Start ROSCore for launch debugging, if not running (ROS1)

src/debugger/configuration/resolvers/ros1/launch.ts

@@ -15,6 +15,8 @@ import * as vscode from "vscode";
 import * as extension from "../../../../extension";
 import * as requests from "../../../requests";
 import * as utils from "../../../utils";
+import { rosApi } from "../../../../ros/ros";
+import { env } from "../../../../extension";
 
 const promisifiedExec = util.promisify(child_process.exec);
 
@@ -32,7 +34,38 @@ export class LaunchResolver implements vscode.DebugConfigurationProvider {
         if (!path.isAbsolute(config.target) || path.extname(config.target) !== ".launch") {
             throw new Error("Launch request requires an absolute path as target.");
         }
+
+        const delay = ms => new Promise(res => setTimeout(res, ms));
+
+        switch (env.ROS_VERSION.trim()) {
+            case "1": {
+                // Manage the status of the ROS core, starting one if not present
+                // The ROS core will continue to run until the VSCode window is closed
+                const core_active = rosApi.getCoreStatus();
+                if (!(await core_active).valueOf()) {
+                    rosApi.startCore();
+
+                    // Wait for the core to start up to a timeout
+                    const timeout_ms: number = 3000;
+                    const interval_ms: number = 100;
+                    let attempts: number = 0;
+                    while (!(await rosApi.getCoreStatus()).valueOf() && attempts * interval_ms < timeout_ms) {
+                        attempts += 1;
+                        await delay(interval_ms);
+                    }
+                    if (attempts * interval_ms >= timeout_ms) {
+                        throw (new Error('Timed out waiting for ROSCore to start. Start ROSCore manually to avoid this error.'));
+                    }
+                }
+                break;
+            }
+            case "2": {
+                // TODO(#431), support starting the ROS2 daemon automatically
+                break;
+            }
+        }
 
+
         const rosExecOptions: child_process.ExecOptions = {
             env: await extension.resolvedEnv(),
         };

src/ros/common/unknown-ros.ts

@@ -52,6 +52,11 @@ export class UnknownROS implements ros.ROSApi {
         return;
     }
 
+    public getCoreStatus(): Promise<boolean> {
+        console.error("Unknown ROS distro.");
+        return;
+    }
+
     public rosdep() {
       console.error("Unknown ROS distro.");
       return;

src/ros/ros.ts

@@ -56,6 +56,11 @@ export interface ROSApi {
      */
     stopCore: () => void;
 
+    /**
+     * Get ROS Core status
+     */
+    getCoreStatus: () => Promise<boolean>;
+
     /**
      * Run ROSDep
      */

src/ros/ros1/ros1.ts

@@ -140,6 +140,10 @@ export class ROS1 implements ros.ROSApi {
         ros_core.stopCore(this.context, this._getXmlRpcApi());
     }
 
+    public getCoreStatus(): Promise<boolean> {
+        return this._getXmlRpcApi().check();
+    }
+
     public activateCoreMonitor(): vscode.Disposable {
         if (typeof this.env.ROS_MASTER_URI === "undefined") {
             return null;

src/ros/ros2/ros2.ts

@@ -148,6 +148,11 @@ export class ROS2 implements ros.ROSApi {
         daemon.stopDaemon();
     }
 
+    public getCoreStatus(): Promise<boolean> {
+        // TODO(#431): Core status checking not implemented for ROS2
+        return;
+    }
+
     public rosdep(): vscode.Terminal {
       const terminal = ros_utils.createTerminal(this.context);
       terminal.sendText(`rosdep install --from-paths src --ignore-src -r -y`);