away_comms = Comms(gamestate, AWAY_TEAM, True)
simulator = Simulator(gamestate)
home_strategy = Strategy(gamestate, HOME_TEAM)
away_strategy = Strategy(gamestate, AWAY_TEAM)
# choose which modules to run based on run conditions
print('Spinning up Threads...')
if IS_SIMULATION:
# spin up simulator to replace actual vision data + comms
simulator.start_simulating(SIMULATION_SETUP, SIMULATION_LOOP_SLEEP)
else:
# spin up ssl-vision data polling to update gamestate
vision.start_updating(VISION_LOOP_SLEEP)
if not VISION_ONLY:
# spin up comms to send commands to robots
home_comms.start_sending(COMMS_SEND_LOOP_SLEEP)
# home_comms.start_receiving(COMMS_RECEIVE_LOOP_SLEEP)
if CONTROL_BOTH_TEAMS:
away_comms.start_sending(COMMS_SEND_LOOP_SLEEP)
# away_comms.start_sending(COMMS_RECEIVE_LOOP_SLEEP)
refbox.start_updating()
# spin up strategy threads to control the robots
home_strategy.start_controlling(HOME_STRATEGY, CONTROL_LOOP_SLEEP)
if CONTROL_BOTH_TEAMS:
away_strategy.start_controlling(AWAY_STRATEGY, CONTROL_LOOP_SLEEP)
# initialize visualizer to show robots on screen
visualizer = Visualizer(gamestate, home_strategy, away_strategy)
# start the game - now everything should be going
gamestate.start_game(GAME_LOOP_SLEEP)
# Prepare to be interrupted by user