Uni-Lab-OS/unilabos/app/backend.py

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: list = [],
    graph=None,
    controllers_config: dict = {},
    bridges=[],
    without_host: bool = False,
    visual: str = "None",
    resources_mesh_config: dict = {},
    **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, visual, resources_mesh_config),
        name="backend_thread",
        daemon=True,
    )
    backend_thread.start()
    logger.info(f"Backend {backend} started.")