add stub modules

main.py

@@ -1,11 +1,32 @@
+import argparse
 from runner import Runner
 from drone_command_requester import DroneCommandRequester
 from drone_state_receiver import DroneStateReceiver
 from drone_video_receiver import DroneVideoReceiver
 from dashboard import Dashboard
+from stub_command_requester import StubCommandRequester
+from stub_state_receiver import StubStateReceiver
+from stub_video_receiver import StubVideoReceiver
+
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    "-s", "--stub", help="use stubs instead of a drone", action="store_true"
+)
+parser.add_argument(
+    "-w", "--webcam", help="webcam device id (for stub)", type=int, default=0
+)
+args = parser.parse_args()
+
+if args.stub:
+    startables = [
+        StubCommandRequester(),
+        StubStateReceiver(),
+        StubVideoReceiver(args.webcam),
+    ]
+else:
+    startables = [DroneCommandRequester(), DroneStateReceiver(), DroneVideoReceiver()]
 
 dashboard = Dashboard()
-startables = [DroneCommandRequester(), DroneStateReceiver(), DroneVideoReceiver()]
 runner = Runner()
 
 runner.run(startables, dashboard)

stub_command_requester.py

@@ -0,0 +1,23 @@
+import time
+
+from info import Info
+from logger import get_logger
+from startable import Startable
+
+
+class StubCommandRequester(Startable):
+    def start(self, info: Info) -> None:
+        logger = get_logger(__name__)
+        logger.info("start")
+
+        while info.is_active():
+            time.sleep(0.1)
+            msg = info.pick_command()
+            if msg == "":
+                continue
+
+            info.set_sent_command(msg)
+            time.sleep(1)
+            info.set_command_result("OK")
+
+        logger.info("done")

stub_state_receiver.py

@@ -0,0 +1,18 @@
+from __future__ import annotations
+import time
+
+from info import Info
+from logger import get_logger
+from startable import Startable
+
+
+class StubStateReceiver(Startable):
+    def start(self, info: Info) -> None:
+        logger = get_logger(__name__)
+        logger.info("start")
+
+        while info.is_active():
+            time.sleep(5)
+            info.set_states({"bat": 38.0})
+
+        logger.info("done")

stub_video_receiver.py

@@ -0,0 +1,29 @@
+import cv2
+
+from info import Info
+from logger import get_logger
+from startable import Startable
+
+
+class StubVideoReceiver(Startable):
+    device_id: int
+
+    def __init__(self, device_id: int = 0) -> None:
+        super().__init__()
+        self.device_id = device_id
+
+    def start(self, info: Info) -> None:
+        logger = get_logger(__name__)
+        logger.info("start")
+
+        cap = cv2.VideoCapture(self.device_id)
+
+        while info.is_active():
+            success, image = cap.read()
+            if not success:
+                continue
+            image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+            info.set_image(image)
+
+        cap.release()
+        logger.info("done")