Implemented main basically

single_ursim_control/main.py

@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
-import os
 import sys
 from config import Config
 from plugins import SleepPlugin, SyncPlugin, WaitPlugin, URRTDEPlugin
 from plugin_repository import PluginRepository
-from program_executor import ProgramExecutor
+from program_executor import ProgramExecutor, ProgramExecutorStates
 from http_server import ControllerHTTPServer
 import logging
 import signal
 
+from compiler import compile_program
+from program_loader import load_program
+
 
 class HTTPControl:
 
@@ -22,43 +24,54 @@ class HTTPControl:
         return 201, "Will do sir!"
 
 
-def main():
-    # init
+def main() -> int:
+    # init instance
     logging.basicConfig(
         stream=sys.stdout,
         format="%(asctime)s [%(levelname)s]: %(name)s: %(message)s",
-        level=logging.DEBUG
+        level=logging.DEBUG if Config.DEBUG else logging.INFO
     )
-    http_server = ControllerHTTPServer(HTTPControl())
-    http_server.start()
 
-    compiler_repo = PluginRepository()
-    compiler_repo.register_plugin(SleepPlugin)
-    compiler_repo.register_plugin(SyncPlugin)
-    compiler_repo.register_plugin(WaitPlugin)
-    compiler_repo.register_plugin(URRTDEPlugin)
+    logging.info("Registering available plugins...")
+    # Register all available plugins
+    plugin_repo = PluginRepository()
+    plugin_repo.register_plugin(SleepPlugin)
+    plugin_repo.register_plugin(SyncPlugin)
+    plugin_repo.register_plugin(WaitPlugin)
+    plugin_repo.register_plugin(URRTDEPlugin)
 
-    # Example code:
-    compiler_repo.load_plugin("sleep")
-    compiler_repo.load_plugin("sync")
-    compiler_repo.load_plugin("wait")
-    compiler_repo.load_plugin("ur_rtde")
-    program = []
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=2))
-    program.append(compiler_repo.get_compiler("moveJ").compile([5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197], 1.0, 4.0))
-    program.append(compiler_repo.get_compiler("moveL").compile([-0.4, 0.1, -0.31, 3.142, 0, 0], 0.05, 0.75))
-    program.append(compiler_repo.get_compiler("moveL").compile([-0.4, 0.1, -0.24, 3.142, 0, 0], 0.05, 0.75))
-    program.append(compiler_repo.get_compiler("moveJ").compile([5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469], 1.0, 4.0))
-    program.append(compiler_repo.get_compiler("moveJ").compile([4.982042349817814, -0.5256931707006921, 1.620887276327134, -1.0993828958312282, -3.660653573132907, 5.271592472723674], 1.0, 4.0))
-    program.append(compiler_repo.get_compiler("wait").compile())
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=3))
-    program.append(compiler_repo.get_compiler("sync").compile(nodes=2, name="test"))
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=10))
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=10))
+    # Download the program
+    logging.info("Downloading program...")
+    try:
+        program_source = load_program(Config.PROGRAM_URL)
+    except Exception as e:
+        logging.error(f"Failed to download program: {e}! Exiting...")
+        logging.exception(e)
+        return 1
 
-    # prepare execution
-    executor = ProgramExecutor(program, loop=True)
+    # Load required plugins
+    logging.info("Loading required plugins...")
+    try:
+        plugin_repo.load_plugins(program_source['load_plugins'])
+    except Exception as e:
+        logging.error(f"Error during plugin loading: {e}! Exiting...")
+        logging.exception(e)
+        return 2
 
+    # Compile the program
+    logging.info("Compiling program...")
+    try:
+        program = compile_program(plugin_repo, program_source['program'])
+    except Exception as e:
+        logging.error(f"Error during compilation: {e}! Exiting...")
+        logging.exception(e)
+        return 3
+
+    # prepare the executor
+    logging.info("Preparing for execution...")
+    executor = ProgramExecutor(program, loop=False)
+
+    # Setup signal handler
     def handle_stop_signal(signum, frame):
         logging.warning(f"Signal {signum} received. Aborting execution!")
         executor.abort()
@@ -70,14 +83,28 @@ def main():
     signal.signal(signal.SIGINT, handle_stop_signal)
     signal.signal(signal.SIGTERM, handle_stop_signal)
 
-    # start execution
-    executor.start()
+    # Actually execute
+    execution_success = True
+    if Config.DRY_RUN:
+        logging.info("DRY_RUN enabled. Dumping command descriptions and exiting!")
+        for i, command in enumerate(program):
+            logging.info(f"{i:04d}: {command.describe()}")
+    else:
+        logging.info("Starting execution...")
+        executor.start()
+        executor.join()
 
-    # End of execution
-    executor.join()
-    compiler_repo.close()
-    http_server.shutdown()
+        if executor.state == ProgramExecutorStates.DONE:
+            logging.info("Program executed successfully!")
+        else:
+            logging.error(f"Could not finish execution! Executor state: {executor.state.name}")
+            execution_success = False
+
+    # Close all resources
+    logging.info("Cleaning up...")
+    plugin_repo.close()
+    return 0 if execution_success else 5
 
 
 if __name__ == '__main__':
-    main()
+    sys.exit(main())