fix: implicit cli defaults and handlign orphaned python procs using s…

…h traps

src/pcg/scripts/generate

@@ -1,14 +1,20 @@
 #!/usr/bin/env python3
 
-import subprocess
-import rospkg
 import os
+import rospkg
+import signal
+import subprocess
 import sys
 
 rospack = rospkg.RosPack()
 pcg_path = rospack.get_path("pcg")
 # move to pcg package directory
 os.chdir(pcg_path)
 args = ["sh", "./scripts/generate.py.sh", *sys.argv[1:]]
-if subprocess.run(args).returncode != 0:
-    raise Exception("An error occured with running the script.")
+process = subprocess.Popen(args)
+try:
+    process.wait()
+    if process.returncode != 0:
+        raise Exception("An error occured with running the script.")
+except KeyboardInterrupt:
+    pass

src/pcg/scripts/generate.py.sh

@@ -1,8 +1,17 @@
 #!/usr/bin/env sh
 
-set -e
-
 # source the venv
 . venv/bin/activate
 
-python3 src/pcg/main.py $@
+# handle sigint and sigterm; kill python proc
+control_c() {
+  kill -9 $PID
+  exit
+}
+
+trap "control_c" INT TERM
+
+python3 src/pcg/main.py "$@" &
+# capture PID of command to kill when this program is killed
+PID=$!
+wait "$PID"

src/pcg/src/pcg/main.py

@@ -13,11 +13,9 @@
 
 Options:
   -h, --help             Show this screen.
-  --num-worlds=<int>     Number of worlds to generate [default: 10]
-  --worlds-dir=<path>    Directory where generated worlds will be saved
-                         [default: pcg/models/].
-  --models-dir=<path>    Directory where generated models will be saved
-                         [default: pcg/resources/worlds].
+  --num-worlds=<int>     Number of worlds to generate [default is 10]
+  --worlds-dir=<path>    Directory where generated worlds will be saved [default is pcg/models/].
+  --models-dir=<path>    Directory where generated models will be saved [default is pcg/resources/worlds].
 
 '''
 
@@ -26,14 +24,14 @@
 
     worlds_dir = opts['--worlds-dir'] or None
     models_dir = opts['--models-dir'] or None
-    num_worlds = int(opts['--num-worlds'])
+    num_worlds = opts['--num-worlds'] or 10
 
     # using +2 because minimum number of rectangles is 2
     # when using plural method
     for i in [number + 2 for number in range(num_worlds)]:
         generate_room(
-            n_rectangles=i,
             filename=f"{i}-rectangles-walls",
+            n_rectangles=i,
             worlds_dir_path=worlds_dir,
             models_dir_path=models_dir
         )