Added basic skeleton

single_ursim_control/program_executor.py

@@ -0,0 +1,86 @@
+from typing import List
+from threading import Thread
+from plugins import AbstractCommand
+from enum import Enum
+
+import logging
+
+
+class ProgramExecutorStates(Enum):
+    PREPARING = 0
+    RUNNING = 1
+    DONE = 2
+    ABORTED = 3
+    CRASHED = 4
+
+
+class ProgramExecutor(Thread):
+
+    def __init__(
+            self,
+            program: List[AbstractCommand],
+            loop: bool = False
+    ):
+        super().__init__()
+        self._program = program
+        self._loop = loop
+        self._current_step_desc = {}
+        self._pc = 0
+        self._loop_counter = 0
+        # TODO: jogging wait
+
+        self._state = ProgramExecutorStates.PREPARING
+
+        self._logger = logging.getLogger("program_executor")
+
+    def abort(self):
+        self._state = ProgramExecutorStates.ABORTED
+        # TODO: implement abort
+
+    def cont(self):
+        # TODO: jogging wait
+        pass
+
+    def get_status(self) -> dict:
+        return {
+            "current_step": self._pc,
+            "program_length": len(self._program),
+            "step_description": self._current_step_desc,
+            "state": self._state.name,
+            "loop_count": self._loop_counter,
+            "config": {
+                "loop": self._loop
+            }
+        }
+
+    @property
+    def state(self):
+        return self._state
+
+    def run(self) -> None:
+        self._state = ProgramExecutorStates.RUNNING
+        self._logger.info("Start running program")
+
+        while True:  # needed for loop
+            self._loop_counter += 1
+            for i, step in enumerate(self._program):
+                self._pc = i
+                self._current_step_desc = step.describe()
+                self._logger.debug(f"Executing step {self._pc}")
+
+                try:
+                    step.execute()
+                except Exception as e:
+                    self._logger.exception(e)
+                    self._state = ProgramExecutorStates.CRASHED
+                    return
+
+                # TODO: jogging wait
+
+            if self._loop:
+                self._logger.debug("Looping program")
+            else:
+                self._logger.debug("Program ended")
+                break
+
+        self._state = ProgramExecutorStates.DONE