looking into better thread safety

src/environments/large_scale_lunar.py

@@ -37,6 +37,7 @@ def __init__(
         large_scale_terrain: LargeScaleTerrainConf = None,
         stellar_engine_settings: StellarEngineConf = None,
         sun_settings: SunConf = None,
+        is_simulation_alive: callable = lambda: True,
         **kwargs,
     ) -> None:
         """
@@ -48,12 +49,14 @@ def __init__(
             env_settings (LargeScaleTerrainConf): The settings of the lab.
             stellar_engine_settings (StellarEngineConf): The settings of the stellar engine.
             sun_settings (SunConf): The settings of the sun.
+            is_simulation_alive (callable): function to check if the simulation is alive.
             **kwargs: Arbitrary keyword arguments.
         """
 
         super().__init__(**kwargs)
         self.stage_settings = large_scale_terrain
         self.sun_settings = sun_settings
+        self.is_simulation_alive = is_simulation_alive
         if stellar_engine_settings is not None:
             self.SE = StellarEngine(stellar_engine_settings)
             self.enable_stellar_engine = True
@@ -133,7 +136,7 @@ def load(self) -> None:
 
         self.build_scene()
         # Instantiates the terrain manager
-        self.LSTM = LargeScaleTerrainManager(self.stage_settings)
+        self.LSTM = LargeScaleTerrainManager(self.stage_settings, is_simulation_alive=self.is_simulation_alive)
         self.LSTM.build()
         # Sets the sun using the stellar engine if enabled
         if self.enable_stellar_engine:

src/environments_wrappers/ros1/largescale_ros1.py

@@ -12,7 +12,7 @@
 
 # Loads ROS1 dependent libraries
 import rospy
-from std_msgs.msg import Float32
+from std_msgs.msg import Float32, ColorRGBA
 from geometry_msgs.msg import Pose
 
 
@@ -23,6 +23,7 @@ class ROS_LargeScaleManager(ROS_BaseManager):
     def __init__(
         self,
         environment_cfg: dict = None,
+        is_simulation_alive: callable = lambda: True,
         **kwargs,
     ) -> None:
         """
@@ -31,11 +32,12 @@ def __init__(
         Args:
             environment_cfg (dict): Environment configuration dictionary.
             flares_cfg (dict): Lens flares configuration dictionary.
+            is_simulation_alive (callable): function to check if the simulation is alive.
             **kwargs: Additional keyword arguments.
         """
 
         super().__init__(environment_cfg=environment_cfg, **kwargs)
-        self.LC = LargeScaleController(**environment_cfg)
+        self.LC = LargeScaleController(**environment_cfg, is_simulation_alive=is_simulation_alive)
         self.LC.load()
 
         self.projector_subs = []

src/environments_wrappers/ros2/largescale_ros2.py

@@ -24,18 +24,20 @@ class ROS_LargeScaleManager(ROS_BaseManager):
     def __init__(
         self,
         environment_cfg: dict = None,
+        is_simulation_alive: callable = lambda: True,
         **kwargs,
     ) -> None:
         """
         Initializes the environment manager.
 
         Args:
             environment_cfg (dict): Environment configuration.
+            is_simulation_alive (callable): function to check if the simulation is alive.
             **kwargs: Additional arguments.
         """
 
         super().__init__(environment_cfg=environment_cfg, **kwargs)
-        self.LC = LargeScaleController(**environment_cfg)
+        self.LC = LargeScaleController(**environment_cfg, is_simulation_alive=is_simulation_alive)
         self.LC.load()
 
         self.create_subscription(Float32, "/OmniLRS/Sun/Intensity", self.set_sun_intensity, 1)

src/environments_wrappers/ros2/simulation_manager_ros2.py

@@ -8,6 +8,7 @@
 
 from threading import Thread
 
+from omni.isaac.kit import SimulationApp
 from omni.isaac.core import World
 from typing import Union
 import omni
@@ -92,6 +93,7 @@ def register(
     def __call__(
         self,
         cfg: dict,
+        is_simulation_alive: callable,
     ) -> Union[ROS_LunalabManager, ROS_LunaryardManager]:
         """
         Returns an instance of the lab manager corresponding to the environment name.
@@ -105,7 +107,7 @@ def __call__(
 
         return self._lab_managers[cfg["environment"]["name"]](
             environment_cfg=cfg["environment"],
-            flares_cfg=cfg["rendering"]["lens_flares"],
+            is_simulation_alive=is_simulation_alive,
         )
 
 
@@ -128,7 +130,7 @@ class ROS2_SimulationManager:
     def __init__(
         self,
         cfg: dict,
-        simulation_app,
+        simulation_app: SimulationApp,
     ) -> None:
         """
         Initializes the simulation.
@@ -158,7 +160,7 @@ def __init__(
             self.rate = Rate(is_disabled=True)
 
         # Lab manager thread
-        self.ROSLabManager = ROS2_LMF(cfg)
+        self.ROSLabManager = ROS2_LMF(cfg, self.simulation_app.is_running)
         exec1 = Executor()
         exec1.add_node(self.ROSLabManager)
         self.exec1_thread = Thread(target=exec1.spin, daemon=True, args=())

src/environments_wrappers/sdg/simulation_manager_sdg.py

@@ -65,7 +65,8 @@ def __init__(self, cfg, simulation_app) -> None:
 
     def run_simulation(self) -> None:
         """
-        Runs the simulation."""
+        Runs the simulation.
+        """
 
         self.timeline.play()
         while self.simulation_app.is_running() and (self.count < self.generation_settings.num_images):

src/terrain_management/large_scale_terrain/map_manager.py

@@ -61,14 +61,15 @@ class MapManager:
     interract with the DEMs.
     """
 
-    def __init__(self, map_manager_settings: MapManagerConf) -> None:
+    def __init__(self, map_manager_settings: MapManagerConf, is_simulation_alive: callable = lambda: True) -> None:
         """
         Args:
-            hrdem_settings (HighResDEMGenConf): settings for the high resolution DEM generation.
             map_manager_settings (MapManagerConf): settings for the map manager.
+            is_simulation_alive (callable): function to check if the simulation is alive.
         """
 
         self.hr_dem_settings = map_manager_settings.hrdem_settings
+        self.is_simulation_alive = is_simulation_alive
         self.settings = map_manager_settings
         self.lr_dem = None
 

src/terrain_management/large_scale_terrain_manager.py

@@ -32,9 +32,10 @@ class LargeScaleTerrainManager:
     def __init__(
         self,
         settings: LargeScaleTerrainConf,
+        is_simulation_alive: callable = lambda: True,
     ):
         self.settings = settings
-
+        self.is_simulation_alive = is_simulation_alive
         self.last_update_coordinates = None
 
     def build_configs(self):
@@ -50,7 +51,7 @@ def build_managers(self):
         self.build_rock_manager()
 
     def build_map_manager(self):
-        self.map_manager = MapManager(self.mapmanager_cfg)
+        self.map_manager = MapManager(self.mapmanager_cfg, is_simulation_alive = self.is_simulation_alive)
         self.map_manager.load_lr_dem_by_name(self.settings.lr_dem_name)
         self.map_manager.initialize_hr_dem(self.settings.starting_position)