JackM323
9c31de3c38
config into dataclass and enums new Gui that includes settings deleted GlobalVariables small fixes (import, names...)
85 lines
2.3 KiB
Python
85 lines
2.3 KiB
Python
"""
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main.py - Entry point handling dynamic input source selection
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"""
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from multiprocessing import Queue, Process
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import time
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from config import cfg
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from Robot import Robot
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from gui.MainWindow import (
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create_parameter_gui,
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render_gui_frame,
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stop_gui,
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resolve_active_command
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)
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from inputs.PygameController import controller_loop
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robot_instance: Robot | None = None
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is_robot_active = False
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def start_robot():
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global robot_instance, is_robot_active
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print(f"[Main] Starting Robot with Backend: {cfg.backend.value.upper()}")
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robot_instance = Robot(backend_type=cfg.backend)
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robot_instance.reset_to_init()
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is_robot_active = True
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def stop_robot():
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global robot_instance, is_robot_active
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print("[Main] Stopping Robot...")
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is_robot_active = False
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if robot_instance is not None:
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robot_instance.cleanup()
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robot_instance = None
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def main_event_loop(control_queue: Queue):
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global robot_instance, is_robot_active
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create_parameter_gui(
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on_start_callback=start_robot,
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on_stop_callback=stop_robot
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)
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next_time = time.time()
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try:
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while True:
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next_time += cfg.tick_duration
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# Drain latest gamepad frame if available
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gamepad_cmd = None
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while not control_queue.empty():
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gamepad_cmd = control_queue.get_nowait()
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# Resolve motion vector based on current active dropdown mode
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active_cmd = resolve_active_command(gamepad_cmd)
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# Pass inputs to robot and tick state machine
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if is_robot_active and robot_instance is not None:
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robot_instance.robot_state = active_cmd["state"]
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robot_instance.vector_dirmov = active_cmd["dirmov"]
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robot_instance.tick()
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render_gui_frame()
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sleep_time = next_time - time.time()
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if sleep_time > 0:
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time.sleep(sleep_time)
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finally:
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stop_gui()
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if __name__ == "__main__":
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control_queue = Queue()
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controller_process = Process(target=controller_loop, args=(control_queue,))
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controller_process.start()
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try:
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main_event_loop(control_queue)
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finally:
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controller_process.terminate() |