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manager.py: support multiple application processes #284

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115 changes: 79 additions & 36 deletions robotics_application_manager/manager/manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -226,7 +226,7 @@ def __init__(self, host: str, port: int):
self.world_type = None
self.robot_launcher = None
self.tools_launcher = None
self.application_process = None
self.application_processes = {}
self.running = True
self.linter = Lint()

Expand Down Expand Up @@ -722,6 +722,14 @@ def on_change_style(self, event):
except Exception as e:
LogManager.logger.exception(f"Error refreshing GTK applications: {e}")

def _kill_all_applications(self):
for name, proc in self.application_processes.items():
try:
stop_process_and_children(proc)
except Exception:
pass
self.application_processes = {}

def on_run_application(self, event):
"""
Handle the 'run_application' event.
Expand All @@ -734,28 +742,25 @@ def on_run_application(self, event):
event: The event object containing application configuration and code data.
"""
# Kill already running code
try:
proc = psutil.Process(self.application_process.pid)
proc.suspend()
proc.kill()
except Exception:
pass
self._kill_all_applications()

# Delete old files
if os.path.exists("/workspace/code"):
shutil.rmtree("/workspace/code", ignore_errors=False)
os.mkdir("/workspace/code")

# Extract app config
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@javizqh javizqh Jun 3, 2026

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Missing comment. Please revert

app_cfg = event.kwargs.get("data", {})
entrypoint = app_cfg["entrypoint"]
to_lint = app_cfg["linter"]

# Unzip the app
# the code comes as a base64 data-uri from the browser, strip the header part
if app_cfg["code"].startswith("data:"):
_, _, code = app_cfg["code"].partition("base64,")
with open("/workspace/code/app.zip", "wb") as result:
result.write(base64.b64decode(code))

# just extract evrything to /workspace/code — if theres a processB/ folder
# inside the zip it'll end up at /workspace/code/processB/ on its own
zip_ref = zipfile.ZipFile("/workspace/code/app.zip", "r")
zip_ref.extractall("/workspace/code")
zip_ref.close()
Expand Down Expand Up @@ -786,9 +791,8 @@ def on_run_application(self, event):
if returncode != 0:
raise Exception("Failed to compile")

self.unpause_sim()
if entrypoint.endswith(".launch.py"):
self.application_process = subprocess.Popen(
proc = subprocess.Popen(
[
f"source /workspace/code/install/setup.bash && ros2 launch {entrypoint}"
],
Expand All @@ -801,8 +805,7 @@ def on_run_application(self, event):
executable="/bin/bash",
)
else:

self.application_process = subprocess.Popen(
proc = subprocess.Popen(
[
"source /workspace/code/install/setup.bash && ros2 run academy academyCode"
],
Expand All @@ -814,6 +817,8 @@ def on_run_application(self, event):
shell=True,
executable="/bin/bash",
)
self.application_processes["agentA"] = proc
self.unpause_sim()
return

# Pass the linter
Expand All @@ -831,15 +836,48 @@ def on_run_application(self, event):
fds = os.listdir("/dev/pts/")
console_fd = str(max(map(int, fds[:-1])))

self.unpause_sim()
self.application_process = subprocess.Popen(
proc = subprocess.Popen(
["python3", entrypoint],
stdin=open("/dev/pts/" + console_fd, "r"),
stdout=open("/dev/pts/" + console_fd, "w"),
stderr=sys.stdout,
bufsize=1024,
universal_newlines=True,
)
self.application_processes["agentA"] = proc

# check if theres a second agent in processB/ subdir — this one is
# pre-programmed from the server side so no need to lint it
processb_entrypoint = os.path.join(
"/workspace/code/processB", os.path.basename(entrypoint)
)
if os.path.isfile(processb_entrypoint):
proc_b = subprocess.Popen(
["python3", processb_entrypoint],
stdin=open("/dev/pts/" + console_fd, "r"),
stdout=open("/dev/pts/" + console_fd, "w"),
stderr=sys.stdout,
bufsize=1024,
universal_newlines=True,
)
self.application_processes["agentB"] = proc_b

# SIGSTOP all the procs first, then unpause gazebo, then SIGCONT them togther.
# using finally so even if unpause fails we dont leave frozen processes behind
for p in self.application_processes.values():
try:
os.kill(p.pid, signal.SIGSTOP)
except ProcessLookupError:
pass

try:
self.unpause_sim()
finally:
for p in self.application_processes.values():
try:
os.kill(p.pid, signal.SIGCONT)
except ProcessLookupError:
pass

LogManager.logger.info("Run application transition finished")

Expand All @@ -853,10 +891,9 @@ def on_terminate_application(self, event):
Parameters:
event: The event object associated with the termination request.
"""
if self.application_process:
if self.application_processes:
try:
stop_process_and_children(self.application_process)
self.application_process = None
self._kill_all_applications()
self.pause_sim()
self.reset_sim()
except Exception:
Expand Down Expand Up @@ -894,10 +931,9 @@ def on_disconnect(self, event):
terminates launchers, and restarts the script.
"""

if self.application_process:
if self.application_processes:
try:
stop_process_and_children(self.application_process)
self.application_process = None
self._kill_all_applications()
except Exception as e:
LogManager.logger.exception("Exception stopping application process")

Expand Down Expand Up @@ -929,13 +965,17 @@ def process_message(self, message):
self.consumer.send_message(message.response(response))

def on_pause(self, msg):
if self.application_process is not None:
proc = psutil.Process(self.application_process.pid)
children = proc.children(recursive=True)
children.append(proc)
for p in children:
if self.application_processes:
for proc in self.application_processes.values():
try:
p.suspend()
p = psutil.Process(proc.pid)
children = p.children(recursive=True)
children.append(p)
for child in children:
try:
child.suspend()
except psutil.NoSuchProcess:
pass
except psutil.NoSuchProcess:
pass
self.pause_sim()
Expand All @@ -953,13 +993,17 @@ def on_resume(self, msg):
Parameters:
msg: The event or message triggering the resume action.
"""
if self.application_process is not None:
proc = psutil.Process(self.application_process.pid)
children = proc.children(recursive=True)
children.append(proc)
for p in children:
if self.application_processes:
for proc in self.application_processes.values():
try:
p.resume()
p = psutil.Process(proc.pid)
children = p.children(recursive=True)
children.append(p)
for child in children:
try:
child.resume()
except psutil.NoSuchProcess:
pass
except psutil.NoSuchProcess:
pass
self.unpause_sim()
Expand Down Expand Up @@ -1028,10 +1072,9 @@ def signal_handler(sign, frame):
except Exception as e:
LogManager.logger.exception("Exception stopping consumer")

if self.application_process:
if self.application_processes:
try:
stop_process_and_children(self.application_process)
self.application_process = None
self._kill_all_applications()
except Exception as e:
LogManager.logger.exception(
"Exception stopping application process"
Expand Down