project_main/main.py

import toml
import queue
import threading
from loguru import logger
import subtask as sb
import majtask as mj
from by_cmd_py import by_cmd_py
import time
cmd_py_obj = by_cmd_py()
sb.import_obj(cmd_py_obj)

# 读取配置
cfg_main = toml.load('cfg_main.toml')

# 配置日志输出
logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")

# 向任务队列添加任务
# TODO 任务关闭相关联
task_queue = queue.Queue()
task_queue.put(sb.task(sb.get_block, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['PutBlock_enable'])) 
task_queue.put(sb.task(sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
task_queue.put(sb.task(sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['PutBBall_enable'])) 
task_queue.put(sb.task(sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], True))  # 无论是否进行任务，检测标识并转向都是必须进行的
task_queue.put(sb.task(sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
task_queue.put(sb.task(sb.move_area, cfg_main['find_counts']['MoveArea_counts'], cfg_main['task']['MoveArea_enable'])) 
task_queue.put(sb.task(sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 

# 将任务队列传入调度模块中
task_queuem_t = sb.task_queuem(task_queue)

# 创建任务队列的工作线程
def worker_thread():
    while task_queuem_t.exec() is True:
        pass

# 启动工作线程
worker = threading.Thread(target=worker_thread, daemon=True)  
worker.start()  
if (cmd_py_obj.send_angle_camera(180) == -1):
    cmd_py_obj.send_angle_camera(180)
time.sleep(2)
# cmd_py_obj.send_speed_x(5)

# cmd_py_obj.send_position_axis_z(10, 100)
# 创建主任务
main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象

# 主线程仅在子线程搜索 (SEARCHING) 和 空闲 (IDLE) 状态下进行操作
# while task_queuem_t.busy is True:
while True:
    if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
        pass
    else:
        # 模拟执行回归任务
        # logger.info("***** sim huigui task *****")
        main_task_t.run()
        pass

logger.info("Main thread exit")