main.py

# This is the main file for the ArmTeam project. It initializes and runs the arm control system.
# It sets up the arm hardware interface, the controler, the server, and the app. It also handles command line arguments and configuration settings.

import subprocess
import sys
import os

# Add the project root to the Python path
sys.path.append(os.path.dirname(os.path.abspath(__file__)))

from Config.ArmRuntime import ArmRuntime
from Config.ArmConfig import ArmConfig

if __name__ == "__main__":
    # ----------------- SETUP -----------------
    print("Arm startup")
    
    keep_running = True
    
    armConfig = ArmConfig() # class that will load the config file and parse the args
    armRuntime = ArmRuntime() # class that will hold all the modules and handle the commands

    config = armConfig.load_config('config.json') # load the config file
    armConfig.parse_args(config) # parse the command line args and update the config file if needed
    armRuntime.apply_config(config) # apply the config to the armRuntime class
    
    print(armRuntime.modules_to_string()) # print loaded modules to the console

    # Start arm, could mean connecting to the simulator or the real arm
    armRuntime.selected_HAL.start_arm()    

    print("Controler Startup")
    # Start the Controler
    if armRuntime.selected_controller is not None:
        armRuntime.selected_controller.start()
    
    armRuntime.start(config) # start the rest of the modules

    # start listening to speech
    if armRuntime.selected_stt is not None and not config["stt_push_to_talk"]:
        armRuntime.selected_stt.activate()
    
    if armRuntime.selected_tts is not None:
        armRuntime.selected_tts.say("Arm startup.")   
        
    # ----------------- END SETUP -----------------
    
    # ----------------- MAIN PROGRAM LOOP -----------------
    # will capture main thread and run the input loop in a separate thread
    if config["use_server"]:
        print("Server Startup")
        armRuntime.selected_server.start_server()

    # will capture main thread and run the input loop in a separate thread
    if config["use_app"]:
        try:
            armRuntime.console_input.run_input_looping_async()
            armRuntime.selected_app.start_app()
        except KeyboardInterrupt:
                keep_running = False
        
    # if we are not using the server or the app, we will run the input loop in the main thread
    if not config["use_app"]:
        while keep_running:
            print("Arm is running, press 'q' or ctrl-c to quit")
            try:
                armRuntime.console_input.run_input_looping()
            except KeyboardInterrupt:
                keep_running = False
            
        
    # ----------------- END MAIN PROGRAM LOOP -----------------

    # ----------------- CLEAUP / SHUTDOWN -----------------

    print("Arm shutdown")
    keep_running = False    
    
    # stop listening to speech
    if armRuntime.selected_stt is not None:
        armRuntime.selected_stt.stop()
        
    # stop the server
    if armRuntime.selected_server is not None:
        armRuntime.selected_server.stop_server()
        
    # stop the controller
    if armRuntime.selected_controller is not None:
        armRuntime.selected_controller.stop()
        
    # stop the HAL interface, could mean disconnecting from the simulator or the real arm
    armRuntime.selected_HAL.stop_arm()
    
    armRuntime.stop(config) # stop the rest of the modules      
    
    # speak a shutdown message
    if armRuntime.selected_tts is not None:
        armRuntime.selected_tts.say("Arm shutdown.")
        
    print("Arm shutdown complete")
    
    # Reopen Startup page
    if config["open_startup_page"]:
        subprocess.Popen(['python', 'ArmTeam/startup.py'])

    # ----------------- END CLEAUP / SHUTDOWN -----------------