94 lines
3.0 KiB
Python
94 lines
3.0 KiB
Python
import dataclasses
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import importlib
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import os
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import subprocess
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import threading
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import scene_plugin
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@dataclasses.dataclass
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class Scene:
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name: str
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launch_file: str = None
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scripts: dict = None
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class SceneManager:
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def __init__(self):
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self.scene_dict = {}
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self.running_scene = None
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self.sim_process = None
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self.sim_thread = None
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self.scene_plugin = None
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def load_scene(self):
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"""
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从场景文件夹加载场景。
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"""
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scene_dir = os.path.join(os.path.dirname(__file__), 'scene')
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if not os.path.exists(scene_dir):
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raise RuntimeError('no scene exist')
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names = [name for name in os.listdir(
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scene_dir) if os.path.isdir(os.path.join(scene_dir, name))]
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for name in names:
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scene = Scene(name)
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scene.launch_file = os.path.join(scene_dir, name, 'launch.sh')
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scene.scripts = {}
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if not os.path.exists(scene.launch_file):
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continue
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for script_name in os.listdir(os.path.join(scene_dir, name, 'scripts')):
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if script_name.endswith('.sh'):
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script_name_only = os.path.splitext(script_name)[0]
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scene.scripts[script_name_only] = os.path.join(
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scene_dir, name, 'scripts', script_name)
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self.scene_dict[name] = scene
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def get_scene(self):
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return list(self.scene_dict.keys())
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def get_scripts(self, name):
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return list(self.scene_dict[name].scripts.keys())
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def start_scene(self, name):
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if self.running_scene:
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raise RuntimeError(
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f'scene {self.running_scene} is already running')
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if name not in self.scene_dict:
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raise ValueError(f'scene {name} not found')
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scene_plugin_module = importlib.import_module(f'scene.{name}.plugin')
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self.scene_plugin = scene_plugin_module.Plugin(name)
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self.running_scene = name
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self.sim_process = subprocess.Popen(
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['bash', self.scene_dict[name].launch_file],
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stdout=subprocess.PIPE,
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stderr=subprocess.PIPE
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)
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def shut_scene(self):
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# TODO: 并没有正确终止仿真系列进程
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self.sim_process.terminate()
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self.sim_process = None
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self.running_scene = None
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self.scene_plugin = None
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def run_script(self, name):
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if not self.running_scene:
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raise RuntimeError('no scene running')
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script_path = self.scene_dict[self.running_scene].scripts.get(name, None)
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if not script_path:
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raise ValueError(f'script {name} not found')
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subprocess.Popen(['bash', script_path])
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if __name__ == '__main__':
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mgr = SceneManager()
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mgr.load_scene()
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print(mgr.get_scene())
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print(mgr.get_scripts('grasp-box'))
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mgr.start_scene('grasp-box')
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import time
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time.sleep(20)
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mgr.run_script('grasp_box_example')
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time.sleep(60)
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mgr.shut_scene()
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