[
robot.enqueue(action)
for action in commands.process_program(lines, robot)
]
else:
# Start the telnet control server
control_server = ControlServer(robot)
# Define the mechanism for attaching joystick axis events to robot motion
def joystick_movement(js, axis, value):
robot.locomote(js.axis_states['x'], js.axis_states['y'])
# Initialize the joystick
joystick = Joystick()
joystick.register(loop)
joystick.add_axis_callback('x', joystick_movement)
joystick.add_axis_callback('y', joystick_movement)
# Initialize the robot's main command processing loop
consumer = asyncio.ensure_future(robot.consume_queue())
try:
loop.run_forever()
except KeyboardInterrupt:
print()
print('Shutting down...')
async def loop_shutdown():
consumer.cancel()
loop.run_until_complete(loop_shutdown())
finally:
