Adding file watcher and working basic comunication

manager/libs/applications/compatibility/file_watchdog.py

@@ -0,0 +1,56 @@
+import threading
+import time
+import os
+from watchdog.events import FileSystemEventHandler
+import watchdog.observers
+
+from src.manager.ram_logging.log_manager import LogManager
+
+class Handler(FileSystemEventHandler):
+
+    def __init__(self, file, callback):
+        self.update_callback = callback
+        self.file = file
+        self.hash = None
+
+    def on_modified(self, event):
+        if event.event_type == 'modified':
+            with open(self.file, 'r') as f: 
+                data = f.read() 
+            if self.hash is None or self.hash != hash(data):
+                self.hash = hash(data)
+                self.update_callback(data)
+
+class FileWatchdog(threading.Thread):
+    def __init__(
+        self,
+        file,
+        callback,
+    ):
+        super().__init__()
+        # Create blank file
+        if not os.path.exists(file): 
+            with open(file, 'w') as f: 
+                f.write("") 
+        event_handler = Handler(file, callback)
+        self.observer = watchdog.observers.Observer()
+        self.observer.schedule(event_handler, path=file)
+        self.observer.start()
+        self._stop = threading.Event()
+        LogManager.logger.info("Server Launched")
+
+    def run(self) -> None:
+        try:
+            while not self._stop.isSet():
+                time.sleep(1/30)
+                return
+        except Exception as ex:
+            LogManager.logger.exception(ex)
+
+    def stop(self) -> None:
+        self._stop.set()
+        self.observer.stop()
+        self.observer.join()
+
+    def send(self, data):
+        pass

manager/manager/launcher/launcher_visualization.py

@@ -19,13 +19,6 @@
         }
     ],
     "bt_studio": [
-        {
-            "type": "module",
-            "module": "console",
-            "display": ":1",
-            "external_port": 1108,
-            "internal_port": 5901,
-        },
         {
             "type": "module",
             "width": 1024,

manager/manager/manager.py

@@ -28,6 +28,7 @@
 from src.manager.manager.launcher.launcher_visualization import LauncherVisualization
 from src.manager.ram_logging.log_manager import LogManager
 from src.manager.libs.applications.compatibility.server import Server
+from src.manager.libs.applications.compatibility.file_watchdog import FileWatchdog
 from src.manager.manager.application.robotics_python_application_interface import (
     IRoboticsPythonApplication,
 )
@@ -156,6 +157,11 @@ def update(self, data):
         if self.consumer is not None:
             self.consumer.send_message({"update": data}, command="update")
 
+    def update_bt_studio(self, data):
+        LogManager.logger.debug(f"Sending update to client")
+        if self.consumer is not None:
+            self.consumer.send_message({"update": data}, command="update")
+
     def on_connect(self, event):
         """
         This method is triggered when the application transitions to the 'connected' state.
@@ -251,6 +257,9 @@ def on_prepare_visualization(self, event):
         if visualization_type == "gazebo_rae":
             self.gui_server = Server(2303, self.update)
             self.gui_server.start()
+        elif visualization_type == "bt_studio":
+            self.gui_server = FileWatchdog('/tmp/tree_state', self.update_bt_studio) # TODO: change if type bt
+            self.gui_server.start()
 
         LogManager.logger.info("Visualization transition finished")