RI premium and custom universes

manager/manager/docker_thread/docker_thread.py

@@ -6,7 +6,6 @@
 
 
 
-
 class DockerThread(threading.Thread):
     """Threaded Docker Thread Class"""
     def __init__(self, cmd, shell=True):
@@ -17,7 +16,7 @@ def __init__(self, cmd, shell=True):
 
     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)
+                         bufsize=1024, universal_newlines=True, executable="/bin/bash")
         self.process.communicate()
 
     def terminate(self):

manager/manager/launcher/launcher_ros2_api.py

@@ -29,10 +29,10 @@ def run(self, callback):
 
         if ACCELERATION_ENABLED:
             exercise_launch_cmd = (
-                f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file}"
+                f"source /.env;export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file}"
             )
         else:
-            exercise_launch_cmd = f"ros2 launch {self.launch_file}"
+            exercise_launch_cmd = f"source /.env;ros2 launch {self.launch_file}"
 
         exercise_launch_thread = DockerThread(exercise_launch_cmd)
         exercise_launch_thread.start()

manager/manager/manager.py

@@ -295,20 +295,26 @@ def prepare_custom_universe(self, cfg_dict):
         if cfg_dict["zip"].startswith("data:"):
             _, _, zip_file = cfg_dict["zip"].partition("base64,")
 
-        universe_ref = "/workspace/worlds/" + cfg_dict["name"]
-        zip_destination = universe_ref + ".zip"
-        with open(zip_destination, "wb") as result:
-            result.write(base64.b64decode(zip_file))
+        universe_ref = "/workspace/worlds/src/" + cfg_dict["name"]
+        # Remove old content
+        if os.path.exists("/workspace/worlds"):
+            shutil.rmtree("/workspace/worlds", ignore_errors=False)
 
         # Create the folder if it doesn't exist
         universe_folder = universe_ref + "/"
         if not os.path.exists(universe_folder):
             os.makedirs(universe_folder)
 
+        zip_destination = universe_ref + ".zip"
+        with open(zip_destination, "wb") as result:
+            result.write(base64.b64decode(zip_file))
+
         zip_ref = zipfile.ZipFile(zip_destination, "r")
         zip_ref.extractall(universe_folder + "/")
         zip_ref.close()
 
+        os.system('/bin/bash -c "cd /workspace/worlds; source /opt/ros/humble/setup.bash; colcon build --symlink-install; source install/setup.bash; cd ../.."')
+
     def on_prepare_visualization(self, event):
 
         LogManager.logger.info("Visualization transition started")
@@ -328,7 +334,7 @@ def on_prepare_visualization(self, event):
             self.gui_server = Server(2303, self.update)
             self.gui_server.start()
         elif self.visualization_type in ["bt_studio", "bt_studio_gz"]:
-            self.gui_server = FileWatchdog('/tmp/tree_state', self.update_bt_studio) # TODO: change if type bt
+            self.gui_server = FileWatchdog('/tmp/tree_state', self.update_bt_studio)
             self.gui_server.start()
 
         LogManager.logger.info("Visualization transition finished")
@@ -569,7 +575,6 @@ def on_code_autocomplete(self, event):
         except Exception as e:
             LogManager.logger.info('Error formating code' + str(e))
 
-
     def on_run_application(self, event):
         def find_docker_console():
             """Search console in docker different of /dev/pts/0"""