes to stop
+        proc = psutil.Process(process.pid)
+        name = proc.name()
+        children = proc.children(recursive=True)
+        children.append(proc)
 
-    # send signal to processes
-    for p in children:
-        try:
-            p.send_signal(signal)
-        except psutil.NoSuchProcess:
-            pass
+        # send signal to processes
+        for p in children:
+            try:
+                p.send_signal(signal)
+            except psutil.NoSuchProcess:
+                pass
 
-    gone, alive = psutil.wait_procs(children, timeout=timeout)
-    return gone, alive
+        gone, alive = psutil.wait_procs(children, timeout=timeout)
+        # TODO: log
+        # LogManager.logger.info(f"Process {name} and it's children were stopped")
+        print(f"Process {name} and it's children were stopped")
+
+        return gone, alive
+    except psutil.NoSuchProcess:
+        # TODO: log
+        # LogManager.logger.info(f"Process with pid {process.pid} is already closed")
+        print(f"Process with pid {process.pid} is already closed")
 
 
 class classproperty(property):
     def __get__(self, cls, owner):
         return classmethod(self.fget).__get__(None, owner)()
 
+
 def singleton(cls):
     instances = {}
+
     def get_instance():
         if cls not in instances:
             instances[cls] = cls()
         return instances[cls]
-    return get_instance()
\ No newline at end of file
+
+    return get_instance()
diff --git a/manager/manager/__init__.py b/src/manager/__init__.py
similarity index 100%
rename from manager/manager/__init__.py
rename to src/manager/__init__.py
diff --git a/src/manager/__pycache__/__init__.cpython-38.pyc b/src/manager/__pycache__/__init__.cpython-38.pyc
new file mode 100644
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diff --git a/src/manager/__pycache__/manager.cpython-38.pyc b/src/manager/__pycache__/manager.cpython-38.pyc
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diff --git a/manager/manager/application/__init__.py b/src/manager/application/__init__.py
similarity index 100%
rename from manager/manager/application/__init__.py
rename to src/manager/application/__init__.py
diff --git a/src/manager/application/__pycache__/__init__.cpython-38.pyc b/src/manager/application/__pycache__/__init__.cpython-38.pyc
new file mode 100644
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diff --git a/manager/manager/application/robotics_python_application_interface.py b/src/manager/application/robotics_python_application_interface.py
similarity index 100%
rename from manager/manager/application/robotics_python_application_interface.py
rename to src/manager/application/robotics_python_application_interface.py
diff --git a/manager/manager/config.json b/src/manager/config.json
similarity index 100%
rename from manager/manager/config.json
rename to src/manager/config.json
diff --git a/manager/manager/docker_thread/__init__.py b/src/manager/docker_thread/__init__.py
similarity index 100%
rename from manager/manager/docker_thread/__init__.py
rename to src/manager/docker_thread/__init__.py
diff --git a/manager/manager/docker_thread/docker_thread.py b/src/manager/docker_thread/docker_thread.py
similarity index 76%
rename from manager/manager/docker_thread/docker_thread.py
rename to src/manager/docker_thread/docker_thread.py
index d84dff1..78bd739 100644
--- a/manager/manager/docker_thread/docker_thread.py
+++ b/src/manager/docker_thread/docker_thread.py
@@ -5,19 +5,19 @@
 import signal
 
 
-
-
 class DockerThread(threading.Thread):
     """Threaded Docker Thread Class"""
+
     def __init__(self, cmd, shell=True):
         threading.Thread.__init__(self)
         self.cmd = cmd
         self.process = None
-        self.shell=shell
+        self.shell = shell
 
     def run(self):
-        self.process = subprocess.Popen(self.cmd, shell=self.shell, stdout=subprocess.PIPE, stderr=subprocess.PIPE, start_new_session=True,
-                         bufsize=1024, universal_newlines=True)
+        self.process = subprocess.Popen(self.cmd, shell=self.shell, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                        start_new_session=True,
+                                        bufsize=1024, universal_newlines=True)
         self.process.communicate()
 
     def terminate(self):
@@ -27,4 +27,3 @@ def terminate(self):
                 os.killpg(os.getpgid(self.process.pid), signal.SIGTERM)
             except ProcessLookupError as error:
                 print(f"{self.process.pid}: Process already terminated {error}")
-               
\ No newline at end of file
diff --git a/manager/manager/launcher/__init__.py b/src/manager/launcher/__init__.py
similarity index 100%
rename from manager/manager/launcher/__init__.py
rename to src/manager/launcher/__init__.py
diff --git a/src/manager/launcher/__pycache__/__init__.cpython-38.pyc b/src/manager/launcher/__pycache__/__init__.cpython-38.pyc
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diff --git a/manager/manager/launcher/__pycache__/launcher_interface.cpython-38.pyc b/src/manager/launcher/__pycache__/launcher_interface.cpython-38.pyc
similarity index 82%
rename from manager/manager/launcher/__pycache__/launcher_interface.cpython-38.pyc
rename to src/manager/launcher/__pycache__/launcher_interface.cpython-38.pyc
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diff --git a/manager/manager/launcher/launcher_console.py b/src/manager/launcher/launcher_console.py
similarity index 92%
rename from manager/manager/launcher/launcher_console.py
rename to src/manager/launcher/launcher_console.py
index 606b7f0..f2c576e 100644
--- a/manager/manager/launcher/launcher_console.py
+++ b/src/manager/launcher/launcher_console.py
@@ -1,8 +1,7 @@
 """Launcher for Console"""""
 import time
-from src.manager.manager.launcher.launcher_interface import ILauncher
-from src.manager.manager.docker_thread.docker_thread import DockerThread
-
+from .launcher_interface import ILauncher
+from ..docker_thread.docker_thread import DockerThread
 
 
 class LauncherConsole(ILauncher):
diff --git a/manager/manager/launcher/launcher_engine.py b/src/manager/launcher/launcher_engine.py
similarity index 94%
rename from manager/manager/launcher/launcher_engine.py
rename to src/manager/launcher/launcher_engine.py
index a435ec9..5a8ac11 100644
--- a/manager/manager/launcher/launcher_engine.py
+++ b/src/manager/launcher/launcher_engine.py
@@ -2,8 +2,8 @@
 
 from pydantic import BaseModel
 
-from src.manager.libs.process_utils import get_class, class_from_module
-from src.manager.ram_logging.log_manager import LogManager
+from ...libs.process_utils import get_class, class_from_module
+from ...ram_logging.log_manager import LogManager
 
 
 class LauncherEngine(BaseModel):
diff --git a/manager/manager/launcher/launcher_gazebo_view.py b/src/manager/launcher/launcher_gazebo_view.py
similarity index 93%
rename from manager/manager/launcher/launcher_gazebo_view.py
rename to src/manager/launcher/launcher_gazebo_view.py
index 5bf567d..4c2fc6f 100644
--- a/manager/manager/launcher/launcher_gazebo_view.py
+++ b/src/manager/launcher/launcher_gazebo_view.py
@@ -1,8 +1,7 @@
 """Launcher for Gazebo View"""""
 import time
-from src.manager.manager.launcher.launcher_interface import ILauncher
-from src.manager.manager.docker_thread.docker_thread import DockerThread
-
+from .launcher_interface import ILauncher
+from ..docker_thread.docker_thread import DockerThread
 
 
 class LauncherGazeboView(ILauncher):
diff --git a/manager/manager/launcher/launcher_interface.py b/src/manager/launcher/launcher_interface.py
similarity index 100%
rename from manager/manager/launcher/launcher_interface.py
rename to src/manager/launcher/launcher_interface.py
diff --git a/manager/manager/launcher/launcher_robot_display_view.py b/src/manager/launcher/launcher_robot_display_view.py
similarity index 90%
rename from manager/manager/launcher/launcher_robot_display_view.py
rename to src/manager/launcher/launcher_robot_display_view.py
index afa5e8e..45c8c75 100644
--- a/manager/manager/launcher/launcher_robot_display_view.py
+++ b/src/manager/launcher/launcher_robot_display_view.py
@@ -1,5 +1,5 @@
-from src.manager.manager.launcher.launcher_interface import ILauncher
-from src.manager.manager.docker_thread.docker_thread import DockerThread
+from .launcher_interface import ILauncher
+from ..docker_thread.docker_thread import DockerThread
 import time
 
 
diff --git a/manager/manager/launcher/launcher_ros.py b/src/manager/launcher/launcher_ros.py
similarity index 97%
rename from manager/manager/launcher/launcher_ros.py
rename to src/manager/launcher/launcher_ros.py
index 5063199..24a0c93 100644
--- a/manager/manager/launcher/launcher_ros.py
+++ b/src/manager/launcher/launcher_ros.py
@@ -4,7 +4,7 @@
 import traceback
 from typing import Any, List
 
-from src.manager.launcher.launcher_interface import ILauncher, LauncherException
+from .launcher_interface import ILauncher, LauncherException
 
 
 class LauncherRos(ILauncher):
diff --git a/manager/manager/launcher/launcher_ros_api.py b/src/manager/launcher/launcher_ros_api.py
similarity index 96%
rename from manager/manager/launcher/launcher_ros_api.py
rename to src/manager/launcher/launcher_ros_api.py
index 0a3b0c8..f5526fa 100644
--- a/manager/manager/launcher/launcher_ros_api.py
+++ b/src/manager/launcher/launcher_ros_api.py
@@ -1,10 +1,9 @@
 import os
-import time
 from typing import List, Any
 import roslaunch
 import rospy
 
-from src.manager.manager.launcher.launcher_interface import ILauncher, LauncherException
+from .launcher_interface import ILauncher, LauncherException
 
 import logging
 
diff --git a/manager/manager/lint/__init__.py b/src/manager/lint/__init__.py
similarity index 100%
rename from manager/manager/lint/__init__.py
rename to src/manager/lint/__init__.py
diff --git a/src/manager/lint/__pycache__/__init__.cpython-38.pyc b/src/manager/lint/__pycache__/__init__.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..ceab6d5ecac74c66c6d3fbc3839d656e1d461793
GIT binary patch
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zcmWIL<>g`k0=?Rp6cGIwL?8o3AjbiSi&=m~3PUi1CZpd<h9ZzKg7_7zpOK%Ns-KdZ
zSd^KVsPB?moLE$ppOcfXUz(ShlwXpWT&y3I4`DbaC#Iz4R_Yfe=IR$0CF|!V<|U@5
m7U}0?=9TEj$7kkcmc+;F6;$5hu*uC&Da}c>16lSNh#3Iw$Sh+3

literal 0
HcmV?d00001

diff --git a/manager/manager/lint/__pycache__/linter.cpython-38.pyc b/src/manager/lint/__pycache__/linter.cpython-38.pyc
similarity index 78%
rename from manager/manager/lint/__pycache__/linter.cpython-38.pyc
rename to src/manager/lint/__pycache__/linter.cpython-38.pyc
index 0e92ef71b1eed424217d8302b3392375d4615ef5..e806f28a1c23ce7c0dfef9b6679b25d8cd6419f5 100644
GIT binary patch
delta 181
zcmZ1{^h1a@l$V!_0SFvU#io2-$ji#uKbenJUq-*6vLquvFTNx-w;(66BvrpCzt}K7
zFF&;;GkLNttJ>yhR$V6ZK>dvT+*JLP+{B{H#6*3U)Z)aVqWqkkeErhA%%psv+G72n
zd<eraIWZ+Qw^F|-F?aGzb}d~tprysTKvpxdF!DhlGYcaVBhx<?W&uV4peT^d0E9sP
P<PYqB7#SzO<!}T58?rNT

delta 96
zcmew%v`&aOl$V!_0SFX5+)^ej<Yi^dp3KLpKRJ?BZF4)TDwCkLeo%f=eo1C>v14*#
uN@{N9<j3q<jO>&7IK)L6nEtac2`~yUvM@3+fFY1S*^1*2BhzGaPDcQG<rZ=P

diff --git a/manager/manager/lint/linter.py b/src/manager/lint/linter.py
similarity index 88%
rename from manager/manager/lint/linter.py
rename to src/manager/lint/linter.py
index 95a96b0..e0d628e 100644
--- a/manager/manager/lint/linter.py
+++ b/src/manager/lint/linter.py
@@ -3,7 +3,6 @@
 
 
 class Lint:
-
     def evaluate_code(self, code, warnings=False):
         try:
             code = re.sub(r'from HAL import HAL', 'from hal import HAL', code)
@@ -13,11 +12,13 @@ def evaluate_code(self, code, warnings=False):
 
             # Avoids EOF error when iterative code is empty (which prevents other errors from showing)
             while_position = re.search(
-                r'[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:', code)
+                r'[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:',
+                code)
             sequential_code = code[:while_position.start()]
             iterative_code = code[while_position.start():]
             iterative_code = re.sub(
-                r'[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:', '\n', iterative_code, 1)
+                r'[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:',
+                '\n', iterative_code, 1)
             iterative_code = re.sub(r'^[ ]{4}', '', iterative_code, flags=re.M)
             code = sequential_code + iterative_code
 
@@ -44,13 +45,13 @@ def evaluate_code(self, code, warnings=False):
                 warning_messages = re.search(":[0-9]+: warning.*\n", result)
                 while (warning_messages != None):
                     result = result[:warning_messages.start()] + \
-                        result[warning_messages.end():]
+                             result[warning_messages.end():]
                     warning_messages = re.search(
                         ":[0-9]+: warning.*\n", result)
                 refactor_messages = re.search(":[0-9]+: refactor.*\n", result)
                 while (refactor_messages != None):
                     result = result[:refactor_messages.start()] + \
-                        result[refactor_messages.end():]
+                             result[refactor_messages.end():]
                     refactor_messages = re.search(
                         ":[0-9]+: refactor.*\n", result)
 
@@ -58,14 +59,14 @@ def evaluate_code(self, code, warnings=False):
             eof_exception = re.search(":[0-9]+: error.*EOF.*\n", result)
             if (eof_exception != None):
                 result = result[:eof_exception.start()] + \
-                    result[eof_exception.end():]
+                         result[eof_exception.end():]
 
             # Removes no value for argument 'self' error
             self_exception = re.search(
                 ":[0-9]+:.*value.*argument.*unbound.*method.*\n", result)
             while (self_exception != None):
                 result = result[:self_exception.start()] + \
-                    result[self_exception.end():]
+                         result[self_exception.end():]
                 self_exception = re.search(
                     ":[0-9]+:.*value.*argument.*unbound.*method.*\n", result)
 
@@ -73,14 +74,14 @@ def evaluate_code(self, code, warnings=False):
             self_exception = re.search(":[0-9]+:.*E1111.*\n", result)
             while (self_exception != None):
                 result = result[:self_exception.start()] + \
-                    result[self_exception.end():]
+                         result[self_exception.end():]
                 self_exception = re.search(":[0-9]+:.*E1111.*\n", result)
 
             # Removes E1136 until issue https://github.com/PyCQA/pylint/issues/1498 is closed
             self_exception = re.search(":[0-9]+:.*E1136.*\n", result)
             while (self_exception != None):
                 result = result[:self_exception.start()] + \
-                    result[self_exception.end():]
+                         result[self_exception.end():]
                 self_exception = re.search(":[0-9]+:.*E1136.*\n", result)
 
             # Returns an empty string if there are no errors
diff --git a/manager/manager/lint/pylint_checker.py b/src/manager/lint/pylint_checker.py
similarity index 99%
rename from manager/manager/lint/pylint_checker.py
rename to src/manager/lint/pylint_checker.py
index d55ce9a..666f726 100644
--- a/manager/manager/lint/pylint_checker.py
+++ b/src/manager/lint/pylint_checker.py
@@ -1,7 +1,6 @@
 import tempfile
 from pylint import epylint as lint
 
-
 code = open('user_code.py')
 python_code = code.read()
 code.close()
diff --git a/manager/manager/manager.py b/src/manager/manager.py
similarity index 88%
rename from manager/manager/manager.py
rename to src/manager/manager.py
index a631ca4..b604ca2 100644
--- a/manager/manager/manager.py
+++ b/src/manager/manager.py
@@ -9,18 +9,12 @@
 from queue import Queue
 from uuid import uuid4
 
-
-
-from src.manager.manager.launcher.launcher_engine import LauncherEngine
-from src.manager.manager.application.robotics_python_application_interface import IRoboticsPythonApplication
-from src.manager.libs.process_utils import get_class_from_file
-from src.manager.comms.consumer_message import ManagerConsumerMessageException
-from src.manager.ram_logging.log_manager import LogManager
-from src.manager.comms.new_consumer import ManagerConsumer
-
-
-
-
+from .launcher.launcher_engine import LauncherEngine
+from .application.robotics_python_application_interface import IRoboticsPythonApplication
+from ..libs.process_utils import get_class_from_file
+from ..comms.consumer_message import ManagerConsumerMessageException
+from ..ram_logging.log_manager import LogManager
+from ..comms.new_consumer import ManagerConsumer
 
 
 # pylint: disable=unused-argument
@@ -40,23 +34,23 @@ class Manager:
         {'trigger': 'connect', 'source': 'idle', 'dest': 'connected', 'before': 'on_connect'},
         # Transitions for state connected
         {'trigger': 'launch', 'source': 'connected',
-            'dest': 'ready', 'before': 'on_launch'},
+         'dest': 'ready', 'before': 'on_launch'},
         # Transitions for state ready
         {'trigger': 'terminate', 'source': 'ready',
-            'dest': 'connected', 'before': 'on_terminate'},
+         'dest': 'connected', 'before': 'on_terminate'},
         {'trigger': 'load', 'source': [
             'ready', 'running', 'paused'], 'dest': 'ready', 'before': 'load_code'},
         {'trigger': 'run', 'source': [
             'ready', 'paused'], 'dest': 'running', 'conditions': 'code_loaded', 'after': 'on_run'},
         # Transitions for state running
         {'trigger': 'pause', 'source': 'running',
-            'dest': 'paused', 'before': 'on_pause'},
+         'dest': 'paused', 'before': 'on_pause'},
         {'trigger': 'stop', 'source': [
             'running', 'paused'], 'dest': 'ready', 'before': 'on_stop'},
         # Global transitions
         {'trigger': 'disconnect', 'source': '*',
-            'dest': 'idle', 'before': 'on_disconnect'},
-        #{'trigger': 'get_state', 'source': '*', 'dest': '='},
+         'dest': 'idle', 'before': 'on_disconnect'},
+        # {'trigger': 'get_state', 'source': '*', 'dest': '='},
 
     ]
 
@@ -96,6 +90,7 @@ def on_launch(self, event):
         """
         Transition executed on launch trigger activ
         """
+
         def terminated_callback(name, code):
             # TODO: Prototype, review this callback
             LogManager.logger.info(
@@ -161,8 +156,8 @@ def on_disconnect(self, event):
         except Exception as e:
             LogManager.logger.exception(f"Exception terminating instance")
             print(traceback.format_exc())
-        python = sys.executable
-        os.execl(python, python, *sys.argv)
+        # python = sys.executable
+        # os.execl(python, python, *sys.argv)
 
     def on_enter_connected(self, event):
         LogManager.logger.info("Connect state entered")
@@ -207,13 +202,13 @@ def start(self):
             f"Starting RAM consumer in {self.consumer.server}:{self.consumer.port}")
 
         self.consumer.start()
-        
+
         def signal_handler(sign, frame):
-                print("\nprogram exiting gracefully")
-                self.running = False
-                self.application.terminate()
-                self.__code_loaded = False
-                self.launcher.terminate()
+            print("\nprogram exiting gracefully")
+            self.running = False
+            self.application.terminate()
+            self.__code_loaded = False
+            self.launcher.terminate()
 
         signal.signal(signal.SIGINT, signal_handler)
 
@@ -238,6 +233,7 @@ def signal_handler(sign, frame):
 
 if __name__ == "__main__":
     import argparse
+
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "host", type=str, help="Host to listen to  (0.0.0.0 or all hosts)")
diff --git a/manager/ram_logging/__init__.py b/src/ram_logging/__init__.py
similarity index 100%
rename from manager/ram_logging/__init__.py
rename to src/ram_logging/__init__.py
diff --git a/src/ram_logging/__pycache__/__init__.cpython-38.pyc b/src/ram_logging/__pycache__/__init__.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..6ccf0e34e72057c55ef012662f255303cc7d627f
GIT binary patch
literal 173
zcmWIL<>g`k0=?Rp6cGIwL?8o3AjbiSi&=m~3PUi1CZpd<h9ZzKg7_7rpOK%Ns-KdZ
zSd^KVsPB?moLE$ppOcfXUz(ShlwXpWT&y3I4`DbaC#Iz4R_Yfe=IR$0C4=broc#3k
j%)E5{`1s7c%#!$cy@JYH95%W6DWy57b|AYx12F>t#6~P9

literal 0
HcmV?d00001

diff --git a/manager/ram_logging/__pycache__/log_manager.cpython-38.pyc b/src/ram_logging/__pycache__/log_manager.cpython-38.pyc
similarity index 59%
rename from manager/ram_logging/__pycache__/log_manager.cpython-38.pyc
rename to src/ram_logging/__pycache__/log_manager.cpython-38.pyc
index 90257aaca26af241a73d063bad8835feeaa2a42c..68dceed2402e71fa58f8d85a8812c5a23addbeb1 100644
GIT binary patch
delta 207
zcmey(-o?Qi%FD~e00cRwVpAqg<dt<b0&-FqQW$d>q98P56k`fg3UdxqE^`z!BSR{)
zJ3|Uf3Tq2P3Trb{Gh-A>3S%&XCfiGpDSj`RfTSkl#@b*e^HBYa{M=Oil-$Ik%)~@}
zm(=3KqN4nqoP7P#yv(HhlFZ~{{h)jZ!!bEAB{jEFzbG+x@<XPbYOF=<K!b`{fy6DL
ooXn(Ry@I0r<kaHg_|lThoZ=#8kSxpOTxRjf517SSc$k?O0T`4x3jhEB

delta 181
zcmeC;_|486%FD~e00fF2ZYhf<^2!FA0XZoQDU3M`Q4pFjiV?_X%3;c7j$+PbiDF@7
zNM&(nNMTN4X<<lVX=Z9>jABh;3}(<|eF-wjPm}2uZ*opzadAOWenDzcN#(};U?xF*
z{h<7${F2P%V#nmfl+@hH$v>HPYOoct1GN;f0*PB<#YM?_IhjetdO(fIsl~<dr6rj;
S#YId&$;lU)O<4q(nHT{g$S&Ui

diff --git a/manager/ram_logging/log_manager.py b/src/ram_logging/log_manager.py
similarity index 92%
rename from manager/ram_logging/log_manager.py
rename to src/ram_logging/log_manager.py
index f933d67..afcee83 100644
--- a/manager/ram_logging/log_manager.py
+++ b/src/ram_logging/log_manager.py
@@ -1,7 +1,7 @@
 import logging
 import os
 
-from src.manager.libs.process_utils import classproperty, singleton
+from ..libs.process_utils import singleton
 
 
 @singleton
diff --git a/user_code.py b/user_code.py
new file mode 100644
index 0000000..ccfb7e1
--- /dev/null
+++ b/user_code.py
@@ -0,0 +1,211 @@
+from gui import GUI
+from hal import HAL
+from cv2 import cv2
+import numpy as np
+import time
+import math
+
+
+# PID class
+class PID:
+    def __init__(self, kp, kd, ki, st):
+
+        self.kp = kp
+        self.kd = kd
+        self.ki = ki
+        self.last_error = 0
+        self.last_output = 0
+        self.last_time = 0
+        self.st = st
+        self.last_sample = time.time()
+        self.iterm = 0
+
+    def set_lims(self, outmin, outmax):
+        self.outmax = outmax
+        self.outmin = outmin
+
+    def calc(self, error):
+
+        out = self.last_output
+
+        # Calculate the time which has passed
+        diff_time = time.time() - self.last_sample
+
+        if (diff_time >= self.st):
+            # Derivative part
+            diff_error = error - self.last_error
+
+            # Integrative part (never higher than max)
+            self.iterm += error * self.ki
+            if (self.iterm > self.outmax):
+                self.iterm = self.outmax
+            elif (self.iterm < self.outmin):
+                self.iterm = self.outmin
+
+            # Output (never higher than max)
+            out = self.kp * error + self.kd * diff_error + self.iterm
+            if (out > self.outmax):
+                out = self.outmax
+            elif (out < self.outmin):
+                out = self.outmin
+
+            # Store info needed for next time
+            self.last_error = error
+            self.last_output = out
+            self.last_sample = time.time()
+
+        return out
+
+
+class ErrBuff:
+    def __init__(self, size):
+        self.size = size
+        self.ac_error = []
+        self.nelems = 0
+        self.next = 0
+
+    def add(self, error):
+
+        # Check if buffer has to cycle
+        if self.next == self.size: self.next = 0
+
+        # Checks if already big enough
+        if self.nelems < self.size:
+            self.ac_error.append(error)
+            self.nelems += 1
+        else:
+            self.ac_error[self.next] = error
+
+        self.next += 1
+
+    def get_mean(self):
+        mean = 0
+        # print(self.ac_error)
+        if (self.nelems > 0): mean = sum(self.ac_error) / self.nelems
+
+        return mean
+
+
+# Color filter
+red_mask = ([17, 15, 70], [50, 56, 255])
+center_offset = 20
+center_margin = 10
+black_pixel = np.array([0, 0, 0])
+
+# PID variables
+direct = 0
+
+# Angular pid
+sp1 = 320
+kp_1 = 0.01
+kd_1 = 0.026
+ki_1 = 0.00011
+outmax_1 = 3
+outmin_1 = -3.5
+
+# Linear pid
+sp2 = center_offset + int(center_margin / 2)
+kp_2 = 0.04
+kd_2 = 0.08
+ki_2 = 0
+outmax_2 = 6
+outmin_2 = -6
+
+# Car variables
+max_linear = 11
+max_lin_dec = 6
+error_thres = 25
+
+# PIDS objects (angular and linear speed)
+pid1 = PID(kp_1, kd_1, ki_1, 0.03)
+pid1.set_lims(outmin_1, outmax_1)
+
+# buffer object
+buff = ErrBuff(15)
+
+
+# Apply the color mask to the raw img and return the filtered image
+def filter_img(raw_image, c_mask):
+    lower = np.array(c_mask[0], dtype="uint8")
+    upper = np.array(c_mask[1], dtype="uint8")
+
+    mask = cv2.inRange(raw_image, lower, upper)
+    f_img = cv2.bitwise_and(raw_image, raw_image, mask=mask)
+
+    return f_img
+
+
+# Gets a reference position between (center+offset, center+offset+margin)
+def get_line_ref(img, offset, margin):
+    height = img.shape[0]
+    width = img.shape[1]
+
+    center_row = int(height / 2) + offset
+
+    c_x = 0
+    c_y = 0
+    npixels = 0
+
+    for x in range(width):
+        for y in range(center_row, center_row + margin):
+            # Get pixel val and compare it with values for black
+            pixel_val = img[y][x]
+            comparison = (pixel_val == black_pixel)
+
+            if not comparison.all():
+                c_x += x
+                c_y += y
+                npixels += 1
+
+    if (npixels > 0):
+        c_x /= npixels
+        c_y /= npixels
+
+    return (int(c_x), int(c_y))
+
+
+# Shows a debug image with the reference point and the set point
+def show_debug_img(img, ref):
+    dimensions = img.shape
+    height = dimensions[0]
+    width = dimensions[1]
+
+    set_point = (int(width / 2), int(height / 2))
+
+    img = cv2.circle(img, ref, 4, (255, 255, 0), -1)
+    # img = cv2.circle(img, set_point, 5, (0, 255, 255), -1)
+    img = cv2.line(img, (set_point[0], 0), (set_point[0], height), (0, 255, 0), thickness=1)
+
+    GUI.showImage(img)
+
+
+
+
+raw_img = HAL.getImage()
+f_img = filter_img(raw_img, red_mask)
+
+# The reference used for angular speed calculation
+ref1 = get_line_ref(f_img, center_offset, center_margin)
+
+if (ref1 != (0, 0)):
+
+    # Error calculation
+    ref1_x = ref1[0]
+    error = sp1 - ref1_x
+    buff.add(abs(error))
+    mean_error = round(buff.get_mean(), 2)
+
+    norm_mean = mean_error / error_thres
+    if (norm_mean > 1): norm_mean = 1
+
+    linear_speed = max_linear - max_lin_dec * norm_mean
+    angular_speed = pid1.calc(error)
+
+    # Control action
+    HAL.setW(angular_speed)
+    HAL.setV(linear_speed)
+else:
+    HAL.setW(0)
+    HAL.setV(0)
+
+show_debug_img(f_img, ref1)
\ No newline at end of file

From d211a807ee3c01ba3c64bd7f053eaa7d43679f48 Mon Sep 17 00:00:00 2001
From: David Maria Arribas <dmariaa70@gmail.com>
Date: Sun, 14 May 2023 13:14:54 +0200
Subject: [PATCH 2/2] New: added gitignore

---
 .gitignore | 118 ++++++++++++++++++
 ram.log    | 358 -----------------------------------------------------
 2 files changed, 118 insertions(+), 358 deletions(-)
 create mode 100644 .gitignore
 delete mode 100644 ram.log

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ae32ee2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,118 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+.venv/
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+
+.idea/
+
+docs/.jekyll-cache/
+
+.jekyll-cache
+_site
+
+# IDEs
+.vscode
+
+# jetbrains files
+.idea/
+
+# react stuff
+node_modules/
+
+lerna-debug.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+/.changelog
+.npm/
+webpack-stats.json
+*.DS_Store
+react_frontend/static
+developer_scripts
+**.log
\ No newline at end of file
diff --git a/ram.log b/ram.log
deleted file mode 100644
index da49948..0000000
--- a/ram.log
+++ /dev/null
@@ -1,358 +0,0 @@
-2023-05-11 08:04:17,546 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7fc92825f160>:7163
-2023-05-11 08:04:17,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-11 08:04:17,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-11 08:04:42,339 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
-2023-05-11 08:04:42,383 [Thread-2    ] [INFO ] (root)  message received: {"id":"1b83ac14-ef04-475a-9c6c-56af122abc92","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
-2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-11 08:04:42,396 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-11 08:04:42,397 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7fc9282ad100>>'
-2023-05-11 08:04:42,405 [Thread-2    ] [INFO ] (root)  message received: {"id":"1c5b20a8-e0a0-4bfc-90d8-3a6e9f6928c8","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":924}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
-2023-05-11 08:04:42,498 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 924}
-2023-05-11 08:04:42,694 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-11 08:04:42,703 [MainThread  ] [ERROR] (root)  No module named 'src.manager.manager.launcher'; 'src.manager.manager' is not a package
-Traceback (most recent call last):
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 222, in start
-    self.process_messsage(message)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 186, in process_messsage
-    self.trigger(message.command, data=message.data or None)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 922, in _get_trigger
-    return event.trigger(model, *args, **kwargs)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 402, in trigger
-    return self.machine._process(func)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 1211, in _process
-    return trigger()
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 416, in _trigger
-    self._process(event_data)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 439, in _process
-    if trans.execute(event_data):
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 273, in execute
-    event_data.machine.callbacks(itertools.chain(event_data.machine.before_state_change, self.before), event_data)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 1146, in callbacks
-    self.callback(func, event_data)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/venv/lib/python3.8/site-packages/transitions/core.py", line 1165, in callback
-    func(event_data)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 123, in on_launch
-    self.launcher.run()
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/launcher/launcher_engine.py", line 27, in run
-    launcher = self.launch_module(launcher_data)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/launcher/launcher_engine.py", line 51, in launch_module
-    launcher_class = get_class(launcher_module)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/libs/process_utils.py", line 14, in get_class
-    m = __import__(module)
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/launcher/launcher_ros_api.py", line 7, in <module>
-    from src.manager.manager.launcher.launcher_interface import ILauncher, LauncherException
-ModuleNotFoundError: No module named 'src.manager.manager.launcher'; 'src.manager.manager' is not a package
-2023-05-11 08:05:43,696 [Thread-2    ] [INFO ] (root)  message received: {"id":"885f243b-695b-463c-92a9-4ae77ec91c67","command":"disconnect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fc92825f8e0>, 'address': ('127.0.0.1', 53826)}
-2023-05-11 08:05:43,717 [MainThread  ] [ERROR] (root)  Exception terminating instance
-Traceback (most recent call last):
-  File "/home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/ram/src/manager/manager.py", line 154, in on_disconnect
-    self.application.terminate()
-AttributeError: 'NoneType' object has no attribute 'terminate'
-2023-05-11 08:05:50,572 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f5541951160>:7163
-2023-05-11 08:05:50,572 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-11 08:05:50,572 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-11 08:05:52,474 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f55419518e0>, 'address': ('127.0.0.1', 52374)}
-2023-05-11 08:05:52,550 [Thread-2    ] [INFO ] (root)  message received: {"id":"8fe8775d-5a82-4e68-b3ac-bea9120d645c","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f55419518e0>, 'address': ('127.0.0.1', 52374)}
-2023-05-11 08:05:52,576 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-11 08:05:52,576 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-11 08:05:52,576 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-11 08:05:52,577 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f554199e100>>'
-2023-05-11 08:05:52,602 [Thread-2    ] [INFO ] (root)  message received: {"id":"ae5141dd-d8e1-40a3-84a0-021390c96ffb","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":924}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f55419518e0>, 'address': ('127.0.0.1', 52374)}
-2023-05-11 08:05:52,678 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 924}
-2023-05-11 08:05:52,779 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-11 08:08:11,931 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f9034242160>:7163
-2023-05-11 08:08:11,932 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-11 08:08:11,932 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-11 08:08:14,882 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f90342428e0>, 'address': ('127.0.0.1', 49310)}
-2023-05-11 08:08:15,094 [Thread-2    ] [INFO ] (root)  message received: {"id":"9049a2b2-c7b9-4bd5-b99c-694b41684260","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f90342428e0>, 'address': ('127.0.0.1', 49310)}
-2023-05-11 08:08:15,138 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-11 08:08:15,139 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f903428f100>>'
-2023-05-11 08:08:15,180 [Thread-2    ] [INFO ] (root)  message received: {"id":"19aa24f2-0500-4643-b669-03a562224769","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":924}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f90342428e0>, 'address': ('127.0.0.1', 49310)}
-2023-05-11 08:08:15,240 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 924}
-2023-05-11 08:08:15,538 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 07:12:18,204 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f81d086f160>:7163
-2023-05-12 07:12:18,204 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 07:12:18,204 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-12 07:12:32,802 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81d086f8e0>, 'address': ('127.0.0.1', 60764)}
-2023-05-12 07:12:32,914 [Thread-2    ] [INFO ] (root)  message received: {"id":"599e33f4-461c-4c9c-805b-07c8e47e3aca","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81d086f8e0>, 'address': ('127.0.0.1', 60764)}
-2023-05-12 07:12:32,931 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 07:12:32,931 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 07:12:32,932 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f81d08bd100>>'
-2023-05-12 07:12:33,019 [Thread-2    ] [INFO ] (root)  message received: {"id":"1070d29b-5dbc-4b2d-b3dc-66bb6ad39f83","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":551.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81d086f8e0>, 'address': ('127.0.0.1', 60764)}
-2023-05-12 07:12:33,032 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 551.5}
-2023-05-12 07:12:33,216 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 07:37:05,394 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f4fd448a5b0>:7163
-2023-05-12 07:37:05,394 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 07:37:05,394 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-5.
-2023-05-12 07:37:42,500 [Thread-6    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f4fd448a9d0>, 'address': ('127.0.0.1', 48888)}
-2023-05-12 07:37:42,578 [Thread-6    ] [INFO ] (root)  message received: {"id":"725995d7-372b-46ee-bfb6-d7a8a6f0a5d0","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f4fd448a9d0>, 'address': ('127.0.0.1', 48888)}
-2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 07:37:42,675 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 07:37:42,676 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 07:37:42,676 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 07:37:42,676 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f4fd44d2160>>'
-2023-05-12 07:37:42,687 [Thread-6    ] [INFO ] (root)  message received: {"id":"dff2fff6-98ce-424e-b0ab-5f3c3e6ce7cc","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":779.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f4fd448a9d0>, 'address': ('127.0.0.1', 48888)}
-2023-05-12 07:37:42,778 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 779.5}
-2023-05-12 07:37:42,893 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 19:42:39,184 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f7d489ef1f0>:7163
-2023-05-12 19:42:39,184 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 19:42:39,184 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-12 19:45:22,847 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f7d489ef970>, 'address': ('127.0.0.1', 43026)}
-2023-05-12 19:45:22,946 [Thread-2    ] [INFO ] (root)  message received: {"id":"4d4e11ff-b1b3-4f1b-9d9e-f46cd3e80a9a","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f7d489ef970>, 'address': ('127.0.0.1', 43026)}
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 19:45:22,992 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f7d48a3d190>>'
-2023-05-12 19:45:23,060 [Thread-2    ] [INFO ] (root)  message received: {"id":"b70866df-34f6-47b2-bcb0-22548863b633","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":637.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f7d489ef970>, 'address': ('127.0.0.1', 43026)}
-2023-05-12 19:45:23,093 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 637.5}
-2023-05-12 19:45:23,264 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 20:10:44,491 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f5b119d5220>:7163
-2023-05-12 20:10:44,491 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 20:10:44,491 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-12 20:10:49,033 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f5b119d59a0>, 'address': ('127.0.0.1', 54210)}
-2023-05-12 20:10:49,114 [Thread-2    ] [INFO ] (root)  message received: {"id":"2ba5b5f5-0181-48a7-817b-a27588049864","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f5b119d59a0>, 'address': ('127.0.0.1', 54210)}
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 20:10:49,200 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f5b11a241c0>>'
-2023-05-12 20:10:49,222 [Thread-2    ] [INFO ] (root)  message received: {"id":"651d289e-257c-47e9-b32b-d7fbd5a3bace","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":637.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f5b119d59a0>, 'address': ('127.0.0.1', 54210)}
-2023-05-12 20:10:49,301 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 637.5}
-2023-05-12 20:10:49,400 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 20:31:54,544 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f6f4fce51f0>:7163
-2023-05-12 20:31:54,544 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 20:31:54,544 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-12 20:31:59,350 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f6f4fce5970>, 'address': ('127.0.0.1', 37202)}
-2023-05-12 20:31:59,431 [Thread-2    ] [INFO ] (root)  message received: {"id":"81e1ea7c-0ea0-46c4-8298-1a13373745d2","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f6f4fce5970>, 'address': ('127.0.0.1', 37202)}
-2023-05-12 20:31:59,453 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 20:31:59,454 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f6f4fd33190>>'
-2023-05-12 20:31:59,520 [Thread-2    ] [INFO ] (root)  message received: {"id":"8911ce61-fe35-4a33-ac18-15ca1603e98a","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":612}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f6f4fce5970>, 'address': ('127.0.0.1', 37202)}
-2023-05-12 20:31:59,554 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 612}
-2023-05-12 20:31:59,642 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 20:51:20,577 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f04a7c831c0>:7163
-2023-05-12 20:51:20,577 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 20:51:20,577 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-12 20:51:25,278 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f04a7c83940>, 'address': ('127.0.0.1', 47094)}
-2023-05-12 20:51:25,407 [Thread-2    ] [INFO ] (root)  message received: {"id":"6cedd557-5d6f-4f00-9ded-20fa02aeb744","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f04a7c83940>, 'address': ('127.0.0.1', 47094)}
-2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 20:51:25,487 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 20:51:25,488 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f04a7cd0160>>'
-2023-05-12 20:51:25,504 [Thread-2    ] [INFO ] (root)  message received: {"id":"028250a2-e6f6-4faa-930f-d6080c8635a7","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":709.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f04a7c83940>, 'address': ('127.0.0.1', 47094)}
-2023-05-12 20:51:25,589 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 709.5}
-2023-05-12 20:51:25,744 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-12 20:57:12,579 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f16a08251c0>:7163
-2023-05-12 20:57:12,579 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-12 20:57:12,579 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-12 20:57:23,440 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f16a0825940>, 'address': ('127.0.0.1', 40274)}
-2023-05-12 20:57:23,618 [Thread-2    ] [INFO ] (root)  message received: {"id":"e9a64d07-f70c-42bb-acab-c7118d0afdac","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f16a0825940>, 'address': ('127.0.0.1', 40274)}
-2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-12 20:57:23,701 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-12 20:57:23,702 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f16a0871160>>'
-2023-05-12 20:57:23,758 [Thread-2    ] [INFO ] (root)  message received: {"id":"a5f4acf2-87ec-4545-8d8e-87d352a4c408","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":709.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f16a0825940>, 'address': ('127.0.0.1', 40274)}
-2023-05-12 20:57:23,803 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 709.5}
-2023-05-12 20:57:24,016 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 07:22:44,553 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f520d1f8220>:7163
-2023-05-13 07:22:44,554 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 07:22:44,554 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 07:22:59,894 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f520d1f89a0>, 'address': ('127.0.0.1', 48362)}
-2023-05-13 07:22:59,975 [Thread-2    ] [INFO ] (root)  message received: {"id":"98e9df83-4a1f-49f3-853c-358902b59e49","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f520d1f89a0>, 'address': ('127.0.0.1', 48362)}
-2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 07:22:59,982 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 07:22:59,983 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f520d2441c0>>'
-2023-05-13 07:22:59,990 [Thread-2    ] [INFO ] (root)  message received: {"id":"198e8410-151e-49b0-9134-f38bd4b959ca","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f520d1f89a0>, 'address': ('127.0.0.1', 48362)}
-2023-05-13 07:23:00,083 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
-2023-05-13 07:23:00,253 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 07:41:31,317 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f94c9b49190>:7163
-2023-05-13 07:41:31,317 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 07:41:31,317 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 07:41:39,056 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f94c9b49910>, 'address': ('127.0.0.1', 50182)}
-2023-05-13 07:41:39,122 [Thread-2    ] [INFO ] (root)  message received: {"id":"3bd2f0af-98a6-4c92-ac25-bc6fb34aeea5","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f94c9b49910>, 'address': ('127.0.0.1', 50182)}
-2023-05-13 07:41:39,131 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 07:41:39,132 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f94c9b97130>>'
-2023-05-13 07:41:39,163 [Thread-2    ] [INFO ] (root)  message received: {"id":"aa4a7935-1e5a-4df3-9753-5dab0f14431b","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f94c9b49910>, 'address': ('127.0.0.1', 50182)}
-2023-05-13 07:41:39,233 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
-2023-05-13 07:41:39,320 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 07:50:16,623 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7fbdc86f2190>:7163
-2023-05-13 07:50:16,623 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 07:50:16,623 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 07:50:22,487 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fbdc86f2910>, 'address': ('127.0.0.1', 45648)}
-2023-05-13 07:50:22,590 [Thread-2    ] [INFO ] (root)  message received: {"id":"81c3c005-8b08-4382-9e57-902f60de8426","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fbdc86f2910>, 'address': ('127.0.0.1', 45648)}
-2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 07:50:22,634 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 07:50:22,635 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7fbdc8740130>>'
-2023-05-13 07:50:22,655 [Thread-2    ] [INFO ] (root)  message received: {"id":"8bfd6a85-8741-47a2-9031-65bb53058a04","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fbdc86f2910>, 'address': ('127.0.0.1', 45648)}
-2023-05-13 07:50:22,735 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
-2023-05-13 07:50:22,856 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 08:10:37,545 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f06811df190>:7163
-2023-05-13 08:10:37,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 08:10:37,546 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 08:10:43,731 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f06811df910>, 'address': ('127.0.0.1', 46574)}
-2023-05-13 08:10:43,832 [Thread-2    ] [INFO ] (root)  message received: {"id":"3af171e7-a94d-43be-8609-d62c16027414","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f06811df910>, 'address': ('127.0.0.1', 46574)}
-2023-05-13 08:10:43,866 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 08:10:43,867 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f068122c130>>'
-2023-05-13 08:10:43,902 [Thread-2    ] [INFO ] (root)  message received: {"id":"866f8803-42ef-4406-9512-c558ce664af2","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":550.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f06811df910>, 'address': ('127.0.0.1', 46574)}
-2023-05-13 08:10:43,968 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 550.5}
-2023-05-13 08:10:44,069 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 08:10:44,713 [Dummy-3     ] [INFO ] (xmlrpc)  XML-RPC server binding to 0.0.0.0:0
-2023-05-13 08:10:44,713 [Dummy-3     ] [INFO ] (xmlrpc)  Started XML-RPC server [http://david-UNIBOTICS:39529/]
-2023-05-13 08:10:44,713 [Dummy-3     ] [INFO ] (xmlrpc)  xml rpc node: starting XML-RPC server
-2023-05-13 08:10:45,425 [MainThread  ] [INFO ] (root)  Exercise code /home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/exercises/static/exercises/follow_line_react_refactor/web-template/entry_point/../exercise.py 0.0.0.0 launched
-2023-05-13 08:10:46,429 [exercise    ] [INFO ] (root)  Connection with exercise opened
-2023-05-13 08:10:46,429 [exercise    ] [WARNI] (websocket)  websocket connected
-2023-05-13 08:10:46,430 [exercise    ] [INFO ] (root)  Message received from exercise: Starting HAL thread
-2023-05-13 08:10:46,430 [exercise    ] [ERROR] (websocket)  error from callback <bound method Client.on_message of <Client(exercise, started 139665692686080)>>: Expecting value: line 1 column 1 (char 0)
-2023-05-13 08:10:46,430 [exercise    ] [INFO ] (root)  There was an error in exercise client connection.
-2023-05-13 08:10:46,430 [exercise    ] [ERROR] (root)  Expecting value: line 1 column 1 (char 0)
-2023-05-13 08:10:46,430 [exercise    ] [INFO ] (root)  Message received from exercise: #freq{"brain": 20.0, "gui": 10
-2023-05-13 08:10:46,431 [exercise    ] [INFO ] (root)  Message received from exercise: Client connected
-2023-05-13 08:10:46,431 [exercise    ] [ERROR] (websocket)  error from callback <bound method Client.on_message of <Client(exercise, started 139665692686080)>>: Expecting value: line 1 column 1 (char 0)
-2023-05-13 08:10:46,431 [exercise    ] [INFO ] (root)  There was an error in exercise client connection.
-2023-05-13 08:10:46,431 [exercise    ] [ERROR] (root)  Expecting value: line 1 column 1 (char 0)
-2023-05-13 08:10:46,631 [MainThread  ] [INFO ] (root)  Exercise gui /home/dmariaa/Desarrollo/unibotics/RoboticsAcademy/exercises/static/exercises/follow_line_react_refactor/web-template/entry_point/../gui.py 0.0.0.0 default launched
-2023-05-13 08:10:47,634 [gui         ] [INFO ] (root)  Connection with gui opened
-2023-05-13 08:10:47,634 [gui         ] [WARNI] (websocket)  websocket connected
-2023-05-13 08:10:48,635 [exercise    ] [INFO ] (root)  Message received from exercise: #freq{"brain": 20.0, "gui": 10
-2023-05-13 11:38:46,765 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f81ecd07190>:7163
-2023-05-13 11:38:46,766 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 11:38:46,766 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 11:40:10,531 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81ecd07910>, 'address': ('127.0.0.1', 42254)}
-2023-05-13 11:40:10,711 [Thread-2    ] [INFO ] (root)  message received: {"id":"b44ed797-831a-47c6-90fc-1a6a710ead5a","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81ecd07910>, 'address': ('127.0.0.1', 42254)}
-2023-05-13 11:40:10,726 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 11:40:10,727 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f81ecd54130>>'
-2023-05-13 11:40:10,852 [Thread-2    ] [INFO ] (root)  message received: {"id":"8e8a9740-e4e2-4cda-8d73-b106e9e948d0","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":603.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f81ecd07910>, 'address': ('127.0.0.1', 42254)}
-2023-05-13 11:40:10,929 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 603.5}
-2023-05-13 11:40:11,082 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 11:41:12,086 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f066d9f4190>:7163
-2023-05-13 11:41:12,086 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 11:41:12,086 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 11:41:24,733 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f066d9f4910>, 'address': ('127.0.0.1', 35266)}
-2023-05-13 11:41:24,905 [Thread-2    ] [INFO ] (root)  message received: {"id":"f16c49a1-2ae8-4676-bed3-d6bfe9491b48","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f066d9f4910>, 'address': ('127.0.0.1', 35266)}
-2023-05-13 11:41:24,920 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 11:41:24,920 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 11:41:24,921 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f066da41130>>'
-2023-05-13 11:41:24,973 [Thread-2    ] [INFO ] (root)  message received: {"id":"eec7e876-1e0d-4276-97be-b86ad86972cd","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":603.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f066d9f4910>, 'address': ('127.0.0.1', 35266)}
-2023-05-13 11:41:25,022 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 603.5}
-2023-05-13 11:41:25,174 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 11:59:48,050 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f009f6c9190>:7163
-2023-05-13 11:59:48,050 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 11:59:48,051 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 11:59:51,828 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f009f6c9910>, 'address': ('127.0.0.1', 36004)}
-2023-05-13 11:59:51,978 [Thread-2    ] [INFO ] (root)  message received: {"id":"fcab78d4-6086-4ad8-930d-6225b201dd16","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f009f6c9910>, 'address': ('127.0.0.1', 36004)}
-2023-05-13 11:59:52,059 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 11:59:52,059 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 11:59:52,060 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 11:59:52,061 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f009f716130>>'
-2023-05-13 11:59:52,118 [Thread-2    ] [INFO ] (root)  message received: {"id":"7dcfed59-0280-4d84-8976-6504874d3e27","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":603.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f009f6c9910>, 'address': ('127.0.0.1', 36004)}
-2023-05-13 11:59:52,162 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 603.5}
-2023-05-13 11:59:52,324 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 12:51:30,113 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f9ba5cb5190>:7163
-2023-05-13 12:51:30,113 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 12:51:30,113 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 12:51:34,277 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f9ba5cb5910>, 'address': ('127.0.0.1', 36636)}
-2023-05-13 12:51:34,393 [Thread-2    ] [INFO ] (root)  message received: {"id":"7901cb7b-536a-4ca9-b018-2742a315a00a","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f9ba5cb5910>, 'address': ('127.0.0.1', 36636)}
-2023-05-13 12:51:34,422 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 12:51:34,422 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 12:51:34,423 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f9ba5d01130>>'
-2023-05-13 12:51:34,542 [Thread-2    ] [INFO ] (root)  message received: {"id":"6e0732eb-419c-49cf-b3c2-16255a70d2d0","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":493.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f9ba5cb5910>, 'address': ('127.0.0.1', 36636)}
-2023-05-13 12:51:34,624 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 493.5}
-2023-05-13 12:51:34,772 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 13:07:28,826 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7f501f255190>:7163
-2023-05-13 13:07:28,826 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 13:07:28,826 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 13:07:33,596 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f501f255910>, 'address': ('127.0.0.1', 49436)}
-2023-05-13 13:07:33,765 [Thread-2    ] [INFO ] (root)  message received: {"id":"fef22367-a476-4131-9bce-d0f086ee8545","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f501f255910>, 'address': ('127.0.0.1', 49436)}
-2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 13:07:33,837 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 13:07:33,838 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 13:07:33,838 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7f501f2a2130>>'
-2023-05-13 13:07:33,898 [Thread-2    ] [INFO ] (root)  message received: {"id":"78ffe209-e3d7-40fb-9231-bbae4fadac08","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":551.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7f501f255910>, 'address': ('127.0.0.1', 49436)}
-2023-05-13 13:07:33,939 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 551.5}
-2023-05-13 13:07:34,157 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized
-2023-05-13 13:09:33,858 [MainThread  ] [INFO ] (root)  Starting RAM consumer in <websocket_server.websocket_server.WebsocketServer object at 0x7fdde8d4a190>:7163
-2023-05-13 13:09:33,858 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Listening on port 7163 for clients..
-2023-05-13 13:09:33,858 [MainThread  ] [INFO ] (websocket_server.websocket_server)  Starting WebsocketServer on thread Thread-1.
-2023-05-13 13:09:39,522 [Thread-2    ] [INFO ] (root)  client connected: {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fdde8d4a910>, 'address': ('127.0.0.1', 35242)}
-2023-05-13 13:09:39,668 [Thread-2    ] [INFO ] (root)  message received: {"id":"60f899e7-9c96-4871-9b9d-7b35a31c2124","command":"connect"} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fdde8d4a910>, 'address': ('127.0.0.1', 35242)}
-2023-05-13 13:09:39,669 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_connect'
-2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Finished processing state idle exit callbacks.
-2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (root)  Connect state entered
-2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Executed callback 'on_enter_connected'
-2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Finished processing state connected enter callbacks.
-2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (root)  State changed to connected
-2023-05-13 13:09:39,670 [MainThread  ] [INFO ] (transitions.core)  Executed callback '<bound method Manager.state_change of <__main__.Manager object at 0x7fdde8d97130>>'
-2023-05-13 13:09:39,688 [Thread-2    ] [INFO ] (root)  message received: {"id":"b04bbf54-fc1e-442c-b221-9d739ffd510f","command":"launch","data":{"application":{"type":"python","entry_point":"$EXERCISE_FOLDER/web-template/entry_point/exercise.py","params":{"circuit":"default"}},"launch":{"0":{"type":"module","module":"ros_api","resource_folders":["$EXERCISE_FOLDER/web-template/launch"],"model_folders":["$CUSTOM_ROBOTS_BASE/f1/models"],"plugin_folders":[],"parameters":[],"launch_file":"$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch"}},"exercise_id":"follow_line_react_refactor","height":474,"width":551.5}} from client {'id': 1, 'handler': <websocket_server.websocket_server.WebSocketHandler object at 0x7fdde8d4a910>, 'address': ('127.0.0.1', 35242)}
-2023-05-13 13:09:39,771 [MainThread  ] [INFO ] (root)  Launch transition started, configuration: {'application': {'type': 'python', 'entry_point': '$EXERCISE_FOLDER/web-template/entry_point/exercise.py', 'params': {'circuit': 'default'}}, 'launch': {'0': {'type': 'module', 'module': 'ros_api', 'resource_folders': ['$EXERCISE_FOLDER/web-template/launch'], 'model_folders': ['$CUSTOM_ROBOTS_BASE/f1/models'], 'plugin_folders': [], 'parameters': [], 'launch_file': '$EXERCISE_FOLDER/web-template/launch/simple_line_follower_ros_headless_default.launch'}}, 'exercise_id': 'follow_line_react_refactor', 'height': 474, 'width': 551.5}
-2023-05-13 13:09:39,929 [MainThread  ] [INFO ] (rospy.topics)  topicmanager initialized