Merge pull request #217 from JdeRobot/adding-custom-universes

Adding custom universe back
JdeRobot · Nov 17, 2024 · 5df7c09 · 5df7c09
2 parents a5a5e75 + 396f7da
commit 5df7c09
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Showing 3 changed files with 52 additions and 43 deletions.
diff --git a/backend/tree_api/views.py b/backend/tree_api/views.py
@@ -924,18 +924,27 @@ def generate_app(request):
         json_translator.translate(main_tree_graph, main_tree_tmp_path, bt_order)
 
         # Copy all the subtrees to the temp folder
-        for subtree_file in os.listdir(subtree_path):
-            if subtree_file.endswith(".json"):
-                subtree_name = base = os.path.splitext(os.path.basename(subtree_file))[
-                    0
-                ]
-                xml_path = os.path.join(
-                    project_path, "code", "trees", "subtrees", f"{subtree_name}.xml"
-                )
+        try:
+            for subtree_file in os.listdir(subtree_path):
+                if subtree_file.endswith(".json"):
+                    subtree_name = base = os.path.splitext(
+                        os.path.basename(subtree_file)
+                    )[0]
+                    print(os.path.join(subtree_path, subtree_file))
+
+                    xml_path = os.path.join(
+                        project_path, "code", "trees", "subtrees", f"{subtree_name}.xml"
+                    )
+
+                    with open(os.path.join(subtree_path, subtree_file), "r+") as f:
+                        # Reading from a file
+                        subtree_json = f.read()
 
-                json_translator.translate(subtree_file, xml_path, bt_order)
+                    json_translator.translate(subtree_json, xml_path, bt_order)
 
-                shutil.copy(xml_path, result_trees_tmp_path)
+                    shutil.copy(xml_path, result_trees_tmp_path)
+        except:
+            print("No subtrees")
 
         # Generate a self-contained tree
         tree_generator.generate(

diff --git a/frontend/src/api_helper/TreeWrapper.ts b/frontend/src/api_helper/TreeWrapper.ts
@@ -182,29 +182,25 @@ const getCustomUniverseZip = async (
 
   const apiUrl = "/tree_api/get_universe_zip/";
   try {
-    // Configure the request options
-    const config = {
-      method: "POST",
-      url: apiUrl,
-      headers: {
-        "Content-Type": "application/json",
-      },
-      data: JSON.stringify({
+    // Make the request
+    const response = await axios.post(
+      apiUrl,
+      {
         app_name: currentProjectname,
         universe_name: universeName,
-      }),
-    };
-
-    // Make the request
-    const response = await axios(config);
+      },
+      {
+        responseType: "blob", // Ensure the response is treated as a Blob
+      },
+    );
 
     // Handle unsuccessful response status (e.g., non-2xx status)
     if (!isSuccessful(response)) {
       throw new Error(
         response.data.message || "Failed to retrieve custom universe",
       ); // Response error
     }
-    return new Blob([response.data], { type: "application/octet-stream" });
+    return response.data;
   } catch (error: unknown) {
     throw error; // Rethrow
   }

diff --git a/frontend/src/components/header_menu/HeaderMenu.tsx b/frontend/src/components/header_menu/HeaderMenu.tsx
@@ -94,32 +94,36 @@ const HeaderMenu = ({
         await manager.prepareVisualization(universe_config.visualization);
         console.log("Viz ready!");
       } else {
+        console.log("Custom universe rework underway");
         console.warn("Custom universe rework underway");
+        const zipBlob: Blob = await getCustomUniverseZip(
+          configJson.name,
+          currentProjectname,
+        );
+        var reader = new FileReader();
+        reader.readAsDataURL(zipBlob);
+        reader.onloadend = async function () {
+          // Get the zip in base64
+          var base64data = reader.result;
+          const universe_config = {
+            name: configJson.name,
+            launch_file_path: configJson.ram_config.launch_file_path,
+            ros_version: configJson.ram_config.ros_version,
+            visualization: "bt_studio",
+            world: configJson.ram_config.world,
+            zip: base64data,
+          };
+          await manager.launchWorld(universe_config);
+          console.log("RB universe launched!");
+          await manager.prepareVisualization(universe_config.visualization);
+          console.log("Viz ready!");
+        };
       }
     } catch (error: unknown) {
       throw error; // rethrow
     }
   };
 
-  // const launchUniverse = async (universe_name) => {
-  //   const apiUrl = `/tree_api/get_universe_configuration?project_name=${encodeURIComponent(
-  //     currentProjectname,
-  //   )}&universe_name=${encodeURIComponent(universe_name)}`;
-
-  //   try {
-  //     const response = await axios.get(apiUrl);
-  //     console.log("Stored universe config: " + response.data);
-  //     const stored_cfg = JSON.parse(response.data);
-  //     if (stored_cfg.type === "robotics_backend") {
-  //       await launchBackendUniverse(stored_cfg);
-  //     } else {
-  //       launchCustomUniverse(stored_cfg);
-  //     }
-  //   } catch (error) {
-  //     console.error("Error launching universe:", error);
-  //   }
-  // };
-
   // Project handling
 
   const onCreateProject = async (projectName: string) => {