80 lines
3.6 KiB
Python
80 lines
3.6 KiB
Python
import toml
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import threading
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import queue
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from loguru import logger
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import subtask as sb
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import majtask as mj
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from by_cmd_py import by_cmd_py
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import time
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import action as act
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# 读取配置
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cfg_main = toml.load('cfg_main.toml')
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cfg_subtask = toml.load('cfg_subtask.toml')
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# logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
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running = True
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cmd_py_obj = by_cmd_py()
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sb.import_obj(cmd_py_obj)
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act.import_obj(cmd_py_obj)
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# 配置日志输出
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act.axis.camera(0)
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act.axis.x2(140)
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act.axis.storage(20)
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act.axis.scoop(25)
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act.axis.exec()
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# 向任务队列添加任务
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task_queue = queue.Queue()
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if cfg_main['task']['Subtask_enable'] is True:
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task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
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task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
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task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable']))
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task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
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# TODO 添加一个空任务用于提前降 z 轴
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task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
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task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
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task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable']))
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task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True)) # 无论是否进行任务，检测标识并转向都是必须进行的
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task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
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task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
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task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
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task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
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task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
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# 将任务队列传入调度模块中
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task_queuem_t = sb.task_queuem(task_queue)
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# 创建任务队列的工作线程
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def worker_thread():
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while task_queuem_t.exec() is True:
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pass
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# 启动工作线程
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worker = threading.Thread(target=worker_thread, daemon=True)
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worker.start()
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# 创建主任务
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main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
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try:
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while running:
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if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
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pass
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else:
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main_task_t.run()
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pass
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except KeyboardInterrupt:
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logger.info("Interrupt received, stopping...")
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# 停车
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for _ in range(3):
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cmd_py_obj.send_speed_x(0)
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time.sleep(0.1)
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cmd_py_obj.send_speed_omega(0)
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time.sleep(0.1)
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for _ in range(3):
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cmd_py_obj.send_speed_x(0)
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time.sleep(0.1)
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cmd_py_obj.send_speed_omega(0)
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time.sleep(0.1)
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logger.info("Main thread exit") |