PhotonVision/backend/Main.py

from datetime import timedelta
from networktables import NetworkTables
import tornado.ioloop
import logging
from app.ChameleonVisionApp import ChameleonApplication
from app.classes.SettingsManager import SettingsManager
from tornado.options import options
from app.handlers.VisionHandler import VisionHandler
import threading
import asyncio
from app.handlers.SocketHandler import send_all_async
from app.handlers.CameraHander import CameraHandler


def run_server():
    asyncio.set_event_loop(asyncio.new_event_loop())
    tornado.options.parse_command_line()
    app = ChameleonApplication()
    print(f"Serving on port {options.port}")
    app.listen(options.port)
    tornado.ioloop.IOLoop.current().start()
    tornado.ioloop.IOLoop.instance().add_timeout(timedelta(seconds=1),
                                                 send_all_async)
def run():
    # NetworkTables.startClientTeam(team=self.settings_manager.general_settings.get("team_number", 1577))
    NetworkTables.initialize("localhost")
    port = 5550
    for cam_name in settings_manager.usb_cameras:
        CameraHandler(cam_name, port).run()
        port += 1

if __name__ == "__main__":
    logging.basicConfig(level=logging.DEBUG)
    settings_manager = SettingsManager()
    server_thread = threading.Thread(target=run_server)
    server_thread.start()
    run()
    while True:
        pass