main.py

import time

from can.interface import Bus
from pymitter import EventEmitter

from config.config import conf
from models.debug_messages import init_debug
from models.message_queue_events import MessageQueueEvents
from robot.robot import Robot
from utils.colors import bcolors, colorit
from utils.helper import proper_exit
from webserver.webserver import WebServer

_bustype = "virtual" if conf["DEBUG_VIRTUAL"] or conf["DEBUG_VCAN"] else "socketcan"
_channel = conf["VCHANNEL"] if conf["DEBUG_VCAN"] else conf["CHANNEL"]
bus = Bus(channel=_channel, bustype=_bustype, bitrate=conf["CAN_BAUD"])

events = EventEmitter()
robot = Robot(bus, events)

try:
    webServer = WebServer(host="0.0.0.0", port=5000, global_events=events, robot=robot)
    webServer.start()

    if conf["DEBUG_VIRTUAL"]:
        time.sleep(5)  # wait that the web clients connection

    if conf["DEBUG_CAN"] or conf["DEBUG_VIRTUAL"] or conf["DEBUG_VCAN"]:
        v_bus = init_debug(bus, _bustype, _channel, events)

    while True:
        message = bus.recv()  # potential bottle-neck

        if message is not None:
            events.emit(MessageQueueEvents.NEW_CAN_PACKET.value, message)

        if conf["DEBUG_MESSAGES"]:
            print(colorit(str(message), bcolors.OKCYAN))

        if conf["DEBUG_CYCLE"]:
            events.emit(MessageQueueEvents.END_CYCLE.value)
            time.sleep(1)

except KeyboardInterrupt:
    print(colorit("KeyboardInterrupt", bcolors.FAIL))
except Exception as e:
    print(colorit(str(e), bcolors.FAIL))
finally:
    bus.shutdown()

    if (
        conf["DEBUG_VIRTUAL"]
        and v_bus is not None  # pylint: disable=used-before-assignment
    ):
        v_bus.shutdown()  # pylint: disable=used-before-assignment

    proper_exit()