start_passive_bots.py

import subprocess,multiprocessing
from typing import List
import time

from aido_utils import get_device_list, show_status

demo_name = ""

def start_device(device):
    global demo_name
    try:
        print(device+ ": Starting the demo: "+demo_name)
        cmd = "dts duckiebot demo --demo_name %s --duckiebot %s --package_name duckietown_demos" % (demo_name, device)
        res = subprocess.check_output(cmd, shell=True, executable="/bin/bash")
        time.sleep(10)
        count = 0
        while True and count<60:
            try:
                cmd = 'docker -H %s.local inspect -f \'{{.State.Running}}\' demo_indefinite_navigation' % (device)
                res = subprocess.check_output(cmd, shell=True)
                res = res.rstrip().decode("utf-8")
                if res == "true":
                    print(device+ ": Try number "+str(count)+" was successfull, the demo is running")
                    time.sleep(30)
                    cmd = 'docker -H autobot03.local exec -it demo_indefinite_navigation\
                         /bin/bash environment.sh rostopic pub /autobot03/joy_mapper_node/joystick_override duckietown_msgs/BoolStamped\
                         "{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: \'\'}, data: false}"'
                    res = subprocess.Popen(cmd, shell=True, executable="/bin/bash")
                    print(device+ ": Released joystick override")
                    return "Started demo"
            except:
                print(device+ "Try Number :"+str(count)+", the demo is not running yet")
                count += 1
                time.sleep(1)
        return "Couldn't start"

    except subprocess.CalledProcessError:
        return "Error"


def start_all_devices(device_list):
    pool = multiprocessing.Pool(processes=20)
    results = pool.map(start_device, device_list)
    pool.close()
    pool.join()
    show_status(device_list, results)
    return results

def start_passive_bots_with_list(device_list, passive_demo):
    global demo_name
    demo_name = passive_demo
    return device_list, start_all_devices(device_list)