Initial commit

unilabos/app/backend.py

@@ -0,0 +1,35 @@
+import threading
+
+from unilabos.utils import logger
+
+
+# 根据选择的 backend 启动相应的功能
+def start_backend(
+    backend: str,
+    devices_config: dict = {},
+    resources_config: dict = {},
+    graph=None,
+    controllers_config: dict = {},
+    bridges=[],
+    without_host: bool = False,
+    **kwargs
+):
+    if backend == "ros":
+        # 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
+        from unilabos.ros.main_slave_run import main, slave  # 如果选择 'ros' 作为 backend
+    elif backend == 'simple':
+        # 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
+        # from simple_backend import main as simple_main
+        pass
+    elif backend == 'automancer':
+        # from automancer_backend import main as automancer_main
+        pass
+    else:
+        raise ValueError(f"Unsupported backend: {backend}")
+    
+    backend_thread = threading.Thread(
+        target=main if not without_host else slave,
+        args=(devices_config, resources_config, graph, controllers_config, bridges)
+    )
+    backend_thread.start()
+    logger.info(f"Backend {backend} started.")