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